KST UserTech 31 En

KUKA System Technology

KUKA.UserTech 3.1 For KUKA System Software 8.2

Issued: 13.12.2010 Version: KST UserTech 3.1 V1 en

KUKA Roboter GmbH

KUKA.UserTech 3.1

© Copyright 2010 KUKA Roboter GmbH Zugspitzstraße 140 D-86165 Augsburg Germany This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of KUKA Roboter GmbH. Other functions not described in this documentat ion may be operable in the controller. Th e user has no claims to these functions, however, in the case of a replacement or service work. We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a regular basis, however, and necessary corrections will be incorporated in the subsequent edition. Subject to technical alterations without an effect on the function. Translation of the original documentation KIM-PS5-DOC

Publication: Bookstructure: Label:

2 / 81

Pub KST UserTech 3.1 en KST UserTech 3.1 V1.1 KST UserTech 3.1 V1 en


KUKA.UserTech 3.1

© Copyright 2010 KUKA Roboter GmbH Zugspitzstraße 140 D-86165 Augsburg Germany This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of KUKA Roboter GmbH. Other functions not described in this documentat ion may be operable in the controller. Th e user has no claims to these functions, however, in the case of a replacement or service work. We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a regular basis, however, and necessary corrections will be incorporated in the subsequent edition. Subject to technical alterations without an effect on the function. Translation of the original documentation KIM-PS5-DOC

Publication: Bookstructure: Label:

2 / 81

Pub KST UserTech 3.1 en KST UserTech 3.1 V1.1 KST UserTech 3.1 V1 en


Contents

Contents 1

Introduction ..... ....... .... ..... ..... ..... ...... ..... ..... ..... .... ..... ...... ..... .... ..... ..... ..... ..... .... ..... ..... ..... ...... ..... ..... ..... ..... ..... ..... ..... .... ..... ..... ..... ..... .... ..... ..... ..

7

1.1 1.2 1.2 1.3 1.3 1.4 1.5

Target gr group .... ...... ..... ...... ..... .... .... .... ..... ...... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... ..... ..... ..... ..... .... .... .... ..... ..... .... .... .... ..... ... Indu Indust stri rial al rob robot ot doc docum umen enta tatition on .... ...... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... Repr Repres esen entat tatio ion n of of war warni ning ngss and and note notess .... ...... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .. Terms used .... ...... .... ..... ..... .... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... ..... ...... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... ..... ...... ..... Trademarks .... ...... .... ..... ..... .... .... .... ..... ...... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... ..... ...... ..... .... .... .... ..... ...... ..... .... .... ..... ..... .... ..

7 7 7 8 8

2

Product description .... ...... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... ....

9

2.1 2.1

Over Ov ervi view ew of User UserTe Tecch ..... ....... .... .... ..... ..... .... .... .... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... ..... ...... ..... .... .... ..... ..... .... .... ..... .....

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3

Safety ....... ........... ........ ....... ....... ....... ....... ....... ....... ....... ....... ........ ....... ....... ........ ....... ....... ........ ........ ........ ....... ....... ........ ....... ....... ........ ....... ....... ...... ..

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4

Installation ..... ....... .... ..... ..... ..... ..... .... ..... ..... .... ..... ..... ..... ..... .... ..... ..... ..... ..... .... ..... ...... ..... .... ..... ..... ..... ...... ..... ..... ...... ...... ..... ..... ..... .... ..... ..... ....

13

4.1 4.1 4.2 4.2 4.3 4.3

Sys System tem requ requir irem emen ents ts ..... ....... .... ..... ..... .... .... .... .... ..... ..... .... .... .... ..... ..... .... .... ..... ...... ..... .... .... ..... ..... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... ..... ..... .... .... .... Inst Instal alliling ng or or upda updatiting ng Use UserT rTec ech h .... ....... ..... .... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... ..... ...... ..... .... .... ..... ..... .... .... ..... ..... ..... ..... .... .... .. Uni Uninsta nstallllin ing g Use UserT rTec ech h .... ...... ..... ..... .... .... ..... ..... .... .... ..... ..... ..... ..... .... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... ..... ..... .... .... .... ..... ..... .... .... .... ..... ...

13 13 13

5

Operation ..... ........ ..... .... ..... ..... ..... ..... .... ..... ..... .... ..... ..... ..... ...... ...... ..... ..... ..... ..... ..... ..... ..... .... ..... ..... ..... ..... .... ..... ...... ..... .... ..... ..... ..... ..... .... ..... .....

