KRL-Conditions and -Loops with KUKA|prc ?

[wto]

Hello,

Is there an easy way to use KRL-conditions (IF, SWITCH / CASE,...) and loops (FOR, WHILE, REPEAT,...) in KUKA|prc?

Simple example:
I want to run a series of LIN motions n times through a FOR-loop with counter variable and increase the Z-coordinates of each LIN per iteration (e.g. P.Z = n*100).

Thanks a lot!

[Johannes @ Robots in Architecture]

Hi,

Sure, you can just use the Custom KRL component to insert the structure.
Just note that it won't be simulated if it's just in the Custom KRL component.

Best,
Johannes

[wto]

Hi Johannes,

Thanks a lot.

Are there examples in KUKA|prc where custom Softkey-Dialogs were implemented as part of a ROB-procedure (via $MSG_T ?) – e.g. to have the user decide whether to increase the loop count or not and therefore repeat the last or go for the next iteration?

With a snippet like the following:

;-------- Softkey Dialog --------
DECL INT ANSW
DECL BOOL REPEAT_THIS

      $MSG_T.VALID   = FALSE
      $MSG_T.RELEASE = FALSE
      $MSG_T.TYP     = #DIALOG
      $MSG_T.KEY[]   = "Loop finished"
      $MSG_T.DLG_FORMAT[] = "0 Repeat|1 Next"
      $MSG_T.ANSWER  = 0

      $MSG_T.VALID = TRUE
      WAIT FOR ($MSG_T.VALID == FALSE)

      ANSW = $MSG_T.ANSWER
      IF ANSW == 1 THEN
         ; 0 Repeat -> repeat same iteration, n=n
         REPEAT_THIS = TRUE
      ELSE
         ; 1 Next -> next iteration, n=n+1
         REPEAT_THIS = FALSE
      ENDIF

[Johannes @ Robots in Architecture]

Hmm... I don't think your code is accessing the softkeys, it just shows a dialog box. Which I think is the better approach than using the softkeys on the side.

I would also tend to make that accessible by all programs and then just call the method from the Custom KRL component in KUKA|prc.
Regarding the KRL, I'd say this is a typical AI question by now - possibly also taking a look at robot-forum!

Best,
Johannes