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HOW TO PUT VARIABLES IN KRC4 PROGRAM HEADER ?
#1
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
#2
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
Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel


#3
Ok thank you I asked it this morning.
  




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