$TOOL_DIRECTION may be changed if you wish before to make a tool calibration, for example, tool 1 with ABC 2-point method.
Change #X for #Z and perform this calibration of your tool 1, then the ABC of tool 1 will probably be not all 0, but you will see the difference during the jogging with selected tool 1.
Try something like on the picture
Did you check if your ToolCorecction represents Z of previous position ?
ToolLenght_1=ToolCorecction-Z1.Z
In TOOLM(), more likely, it must be :
ToolLenght_1=StartPos - Z1.Z
Did you checked APO_DIST in LCPDAT12 ?
SLIN ToolpathData[stepCounter] WITH $APO = SAPO(LCPDAT12) C_DIS
that is the problem with inline forms. and if one is forced to stick with inline forms, one option is to make own set of inline form motions that do whatever you really need them to do.
Do I need to use UserTech option to make an inline form?
If you have more than one program, you probably need to check program name to not reset all the programs in T1 after EXT.
Probably, you can use Ethernet built-in feature on FX5 CPU module and on your KR C2 controller to establish the communication (without adding some extras cards).
Panic mode, thanks a lot for this information!
Unfortunately, even if I use common LDAT, each SLIN (or LIN) motion has its own robot velocity, and I need to open each inline form to edit it.
I need to keep all the motions with its inline form.
In the same time, robot velocity is to set on a small HMIeasy interface.
Actually, I have just one idea, to put some code in bas.src.
Maybe there is another solution...
Yes, it is possible. In my case, I use sps, and in T1 mode the program becomes reset if there is an active jog motion
Hi,
There are a few LIN / SLIN motions with inline forms and the same programmed velocity at all time.
Is it possible to change programmed velocity for all motions by just one action on the pendant?
Thanks
I use WorkVisual 5.0 or 6.0 and usually it takes to choose Configuration and commissioning on the bottom in the left corner, than to click File -> Browse for project.
In new window you will see you cell name and a list of the projects. Normally, your actual project is on the top of the list.
Than try :
I prefer to always import from the controller, save, save a new version, make changes, then deploy to the controller.
And If it is declared as
DECL INT iModel
in a program you will never forget to initialize it (with a value what you need) before to use... 
As an option, you can store point name in addition in a CHAR array and declare your points as one array point.
Than you use an index to identify a point and its second name from the CHAR array:
DECL E6POS XMyPoint[10] ; or DECL E6AXIS...
XMyPoint[1] = {X ..., Y ..., Z ..., A ..., B ..., C ..., ...}
XMyPoint[2] = {X ..., Y ..., Z ..., A ..., B ..., C ..., ...}
....
XMyPoint[10] = {X ..., Y ..., Z ..., A ..., B ..., C ..., ...}
DECL CHAR MyPoint_name[10,32]
MyPoint_name[1,] = " MyPoint_1"
MyPoint_name[2,] = " MyPoint_2"
....
MyPoint_name[10,] = " MyPoint_10"
_________________________________________
...
LIN XMyPoint[1]
...
SWRITE(POS_NAME[], STATE, OFFSET, MyPoint_name[1,])
XCurrentposition=$axis_ACT
XHomebetween.A1=XCurrentposition.a1
MoveJ(XHomeBetween, speedjointH, cnt100, T1, B1)
If robot A1 value of previous position is always good, you can use a temporary E6AXIS or AXIS :
XTempPos = XRobotPrevPos
PTP XTempPos C_DIS
.........
XTempPos = XHomebetween
XTempPos.A1 = XRobotPrevPos.A1
MoveJ(XHomebetween, speedjointH, cnt100, T1, B1)
In this case, you don't need of $AXIS_...
panic mode,
I'll check it all out.
Thanks
I'm sorry, but if it takes 40 sec per load, I'm not efficient with 20 loads per hour.
I do not change robot project.
When I work in WorkVisual V5.0.10 to transfer changes to controller in Programming and diagnosis.
I can compare this process on two identical robots. The 1st one is often in use and has a lot of programs. The 2nd one is not so popular...
Roughly speaking, 40 seconds vs.. 3 seconds respectively to load a program.
Ok, I can specify my question.
What of these affects to a greater extent the time of each program load :
- large number of user global variables (already on controller),
- a lot of stored programs on controller at the same time,
- the size of program to load (more than 10 KB, for example),
- the kind of instructions in program to load,
- the number of subroutines in program to load,
- other..
Thanks
Hi,
I have a small question and I think, probably, it will be correct to post here
I use WoV V5.0.10.
With the time, I see that to transfer changes (in Programming and diagnosis) takes more time than early.
What can be the reason?
I need to find a good solution and I try in this order:
1. to use standard input (BeckHoff), if not working,
2. to use Fast input (must to buy a KUKA cable?),
3. the sensor will be connected to PLC it is not preferred, but possible.
For the 1st point:
I have two extended interpreters. One is to count the pulses by calling an interrupt inside it.
The second one is to note the time between the pulses and I choose between which pulses exactly I want to know the time interval.
Normally, it works better if it counts every 4th (or more - 8th, 16th) pulse and it is good for fast spinning, but with low spinning there is a disadvantage.
Other idea for my first point? ( I could test your solution)