15

5.1 5.1

Refr Refres eshi hing ng User UserTe Tech ch .... ....... ..... .... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... ..... ..... .... .... ..... ...... ..... .... .... .... ..... ..... ....

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6

Programming ...... ........ ..... ...... ...... ..... ..... ..... .... ..... ..... ..... ..... .... ..... ..... .... ..... ...... ..... ..... ...... ..... ..... ..... .... ..... ..... ..... ..... ..... ..... ..... ..... .... ..... ..... ..

17

6.1 6.1 Ov Over ervi view ew of KFD KFD synt syntax ax .... ...... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... ..... ...... ..... .... .... ..... ..... 6.2 Symbols and fon fonts ....... .......... ...... ...... ....... ....... ...... ....... ........ ....... ...... ....... ....... ...... ...... ....... ....... ...... ...... ....... ....... ...... ....... ....... ....... ....... ...... ...... ....... ...... 6.3 Important KF KFD te terms .... ...... .... ..... ..... .... .... ..... ..... .... .... ..... ..... ..... ..... .... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... ..... ..... .... .... .... ..... ..... .... .... .... ..... ... 6.3.1 Special characters .... ...... .... ..... ..... .... .... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... ..... ..... .... .... ..... ...... ..... .... .... .... 6.3.2 Strings ...... ......... ...... ....... ....... ...... ...... ....... ....... ...... ...... ....... ....... ...... ...... ....... ....... ...... ...... ...... ....... ....... ...... ...... ....... ....... ...... ...... ....... ....... ....... ........ ....... ...... ..... 6.3. 6.3.3 3 Param aramet eter er ref refer eren ence ce pla place ceho hollder der .. ..... ..... .... .... ..... ..... .... .... .... ..... ..... .... .... ..... ..... .... .... ..... ..... .... .... .... ..... ...... ..... ..... ..... ..... ..... ..... ..... 6.3. 6.3.4 4 Nami Naming ng conv conven enti tion onss and and keyw keywor ords ds .... ...... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .. 6.3.5 Simple data types .... ....... ..... .... .... ..... ..... .... .... ..... ..... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... .... ..... ...... ..... .... .... ..... ..... .... .... .... .... ..... ...... ..... .... .... .... 6.3.6 Areas of validity ...... .......... ....... ...... ...... ....... ....... ...... ...... ....... ....... ...... ...... ....... ....... ...... ...... ....... ....... ...... ...... ....... ........ ....... ....... ....... ...... ...... ....... ...... 6.4 6.4 Prog Progra ramm mmin ing g a tech techno nolo logy gy pac packa kage ge .... ...... .... ..... ..... .... .... ..... ..... ..... ..... .... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... ..... ..... .... .... .... .... .... 6.4.1 Desi Desig gning th the te technology .... ...... .... ..... ..... .... .... ..... ...... ..... .... .... ..... ..... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... ..... ..... .... .... ..... ..... ..... ..... .... .... .. 6.4.2 Creating a KF KFD fifile .... ...... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... ..... ..... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... ..... ...... ..... .... .... .... ..... ..... .... 6.4.3 DEFTP ... ENDTP .... ...... ..... ...... ..... .... .... .... .... ..... ..... .... .... .... ..... ...... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... ..... ..... 6.4.4 DECL PARAM ...... ......... ....... ....... ...... ...... ....... ....... ....... ........ ....... ...... ....... ........ ....... ...... ...... ....... ....... ...... ....... ....... ...... ...... ....... ....... ...... ...... ....... ...... .. 6.4.5 Field types ...... .......... ....... ...... ...... ....... ....... ...... ....... ........ ....... ...... ....... ........ ....... ...... ....... ....... ...... ...... ....... ....... ....... ........ ....... ...... ....... ........ ....... ...... ...... ... 6.4. 6.4.5. 5.1 1 Stat Static ic fiel field d type type ....... ........... ....... ...... ....... ........ ....... ....... ....... ...... ...... ....... ....... ...... ....... ........ ....... ...... ....... ........ ....... ...... ....... ....... ....... ........ ....... ...... ..... 6.4. 6.4.5. 5.2 2 Free Free fiel field d typ type e ....... .......... ...... ...... ....... ....... ...... ...... ....... ....... ...... ....... ....... ....... ........ ....... ...... ....... ....... ...... ...... ....... ....... ...... ....... ........ ....... ...... ....... ...... .. 6.4. 6.4.5. 5.3 3 Fiel Field d ty type Name ame ....... .......... ...... ....... ....... ...... ...... ....... ....... ...... ...... ....... ....... ...... ...... ....... ....... ...... ....... ....... ...... ...... ....... ....... ...... ....... ....... ...... ....... ...... 6.4. 6.4.5. 5.4 4 Fiel Field d type type Numb Number er .... ...... .... ..... ...... ..... .... .... .... .... ..... ..... .... .... .... ..... ...... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... ..... ..... ..... ..... .... .... .. 6.4. 6.4.5. 5.5 5 Fiel Field d ty type REAL ....... .......... ...... ....... ....... ...... ...... ....... ....... ...... ...... ....... ....... ...... ...... ....... ....... ...... ...... ....... ....... ...... ...... ....... ....... ....... ....... ...... ...... ..... .. 6.4. 6.4.5. 5.6 6 Fiel Field d ty type List ist ....... .......... ...... ...... ....... ....... ...... ....... ........ ....... ...... ....... ....... ...... ...... ....... ....... ....... ........ ....... ...... ....... ........ ....... ...... ....... ....... ...... ...... ...... ... 6.4. 6.4.5. 5.7 7 Fiel Field d ty type BOOL BOOL ..... ....... .... .... .... .... ..... ..... .... .... .... .... ..... ...... ..... .... .... ..... ..... .... .... .... .... ..... ...... ..... .... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... .... ..... ..... 6.4.6 DECL FOLD ....... .......... ...... ....... ....... ...... ...... ...... ....... ....... ...... ...... ....... ....... ....... ........ ....... ...... ...... ....... ....... ...... ...... ....... ....... ...... ...... ....... ........ ....... ...... ... 6.4.7 Generating KRL code ...... ........ .... .... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... ..... ..... .... .... ..... ..... .... .... .... .... .. 6.4.8 DECL INLINEFORM ..... ....... .... ..... ...... ..... .... .... ..... ..... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... .... ..... ..... .... 6.4.9 Format types ...... ......... ...... ...... ....... ....... ...... ...... ....... ....... ...... ....... ....... ...... ....... ....... ...... ...... ....... ....... ...... ....... ........ ....... ...... ...... ....... ....... ...... ....... ....... ... 6.4. 6.4.9. 9.1 1 Form Format at type type WYSI WYSIWY WYG G ..... ....... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... ..... ...... ..... .... .... ..... ..... .... .... .... .... ..... .....


