Thanks SkyeFire. What you described is what I was running into. I have since taken a different approach and am not using $ASYNC_AXIS any longer.
Posts by BluesMatt
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I figured it out.
In the inline form, if you open the drop down menu under WDAT2, there are 3 tabs (screens) each with settings. On the Weld Parameter tab (the middle tab), the Robot Velocity setting was set to 0 (which is invalid). There is also a red line box around this field indicating the invalid entry. Changing this number to a number within range cleared the error and my program ran.
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I'm using the inline forms for ARC ON and ARC OFF. I'm not writing my own code.
An example ARC OFF inline form looks like:
ARCOFF WDAT2 LIN P4 CPDAT4 TOOL[1]:CMT BASE[0]
If I open the fold, I see:
$BWDSTART=FALSE
LDAT_ACT=LCPDAT4
FDAT_ACT=FP4
BAS(#CP_PARAMS, ATBg_BAS_VELDefinition)
LIN XP4
ARC_OFF(1, AC_WDAT2)I assume this is what you mean by code. Can't say as I understand any of it (yet).
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Hello everyone, Matt here with another KRL question.
I'm working on a KRL program and setting up a ARC ON / ARC OFF statement block to weld a seam. I use the ARC ON to move to the ignition point. I use ARC OFF to move the torch and create the seam.
When I go back to 'touch up" the point used by the ARC OFF statement, I move to the new point where the seam is to end, hit "touch up", everything is fine. The system appears to update that point. When I run the program, when I get to the ARC OFF statement, I get the "Value assignment inadmissible" error.
I'm not sure what assignment or value the message is referring to.
I've tried deleting the ARC OFF command and recreating it but I get the same result. I would prefer not to have to delete both the ARC ON and OFF commands and recreate them. I would think there should be a way to edit the existing commands.
Any thoughts?
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Hello everyone, Matt here, new Kuka programmer.
While editing a KRL program on the SmartPAD, as I go forwards and backwards through the program I'm editing, I get this error message, "Change of direction not possible".
Why is that?
Is my only choice to reset the program and begin executing from the very beginning?
Since the robot knows where it is, why can't it step through the program lines either in the forwards or backwards direction?
I'm using a KRC4 running 8.3.8
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Hello everyone, Matt here, new Kuka guy.
I'm currently developing a KRL program for a robot with 1 external axis (MGU). My challenge is writing the program that moves the robot but does not also move the MGU. I've tried using the $ASYNC_AXIS system variable to make the MGU asynchronous with the robot and this seems to work fine to a point.
Using the $ASYNC_AXIS system variable, when the program runs, the robot and MGU move as expected.
My problem is when I go back into the program to "touch-up" some of the points, as I am going backwards and forwards through the program, the MGU starts moving when I don't expect it to. It seems like the MGU becomes synchronous with the robot without me commanding it to (which leads to the unexpected motion).
The only way that I see to avoid this is to reset the program and rerun it from the very beginning everytime. For a program that only has a handful of points, this approach is not too too bad. However, I have about 100 points in my program so to reset and run the program from the beginning after every edit is too time consuming.
Any thoughts?
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panic mode:
- Yes, I used the same keyboard on both systems.
- Since both KRC4s are brand new, I'm assuming they both use 8.3.x. The system that is still here and the USB keyboard works fine uses 8.3.8. For those that need to know, to display the version number on the SmartPAD, from the Main Menu, select Help, then Info.
- The Language setting for the system I have here (and works properly with the USB keyboard) is English (United States). If I have this problem again on another controller, I'll double-check this setting. To check, I'm looking from the Main Menu, then Configuration, then Miscellaneous, then Language. -
Yes, I was in "Detail View". For those that need to how to switch between the 2 views, with the Navigator window displayed on the SmartPAD, press Edit, then Filter, then select which view you want to use.
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SkyeFire, I must be using Detail Mode because I see each individual file (.src and .dat).
Thanks for the replies.
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Unfortunately, the system that was giving me an issue went to the customer already so it is not available to me. I will check on the other KRC4s we have here.
One other data point: I was using the keyboard back on the first system that was working fine and it still is working fine (so I assume the keyboard it ok).
Thanks for the reply. When I learn more, I'll post.
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What is the value for SQ1_PINCE_FERMEE?
Is it FALSE so that NOT SQ1_PINCE_FERMEE is TRUE and you enter the WHILE/ENDWHILE block of statements?
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Hey everyone, Matt here, new KRL guy.
I've been working on the programming for a couple of different projects, both using KRC4s. To lessen all of the tapping on a SmartPAD with the stylus, I tired plugging in a USB keyboard into the SmartPAD.
On the first system, it worked great. I could enter special characters like $ and _ right from the keyboard -- much faster than using the stylus.
On the 2nd system, I wasn't able to enter these special characters $ and _, I had to tap the virtual keyboard on the SmartPAD to enter these characters. Kind of a pain and much slower. I was wondering why the same keyboard worked great on one system and not on the other. It must be a software issue between the 2 KRC4s or maybe the SmartPADs. Any ideas?
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Hey everyone, Matt here, newbie KRL guy.
How do you duplicate a module from the SmartPAD? I have a motion program that I would like to copy and save as another name. Then "touch-up" the points in the copy.
When I tried "Duplicate" under the Edit menu, the system duplicated just the .src file and not the .dat file also.
Then I tried doing a brute force Copy and Paste. Here's the steps I went through:
1) Made sure I was logged in as Expert
2) Created a new module and named it (both a .src and .dat files were created)
3) Selected the .src file to be copied. Did a BLOCK SELECT and highlighted all of the lines between the 2 HOME moves. Selected Edit, then COPY.
4) Selected the new .src file previously created, BLOCK SELECT the line after the first HOME move, then EDIT, PASTE.
When I did this procedure, the new file had one more line in it than the original.To compare the 2 files, I booted up WorkVisual, opened each program and copied and pasted the lines into 2 Notepad files. When I compare the files in the Notepad files, they are very different. I'm guessing that 2 different templates were used when the 2 modules were first created.
So my question stands. How do you make a copy of module?
thanks
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For all the new KRL programmers out there, a simple mistake I found myself making was using = instead of == in an IF statement.
When you use =, you're likely to get an error saying something like "block cannot be modified". If you run into this, consider trying ==.
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Thanks. I tried OPEN instead of SELECT and I was able to edit the IF statement.
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Hey everyone. Matt here and I am new to programming KUKA robots.
I am working on what I think should be a simple program. I am trying to edit a line of code. Here's the original line which works without errors:
IF (B_at_Robot AND Program_call) then ...
I need to change it to:
IF (B_at_Robot AND Program_call AND ValidJobNumber) then ....
When I change the line, I get an error "Block must not be modified KSS02008". Any ideas about what the problem is?
thanks