You can use the system variable $STOPNOAPROX = TRUE to debug. The robots stops when a approximation breaking instruction is encountered.
Posts by dexterv
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I didn't know the KUKA.Sim PRO trial is 150 days, I thought it was 90. Also whilst you are testing the full expert access - there are CS webinars to view, especially if you speak German.
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I am now trying to remove the vibrations in the case with no load and without load data.
What exactly do you mean here? What is the tool mass entered? And what type of robot is it, I might have missed this part? If you do not enter the correct tool mass, the robot assumes full payload and it could lead to oscillations.
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Also if you try to run the program in a virtual machine or with Remote desktop you will experience the problems you are having, nothing shown in the 3D view, Install the latest version 3.1.2 and on PC and run it straight.
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exactly as described in WoV manual:
I got that far a few times
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Can someone explain how are breakpoints in WoV used? Any manual or help file or any general guidance? So far I have not been able to break any program and the only way to achieve such debugging is to use HALTs.
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I know it doesn't support it natively. I was looking for a way to modify it to work, so far as you say it is proving to be impossible.
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This is exactly what I though since it's working in OPS, there has to be a way... Its just in OL the network configuration doesn't seem to do anything, The IP address for example is taken from the windows interface under the hood since the network configuration doesn't seem aware of the IP of the virtual machine.
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I am working with a PC software product that is to be connected to a KUKA robot via EthernetIP, but given the current situation in Europe I am unable to try it out on a real robot.
So I have been trying to see if I can get EthernetIP (EtherNetIP MS 3.1) running on OL 8.5 (KSS 8.5.7 HF1), The option package installs, I configure it as an adapter as usual in WoV, deploy the project and nothing happens afterwards. I am guessing it has to do with missing the KLI, but I am lost on how to proceed from here. If anyone has suggestions on what to do I will be grateful.
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Does the NumLock LED react to presses?
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You can either start with a clean OL image which would work or try making $ROBTRAFO[] the same as $TRAFONAME[] from the virtual pendant.
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It's what I meant, do not deploy the entire project to OL, just upload your program/s in Programming and Diagnosis Workspace with an online connection.
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Did you upload or change a project from WoV? If so this might be the problem. For the naming error you might check if $ROBTRAFO[] is the same as $TRAFONAME[]. They get mixed up if you use WoV to deploy changes while using the VRC interface. The connection with Sim Pro is quite fragile and my advice is to use the Online editor and not deploy projects to transfer programs to the virtual robot.
Edit: There is a KR9R1620_FLOOR in SimPro 3.1.1
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You should not start KRC on OL after you have installed the VRC interface. After installation you shutdown the KRC and you run it from SIM Pro, it will ask you for robot configuration and then you select your robot from the list.
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You need a converter, there are plenty to choose from.
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Which version of VMWare are you using? I have discovered the hard way that my OLs didn't work on versions 16 and up, so I am sticking to the latest 15.
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Panic is correct. For a good example of string/char-array manipulation, with bulletproofing against errors, I'd suggest looking at MSGLIB.SRC, which comes in every KRC4, located (usually) in /R1/System/.
I will definitely keep what you and panic mode mentioned about strings not being strings in mind and also study MSGLIB. tbex I used the ON_ERROR_PROCEED filtering for the value invalid error. I have not seen any errors afterwards. I needed $PRO_NAME1[] to make sure a certain program is loaded and I am also using $PRO_STATE1 for monitoring program execution.
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It is line 2 as SkyeFire suggested, It was very nice of KUKA to provide a weird line numbering for SNR value - I only found out after I figured it out in one manual they actually state to subtract the number of & lines from the line number, but not in the Systems variable manual. For some reason they do print $PRONAME instead of $PRO_NAME1[] which I cannot figure out why, even in KSS8.5.7 (I recreated it in OL).
I will test the solution when I get on site.
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Kuka does have it but i have never seen it installed on controllers i worked on.
Do you have any additional info about this, a quick search failed to provide any useful results.
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These are very useful ideas. I was also thinking that the problem is some asynchronicity happening. It is not line 2 though since I added it in order to make a single call to $PRO_NAME1[] instead of multiple calls in every IF. This reduced the frequency of the event, I will definitely try ON_ERROR_PROCEED.
But is there any chance that the VARSTATE is throwing the error (I guess I will check that with $INTERPRETER=1 when I have access to the robot)?
Also what is this variable anyway is it just the error not showing correctly or there is in fact $PRONAME[] without "_"?
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