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+--- Thread: HOW TO PUT VARIABLES IN KRC4 PROGRAM HEADER ? (/Thread-HOW-TO-PUT-VARIABLES-IN-KRC4-PROGRAM-HEADER)
如何把变量KRC4 PROGRAM HEADER ?-GMA-08-06-2021
Hello,
I am wondering how to add new comments with variables in the KUKA KRC4 header program because I need this information in order to read it with an external python script.
For example :
Code:
&ACCESS RVP
&REL 1
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF ID57_8030_21JUL20 ( )
; GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
; INTERRUPT ON 3
;FOLD Initialise and set default speed
BAS (#INITMOV,0)
BAS (#VEL_PTP,100)
BAS (#ACC_PTP,20)
$VEL.CP=0.2
BAS (#TOOL,0)
BAS (#BASE,0)
;ENDFOLD
;;FOLD STARTPOS
;$BWDSTART = FALSE
;PDAT_ACT = PDEFAULT
;BAS(#PTP_DAT)
;FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
;BAS(#FRAMES)
;;ENDFOLD
$ADVANCE = 5
;FOLD ---- Quickly skip BCO ----
; PTP $AXIS_ACT
;ENDFOLD
;FOLD ---- GO HOME ----
; PTP {A1 0.000, A2 -90.000, A3 90.000, A4 0.000, A5 0.000, A6 0.000, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}
;ENDFOLD
;Description : FolderTest
;NumberSensor : 8
;Quantity : 12
;Customer : Foo
; Program generated by RoboDK v5.2.2 for KUKA KR 6 R900-2 on 20/07/2021 17:36:52
; Using nominal kinematics.
In this example, I add new comments between ";ENDFOLD" and ";Program generated" with variables. I can add theses comments in the KRC4 post processor but how can I put variables (FolderTest, 8, 12 ,Foo) in the final kuka programm?
Thank you
RE: HOW TO PUT VARIABLES IN KRC4 PROGRAM HEADER ?-Jeremy-08-06-2021
Hi GMA,
If you own a professional license of RoboDK, you can go to "Help"->"Request support" and ask for the KRC4 post-processor.
We will provide it and you can modify the header as you see fit.
Jeremy
RE: HOW TO PUT VARIABLES IN KRC4 PROGRAM HEADER ?-GMA-08-06-2021
Ok thank you I asked it this morning.