Hi,
This one is a little more KRL than PRC. I have a lovely pick and place setup in PRC based on the tutorial file. That works with manual air, but I'm attempting to use the code that the spindle uses when picking up a tool - in my mind this should work - to turn on and off our KUKA's air.
OpenCollet
GLOBAL DEF OpenCollet()
; Stop the spindle if it is running
Spindle(0)
WaitForAir()
; Open the collet
doRobCellSpindRel = TRUE
WaitForColletOpen()
END
;ENDFOLD
;FOLD CloseCollet
GLOBAL DEF CloseCollet(WaitForTool : IN)
DECL BOOL WaitForTool, WaitForToolD
WaitForToolD = TRUE
ON_ERROR_PROCEED
WaitForToolD = WaitForTool
; Stop the spindle if it is running
Spindle(0)
;WaitForAir()
; Close the collet
doRobCellSpindRel = FALSE
IF WaitForToolD THEN
WaitForColletClosed()
ENDIF
END
;ENDFOLD
This is not working - so I attempted to frankenstein the code which just threw up more errors.. any one have an ideas?
In my KUKA|PRC I have the custom KRL command ready - I just can't figure out the command I need?
I hope this is somewhat clear.
Hello,
If you are using global functions, don't put them again into the KRL file, but just call them via e.g. OpenCollet() in the KRL component.
You could also put functions into the code pattern in the settings, if you want to change them depending on the project.
Best,
Johannes