[Valentin BONNEAU]

Hello all. 

Didn't managed to find a topic on this so sorry if this has already been discussed.

I am working on a kuka robot with KRC4 post processor.

I modified it as follows : 

Code:

  # Set to True to include subprograms in the main program. Otherwise, programs can be generated separately.
    INCLUDE_SUB_PROGRAMS = True    # Set to True to include subprograms in the same file

    # Generate subprograms as new files instead of adding them in the same file (INCLUDE_SUB_PROGRAMS must be set to True)
    SUB_PROGRAMS_AS_FILES = False

so that when i generate my main program all the instructions are included instead of having multiple calls (I need this for a specific project).

The issue is that the program thus generated has  DEF ... instructions for every program included, which gives errors. How can I solve this issue (without modifying manually the program)?

Thanks

[Albert]

Did you use the KRC2 or KRC4 post processor?

Can you share your RoboDK project, the program generated after changing the post parameters and the edits that you need to do to make them work on the controller?

[Valentin BONNEAU]

Hi Albert.

Thanks for getting back to me.
I am using KRC4 postprocessor to matche my controller.

You can find attached the project and the program that it generates.
I have a python script that cleans it up afterwards (you can find also the cleaned up program attached for comparison), but I figured if we can do it inside robodk, would be better.

[Albert]

I believe the issue is that the post processor is not outputting the END statement before the new function definition when you include multiple programs in the same SRC file.

We are working to fix this. 

Can you check if the attached file works as desired?

[Albert]

You can find the fix with the updated KUKA post processor attached. Please let us know if this works as expected when embedding multiple programs.

Another important detail: special characters are ignored from the name (for example, X+ and X- are both exported as X, so one may override the other). Make sure to use unique names using ASCII characters.