17 17 18 18 19 19 20 20 20 21 21 22 22 23 24 24 24 24 25 26 27 29 30 31 31 32 32

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6.4. 6.4.9. 9.2 2 Form Format at type type SUB .... ...... ..... ..... .... .... ..... ..... .... .... ..... ...... ..... .... .... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... ..... ..... .. 6.4. 6.4.9. 9.3 3 Form Format at typ type e DSU DSUB B ..... ....... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... ..... ...... ..... .... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... ..... ..... .... .... 6.4. 6.4.9. 9.4 4 Form Format at type type FCT FCT .... ...... .... ..... ..... .... .... .... .... ..... ..... .... .... .... ..... ..... .... .... ..... ...... ..... .... .... ..... ..... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... ..... ..... .... .... ..... ... 6.4. 6.4.9. 9.5 5 Form Format at typ type e DFC DFCT T ..... ....... .... ..... ..... ..... ..... .... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... ..... ...... ..... .... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... 6.4. 6.4.9. 9.6 6 Form Format at type type ASS .... ...... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... ..... ..... .... .... ..... ...... ..... .... .... ..... ..... .... .... .... ..... ..... .. 6.4. 6.4.9. 9.7 7 Form Format at type type ASSA ASSAGG GG .... ....... ..... .... .... .... .... .... ..... ..... .... .... .... .... .... .... ..... ..... .... .... .... .... .... .... ..... ..... .... .... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .. 6.5 6.5 Prog Progra ramm mmin ing g par param amet eter er list listss ... ..... .... ..... ..... .... .... .... ..... ..... .... .... ..... ..... .... .... ..... ..... .... .... .... ..... ..... .... .... ..... ..... .... .... ..... ..... .... .... .... ..... ..... .... .... 6.5.1 DECL PARAM PL_ .. ..... ..... .... .... .... .... ..... ..... .... .... ..... ..... .... .... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... ..... ..... .... .... .... ..... ..... .... .... ..... ..... .... .... .. 6.5. 6.5.2 2 Defi Defini ning ng the the str struc uctu ture re data data type type ..... ....... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... .... ..... ...... ..... .... .... ..... ..... .... .... .... .... 6.5.3 DECL PLIST ...... ......... ....... ....... ...... ....... ....... ...... ...... ....... ....... ...... ...... ....... ....... ...... ....... ....... ...... ...... ....... ....... ....... ....... ...... ...... ....... ....... ...... ....... ....... ... 6.6 6.6 Prog Progra ramm mmin ing g tec techn hnol olog ogyy key keyss ..... ....... .... .... ..... ..... .... .... .... ..... ..... .... .... ..... ..... .... .... .... ..... ..... .... .... ..... ..... .... .... ..... ..... .... .... .... ..... ...... ..... ..... ... 6.6. 6.6.1 1 Desi Design gnin ing g the the tec technol hnolog ogyy keys keys .... ....... ..... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... .... ..... ...... ..... .... .... ..... ..... .... 6.6.2 DECL STATKEY .... ...... ..... ...... ..... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... ..... ...... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... ..... ...... ..... .... .... ..... ..... .... .... .. 6.6. 6.6.2. 2.1 1 Requ Requir ired ed ima image ge siz sizes es ..... ....... .... .... ..... ..... .... .... ..... ..... .... .... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... ..... ..... .... .... .... ..... ..... .... .... ..... ..... .... .... .. 