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Create Module for Bmw Kuka Robot

Valued Contributor
Valued Contributor

Hi

 

I am trying to create a simple module for BMW kuka using PS12.1.3 and Tecnomatix_12.1.3_KUKA_KRC_BMW_64BIT_v2.21_05_02_2016

 

But I am getting inconsistant behavour for example

DEF TESTWAIT

WAIT FOR $IN[1]

END

 

But if this is the used in the first point in the operation it just goes over it and if I use it in the next point it waits.

Finally if I change it to

DEF TESTWAIT

WAIT FOR $IN[1]

WAIT FOR $IN[1]

END

 

It now does wait with the double wait added on the first point

 

Thanks any help would be great

 

6 REPLIES

Re: Create Module for Bmw Kuka Robot

Siemens Phenom Siemens Phenom
Siemens Phenom

Do you have the simulation trace? Maybe $IN[1] is true at the first point?

Re: Create Module for Bmw Kuka Robot

Valued Contributor
Valued Contributor

HI

 

Please see below

 

[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: # NotifyCallFunctionExecutionStarted Plc_AreaReq
[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: WAIT FOR $IN[1]==TRUE
[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: Simulate WAIT FOR $IN[1]==TRUE
[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: Evaluate signal $IN[1]: False
[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: Waiting for signal expression $IN[1]==TRUE
[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: NotifySimulationEvent WaitSignal: ON)
[kr240r2500prime][MOP][1.155][DBG] (Weld) via1: OnLocationReached
[kr240r2500prime][MOP][1.155][DBG] (Weld) via1: # NotifyCallFunctionExecutionEnded Plc_AreaReq
[kr240r2500prime][MOP][1.155][DBG] (Weld) via1: # NotifyProcessingTargetEnded via1
[kr240r2500prime][MOP][1.155][DBG] (Weld) via1: Notify ProcessingTargetEnded via1
[kr240r2500prime][MOP][1.155][DBG] (Weld) via2: Notify ProcessingTargetStarted via2

Thanks

 

 

 

Re: Create Module for Bmw Kuka Robot

Siemens Phenom Siemens Phenom
Siemens Phenom

Can you show it from start? This "OnLocationReached" after the waiting for signal is very suspicious...

Re: Create Module for Bmw Kuka Robot

Valued Contributor
Valued Contributor

Hi

 

Errors:

Robot kr240r2500prime simulated by operation Cell is already simulated by operation Weld.

[kr240r2500prime][MOP][0.000][DBG] (Weld): Parsing procedure Plc_CollSafetyReq1 from module PLC.src OK.

[kr240r2500prime][MOP][0.000][DBG] (Weld): Parsing procedure Plc_CollSafetyClear1 from module PLC.src OK.

[kr240r2500prime][MOP][0.000][DBG] (Weld): Parsing procedure Plc_AreaPreReq from module PLC.src OK.

[kr240r2500prime][MOP][0.000][DBG] (Weld): Parsing procedure Plc_AreaReq from module PLC.src OK.

[kr240r2500prime][MOP][0.000][DBG] (Weld): Parsing procedure Plc_AreaRelease from module PLC.src OK.

[kr240r2500prime][MOP][0.000][DBG] (Weld): Parsing procedure Plc_JobReq from module PLC.src OK.

[kr240r2500prime][MOP][0.000][DBG] (Weld): Parsing procedure Plc_Job from module PLC.src OK.

[kr240r2500prime][MOP][0.000][DBG] (Cell): # NotifySubOperationExecutionStarted Cell

[kr240r2500prime][MOP][0.000][DBG] (Cell): # CallPath Weld

[kr240r2500prime][MOP][0.000][DBG] (Cell): Calling Operation Weld

[kr240r2500prime][MOP][0.000][DBG] (Cell): # NotifyCallPathExecutionStarted Weld

[kr240r2500prime][MOP][0.000][DBG] (Cell): # NotifySubOperationExecutionStarted Weld

[kr240r2500prime][MOP][0.000][DBG] (Cell): Notify SubOperationExecutionStarted Weld from Cell

[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: Notify ProcessingTargetStarted via1

[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: NotifySimulationEvent MotionToLocation via1: ON

[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: Move to loc via1 (Weld)

[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: Set MotionType Joint

[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: Set MotionControlType ByPercentage

[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: Set ControlParameter 1

[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: Set Zone fine

[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: RegisterToLocationReachedNotification Exact

[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: # NotifyMovingToTargetEnded via1

[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: NotifySimulationEvent MotionToLocation via1: OFF

[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: Plc_AreaPreReq (1)

[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: Simulate Plc_AreaPreReq (1)

[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: Simulating Robot module procedure Plc_AreaPreReq

[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: # NotifyCallFunctionExecutionStarted Plc_AreaPreReq

[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: # NotifyCallFunctionExecutionEnded Plc_AreaPreReq

[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: Plc_AreaReq (1,0,0,0,False)

[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: Simulate Plc_AreaReq (1,0,0,0,False)

[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: Simulating Robot module procedure Plc_AreaReq

[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: # NotifyCallFunctionExecutionStarted Plc_AreaReq

[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: WAIT FOR $IN[1]==TRUE

[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: Simulate WAIT FOR $IN[1]==TRUE

[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: Evaluate signal $IN[1]: False

[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: Waiting for signal expression $IN[1]==TRUE

[kr240r2500prime][MOP][0.000][DBG] (Weld) via1: NotifySimulationEvent WaitSignal: ON)

[kr240r2500prime][MOP][1.155][DBG] (Weld) via1: OnLocationReached

[kr240r2500prime][MOP][1.155][DBG] (Weld) via1: # NotifyCallFunctionExecutionEnded Plc_AreaReq

[kr240r2500prime][MOP][1.155][DBG] (Weld) via1: # NotifyProcessingTargetEnded via1

[kr240r2500prime][MOP][1.155][DBG] (Weld) via1: Notify ProcessingTargetEnded via1

[kr240r2500prime][MOP][1.155][DBG] (Weld) via2: Notify ProcessingTargetStarted via2

[kr240r2500prime][MOP][1.155][DBG] (Weld) via2: NotifySimulationEvent MotionToLocation via2: ON

[kr240r2500prime][MOP][1.155][DBG] (Weld) via2: Move to loc via2 (Weld)

[kr240r2500prime][MOP][1.155][DBG] (Weld) via2: Set MotionType Joint

[kr240r2500prime][MOP][1.155][DBG] (Weld) via2: Set MotionControlType ByPercentage

[kr240r2500prime][MOP][1.155][DBG] (Weld) via2: Set ControlParameter 1

[kr240r2500prime][MOP][1.155][DBG] (Weld) via2: Set Zone fine

[kr240r2500prime][MOP][1.155][DBG] (Weld) via2: RegisterToLocationReachedNotification Exact

[kr240r2500prime][MOP][1.570][DBG] (Weld) via2: Simulation stopped

[kr240r2500prime][MOP][1.570][DBG] (Weld) via2: Simulation stopped

 

Re: Create Module for Bmw Kuka Robot

Siemens Phenom Siemens Phenom
Siemens Phenom

Can you first fix this error?

Robot kr240r2500prime simulated by operation Cell is already simulated by operation Weld.

Re: Create Module for Bmw Kuka Robot

Valued Contributor
Valued Contributor

Hi

 

Thanks that was it both ops with running