Thanks for all the advice guys! quickest workaround I've found is to end all KRC programs using task manager, make edits with notepad then cold start. Maybe not the quickest , but I don't plan to edit config file that often.
Posts by werd54
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Thanks panic mode. I don't see any option to cancel the submit interpreter, any advice on where to look?
peterpeppke yes, you're probably right. If i figure out how to get rid of the Genisis software I'd remove it completely.
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The only file attribute selected is Archive... all others unchecked. I have no option for "open"..... the only options to open are "select" and "edit" both are soft keys at the bottom of the screen. Also the "S" does not change from green to grey as you say it should, the only time it changes is when I actually stop the interpreter. In fact, when I stop the interpreter it changes to red; then when I'm done editing the file it changes back to green.... really weird. I should ad that there is some third party software (Genesis?) running inside the robot software which could be the culprit for all the weird things going on.
With user level expert, no programs selected and from the robot explorer I click configure menu-> submit interpreter-> stop. Then on the left side explorer window I click on the robot icon then at the top of the screen choose file->robot->I highlight the config.dat file and click edit at the bottom of the screen. For now I am typing in comments from the keyboard and the teach pendant:
;keyboard test
;tp testthen choose close. It prompts to overwrite the file, then choose yes.
Then I use the same process to open the file and check it for the changes made. It appears with the previous edits present, but after a few seconds the screen refreshes and any edits made are erased.I've also used windows explorer to navigate to the KRC folder (C:\program files\krc\poweron\r1\config.dat or something really close to that) open the config.dat file using notepad and make edits there. When I use this process the edits remain as long as it's opened in notepad. When I open in the robot explorer no changes are there. Then going back to windows explorer and opening with notepad the file has changed back to it's original state.
This is driving me crazy, willing to try anything at this point.
Once again many thanks -
krc1 controller
GUI V 2.2.8
KS V2.38_8
KR 6_1I need to add usertech and global variables to my confi.dat file but each time I edit it the changes aren't saved.
I've tried many different combinations of saving from external editors and stopping the submit interpreter but to no avail. It just goes back to the original file no matter how I change it. Even tried using the teach pendant to modify as suggested here:https://www.robot-forum.com/robotforum/kuk…t-forum/saving-$config-dat-submit-interpreter-cancelled-still-changes-not-updated/
Any and all advice/documentation is greatly appreciated.
Also I have never been able to find a manual marked specificallly for KRC1... so if anyoneknows where I can find please let me know.
Thanks -
I'm fairly new to robot programming and I'm trying to write a simple program using touch sensing on the teach pendant (KR 6/1 robot, KRC1 controller, VxWorks V2.2.8). Ultimately I'd like to use offline programming with touch sense to increase efficiency. As far as I can tell the structure for using the touch sense to offset points is something like this:
PTP to a point close to surface
PTP touchsense command and store in CD1 variable
CORR offset following points using CD1
PTP
A bunch of offset points
PTPHOME
Endwhen I run this program the touch sense line executes as expected. The welding wire approaches the work-piece touches then goes back to start pos. However all of the points after the CORR command are unchanged in anyway. I get a message that goes something like the CORR data was changed successfully with NULL FRAME (paraphrased). The rest of the program is executed with no errors.
Can someone tell me how to get these points to shift? Attached are the actual program files.
Thanks