6.6.2.2 6.6.2.2 Determ Determini ining ng the deci decimal mal value value for for activat activation ion optio options ns ............ ............. ............ ............. ..... 6.6.3 DECL STATKEYBAR .... ...... .... ..... ..... .... .... .... ..... ..... .... .... .... .... .... ..... ..... .... .... .... .... .... .... ..... ..... .... .... .... .... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... 6.6.4 SET ...... ......... ....... ....... ...... ....... ....... ...... ...... ....... ....... ...... ....... ....... ...... ...... ....... ....... ...... ...... ....... ....... ...... ....... ....... ...... ....... ....... ...... ....... ....... ...... ...... ....... ....... ... 6.7 6.7 Progr rogram ammi ming ng scri script ptss .... ...... .... ..... ..... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... .. 6.7.1 DEFSCRIPT … ENDSCRIPT ..... ....... .... .... .... ..... ...... ..... ..... ..... ..... ..... ..... ...... ..... .... .... .... ..... ..... .... .... ..... ..... .... .... ..... ..... .... .... .... ..... ..... .. 6.7.2 SETVAR ....... .......... ....... ....... ...... ....... ....... ...... ...... ....... ....... ...... ...... ....... ....... ...... ....... ....... ...... ...... ....... ....... ...... ...... ....... ....... ...... ....... ....... ...... ...... ....... ...... .. 6.7.3 SHOWVAR ....... .......... ...... ....... ....... ...... ....... ........ ....... ...... ....... ....... ...... ...... ....... ....... ...... ...... ....... ....... ...... ....... ....... ...... ...... ....... ....... ...... ...... ....... ....... ..... 6.7.4 REDECL ...... ......... ...... ....... ....... ...... ....... ....... ...... ...... ....... ....... ...... ....... ....... ...... ...... ....... ....... ....... ....... ...... ...... ....... ....... ...... ...... ....... ....... ...... ....... ....... ...... ... 6.7.5 DO ...... .......... ....... ...... ....... ........ ....... ...... ...... ....... ....... ...... ....... ........ ....... ...... ...... ....... ....... ...... ....... ....... ...... ...... ....... ....... ...... ...... ....... ....... ....... ........ ....... ...... ...... ... 6.7.6 MESSAGE ....... ........... ....... ...... ...... ...... ...... ....... ....... ...... ...... ...... ....... ....... ...... ...... ...... ....... ....... ...... ...... ...... ....... ....... ...... ...... ...... ...... ....... ....... ...... ...... ..... .. 6.7. 6.7.7 7 SWIT SWITCH CH … CAS CASE E (E (ELSE) LSE) … END ENDS SWITCH ITCH .... ...... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .. 6.7. 6.7.8 8 SWITC ITCH DIA DIALO LOG G … CASE ASE … ENDS NDSWITC WITCH H .... ...... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .. 6.7.9 Predefined scripts .... ....... ...... ..... .... .... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... ..... ..... .... .... ..... ..... .... .... .... .... .... .. 6.7.1 6.7.10 0 Lang Languag uage e syste system m keys keys for mes messag sages es and and butt button onss .... ...... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .. 6.8 6.8 Inte Integr grati ating ng a tec techn hnol olog ogyy into into KUK KUKA A smart smartHM HMII .... ...... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .. 6.8. 6.8.1 1 Conf Config igur urat atio ion n file file Sma Smart rtHM HMI. I.Us User er.C .Con onfifig g .... ...... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... 6.8.2 Defining menu elements ....... ......... .... .... ..... ..... .... .... .... ..... ..... .... .... ..... ..... .... .... ..... ..... .... ..... ..... .... .... ..... ..... .... .... .... ..... ..... .... .... ..... ..... .... .... ..

