Posts by tomek_arcoba

  • Kuka Krc2 v5.5.16 - Arrays TouchUp

    yes I see it here, but when i open HELP-> FUNCTION You can see what additional function You have installed in robot. And in KSS 4.1 this window is empty and in KSS 5.5 i see what i have installed earlier. I think (but im not sure) in older KSS you don't need install these all function, everything is there as a standard.

    So, why if i have installed ExpertTech in KSS 5.5 i can't do that in the same way?

  • Kuka Krc2 v5.5.16 - Arrays TouchUp

    when i try create simply program like only few end points like e.g.


    src file


    DEF PROGRAM1()


    INI

    $TOOL=TOOL_DATA[1]

    $BASE=$WORLD

    $IPO_MODE=#BASE

    $APO.CDIS=30

    $APO.CPTP=90

    FOR I=1 TO 6

    $VEL_AXIS[I]=50

    ENDFOR


    PTP XHOME


    PTP POINT[1]

    PTP POINT[2]

    PTP POINT[3]


    PTP XHOME


    END



    DAT FILE

    DEFDAT PROGRAM1()



    DECL E6POS POINT[5]

    POINT[1]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0, S 0, T , E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0, E6 0.0}

    POINT[2]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0, S 0, T , E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0, E6 0.0}

    POINT[3]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0, S 0, T , E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0, E6 0.0}

    POINT[4]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0, S 0, T , E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0, E6 0.0}

    POINT[5]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0, S 0, T , E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0, E6 0.0}


    ENDDAT


    Earlier when i selected any line with end point in src file, when i pushed TouchUp button i got "unknow module" message . But now after i reinstalled ExpertTech when i select the same lines in program and try overwrite it using TouchUp button i don't get any error messages and and nothing happen

    no DIALOG QUERIES as a "do you really want to touch up point[1]" or something like this;/ and data of point are not overwrited

  • Kuka Krc2 v5.5.16 - Arrays TouchUp

    here is part of working fine program in krc v4.1



    and when i try use the same way in krc 5.5.16 its not working

  • Kuka Krc2 v5.5.16 - Arrays TouchUp

    hi,

    thanks for you replies. Yes i tried use arrays as end point for robot move and in older version( like krc v.4.1) in src file when i select line where is this point i can overwrite it using touchup button and everytngs work fine. I have reinstaled ExperTech again and now i don't get "unknown module" fault again, but when i use touchup button nothing is happend, no messages and no point data changes

  • Kuka Krc2 v5.5.16 - Arrays TouchUp

    Hi,

    i have in company Kuka Kr30 with KRC2 v5.5.16 and i have installed ExpertTech. I try to TouchUp points which i have declared in .dat file as E6POS arrays, and when i select this point in .src file and put TouchUp button i get message "unknown module". But when i write some values for this point in dat file i can move robot to this points in src. Maybe know You what i do wrong ??

    ( i use the same function in older robot v 4.2 and everythings works fine)

    e.g


    DEFDAT PROG1


    DECL E6POS POINT[5]

    POINT[1]={X 0.0, Y 0.0, Z 0.0, A 0.0, B 0.0 , C 0.0, S 0, T 0, E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0 E6 0.0}

    POINT[2]={X 0.0, Y 0.0, Z 0.0, A 0.0, B 0.0 , C 0.0, S 0, T 0, E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0 E6 0.0}

    POINT[3]={X 0.0, Y 0.0, Z 0.0, A 0.0, B 0.0 , C 0.0, S 0, T 0, E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0 E6 0.0}

    POINT[4]={X 0.0, Y 0.0, Z 0.0, A 0.0, B 0.0 , C 0.0, S 0, T 0, E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0 E6 0.0}

    POINT[5]={X 0.0, Y 0.0, Z 0.0, A 0.0, B 0.0 , C 0.0, S 0, T 0, E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0 E6 0.0}


    ENDDAT



    DEF PROG1()


    INI

    ......


    PTP XHOME

    PTP POINT[1]

    PTP POINT[2]

    PTP POINT[3]

    END

  • KUKA KRC2 - base_data changing

    Thankyou for Yours answear, i've been changed my idea for this aplication, and now i use BASE_DATA[1] =BASE_DATA[STATION_NUMBER], but i don't use CELL for change program automatically now. My superviser wannts change programs when machine work so i created program list in CONFIGMON.INI . In $config.dat i declared variables like this
    DECL CHAR PROGRAM1[8]
    PROGRAM1[]="pr. name"
    for all stations on my machine
    and in SPS.SUB
    CASE 1
    SWRITE(SELPROG[],STAT,OFFSET,PROGRAM1[],0)
    SWRITE(SELPROG[],STAT,OFFSET,"()",0)
    CASE 2
    SWRITE(SELPROG[],STAT,OFFSET,PROGRAM2[],0)
    SWRITE(SELPROG[],STAT,OFFSET,"()",0)
    ...
    ...
    IF $IN[10]==TRUE THEN
    CWRITE($CMD,STAT,MODE,SELPROG[])
    ENDIF


    IF(WYJSCIE==TRUE) THEN
    CWRITE($CMD,STAT,MODE,"STOP 1")
    CWRITE($CMD,STAT,MODE,"CANCEL 1")
    ENDIF


    So i can now change programs in CONFIGMON when i wannt but when program is finish and command CWRITE start new program a have message 1460 :Deleting trace, no backward motion possible.
    Maybe You now what i schould change because i have to much messages now:)
    Thanks

  • KUKA KRC2 - base_data changing

    HI,
    I have machine with 36 station and everyones have differend position and i use for this 5 programs which will be exchange on this stations so i try use for this BASE_DATA[] to teach this position of station. I got 37 BASE_DATA in config.dat and then i taugh this BASE in 3-point method. I use CELL to automatically change programs and for 36 CASES(between P00 and my program) i got BASE_DATA[1]=BASE_DATA[STATION_NR]. My program i made using BASE_DATA[1] and TOOL_DATA[1] which i set in edit point -> FRAME. When robot start work, BASE_DATA[1] is overwrite in config.dat but robot perform my program in not right position.Maybe is any other method to do this or maybe i made something wrong
    Please help.

Advertising from our partners