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Create Module for Bmw Kuka Robot

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

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

Re: Create Module for Bmw Kuka Robot

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

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

Re: Create Module for Bmw Kuka Robot

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

 

Solution
Solution
Accepted by topic author RobSimCoder
‎06-08-2016 07:08 AM

Re: Create Module for Bmw Kuka Robot

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

Hi

 

Thanks that was it both ops with running