Thanks for all the help!
I got it to work with this code. now i have to get the status and turn right 
fShiftedBase = $NULLFRAME ; init to all 0s
fShiftFrame = $NULLFRAME ; init to all 0s
FOR nXCounter = nXMin to nXMax
FOR nYCounter = nYMin TO nYMax
fShiftFrame.X = nXCounter * rXSize
fShiftFrame.Y = nYCounter * rYSize
; activate shifted Base
BASE_Data[1] = BASE_DATA[32] : fShiftFrame
POS
ENDFOR
ENDFOR
i give up! i´am stuck! i will never get it to work. 
I just made sure that fShiftedBase and fShiftFrame are at 0.
nXCounter, nYCounter is at 0
Base 32 is learned and made a copy of it to Base 1.
Made a Tuch up on my positions in Base 1.
And still get workspace error.
When I look at Base 1, the first round will be just like BASE 32.
but in the second loop it adds the whole of Base 32 again to Base 1, which gives me very high numbers of X, Y, Z 
Like I said, I'm noob at this but willing to learn
I've learned a BASE_DATA [32] as my original base
BASE_DATA [1] has no values. X, Y, Z, A, B, C = 0
The positions I learned are learned in BASE_DATA [1] when everything is set to Nullframe.
And when I test drive I get Workspace error.
I replace BASE_DATA [32] TO BASE_DATA [1]
It does not work completely but almost, it moves in the wrong direction;) and as you wrote it adds movement 100, 200, 300mm
But I'm not worried about that.
First run, i can se that BASE_DATA[32] and fShiftedBase moves in, BASE_DATA[1] but i get Workspace error.
I have a lot to learn I know! but must get it right!
i attached the new program
I have tested changing this line.
$ BASE = fShiftedBase
to:
$ BASE_DATA [2] = fShiftedBase (this one i get error)
BASE_DATA [2] = fShiftedBase
BASE_DATA [2] = BASE_DATA [2]: fShiftedBase
which code is correct?
I've been sitting with this for a long time now it feels like, things don't look so clear
Thanks for replay.
So far I understand.
it's just that I did not succeed, to get the robot to go after my calculated positions
I would love to get som help on my way with it.
i have banged my head at this for a week
Hello.
I Use KRL 8.3 and with a KUKA KR10 R1420. And could use som help.
this is my first experience of programming a Kuka Robot.
I can not understand why the robot does not shift position when I run the program that I have attached with.
A correction in the program so that it works would have been greatly appreciated!
/ Doe?
At first it was a little wrong written it should be 10, 15, 55 NOT 15.55
15.55 is not an INT, so much I know.
But to clarify, I have changed the Topic
And it is possible to make a change in the robot to be able to handle integers and Real
Got this shown on education at KUKA, but this I have managed to forget
SIGNAL Var_1 $ IN [100] TO $ IN [116] (word)
but if I do this the robot will still want it in binary from the PLC. That is what I want to change.
If the PLC sends 10 to the robot. will the robot read this as 10 (Ten) or 2 (two)
Hello.
I am stuck on how to do in the robot to be able to handle integers from a plc with profinet bus.
I do not want to send binary from PLC but be able to send example 10, 15, 55
Mr Daniel
Thanks for replay!
i think it are this way.
Our controller is supplied with a profinet device which means that it can be connected as a slave (device) for example to a PLC.
This means that if you want to place a profinet node on the arm, you can connect it to a PLC and mediate signals between the robot and the IO node with it.
I have download the GSDML file for the Profinet node but then i try to add it to DTM library i will not show up.
//Doe
Wonderfully! thanks for the help! veronicav
Was a little unsure if one does so in a professionally programming manner
209/5000
I would like to use a Siemens Profinet DIO node out on the robot, to control both inputs and outputs. via XPN3 (profinet)
But how do I figure this out in Work Visual? is it even possible?
I
241/5000
I have a small problem with jumping out of a picking pattern. to go and do something else.
and then continue to pick detail.
Example: Pick detail 1. jump out FOR LOOP. Do something else.
Then pick detail 2 and so on.
Or is it so easy to make the entire sequence in the For loop. The robot will be a slave during a PLC
attaches program to file
Thanks for the replay!
i downloaded the KUKA.WorkVisual_V4.0_Videotutorials but where were only .mp4 files. no program exampel.
And in the movies i can se that they use a cub_palettizing program.
Hello.
im new to the kuka world and i have i mission to setup a robot to pick parts from a loaded plate. X-Led 5 pices Y-Led 3 picec.
The sequens should look like somthing like this.
robot picks part from place 1. puts in machine. picks part 2. and so on.
Does anyone have a program exampel for this? i Read in the forum, skyfire hade posted som exampel of this. but i can´t find it.
greatful for help
//Daniel