33 33 34 35 35 36 36 37 37 38 39 39 39 42 43 44 44 45 45 45 45 46 46 47 47 48 49 49 49 50 51

7

Archiving ....... ........... ........ ....... ....... ....... ....... ....... ....... ........ ....... ....... ....... ....... ........ ....... ....... ........ ....... ....... ........ ....... ....... ....... ....... ........ ....... .....

53

7.1 7.2

Archiving fifiles ....... ........... ........ ....... ...... ....... ........ ....... ...... ...... ....... ....... ...... ....... ....... ...... ...... ....... ....... ...... ...... ....... ....... ...... ...... ....... ....... ...... ...... ....... ....... ..... Restoring fifiles ....... ........... ....... ...... ...... ....... ....... ...... ....... ....... ...... ...... ....... ....... ...... ....... ....... ...... ...... ....... ....... ...... ....... ....... ...... ....... ........ ....... ...... ....... ....... .....

53 53

8

Examples ....... ........... ........ ....... ....... ........ ....... ....... ....... ....... ....... ....... ........ ....... ....... ....... ....... ........ ....... ....... ........ ....... ....... ........ ........ ........ ....... ...

55

8.1 LASER tec technology .... ...... .... ..... ..... .... .... ..... ...... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... ..... ..... .... .... .... .... ..... ..... .... .... ..... ...... ..... .... .... .... ..... ..... .... .... .... .. 8.2 8.2 Exam Exampl ple e pro progra gram m for for a par param amet eter er list list .... ...... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... 8.3 8.3 Call Callin ing g scr scrip ipts ts via via acti action onss .... ....... ..... .... .... ..... ..... .... .... .... ..... ..... .... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... ..... ..... .... .... ..... ..... .... .... ..... ..... .... 8.3. 8.3.1 1 Scri Script pt call call afte afterr the the inli inline ne form form is open opened ed and and clo close sed d ......... ......... .......... ......... .......... ......... ..... 8.3.2 8.3.2 Scri Script pt cal calll afte afterr the the inli inline ne for form m is modi modifified ed and and cre creat ated ed ...... ............ .......... ............. ......... ..... 8.3. 8.3.3 3 Scri Script pt call call afte afterr swi switc tchi hing ng to an inli inline ne form form .... ...... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... 8.4 8.4 Exam Exampl ples es of int integ egrat ratio ion n of techn technol olog ogyy packa package gess .... ...... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... ........ ...... 8.4.1 TWINKLE technology .... ...... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... ..... ..... .... .... ..... ..... .... .... ..... ..... .... .... .... ..... ..... .... .... ..... ..... .... .... ..... ... 8.4.1. 8.4.1.1 1 Integr Integrati ating ng the the TWIN TWINKLE KLE techno technolog logyy in a menu menu ... ..... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... 8.4.1.2 8.4.1.2 Integra Integratin ting g the TWINKL TWINKLE E techno technolog logyy in a subm submenu enu ........... ............ .......... ...... .......... ...... ........ 8.4.2 GLUE technologie .... ....... ..... .... .... ..... ..... .... .... ..... ..... .... .... .... .... ..... ..... .... .... .... ..... ..... .... .... ..... ..... .... .... ..... ..... .... .... .... ..... ...... ..... .... .... ..... ..... .... .... .. 8.4.2. 8.4.2.1 1 Integr Integrati ating ng the the GLUE GLUE techno technolog logyy in in a menu menu .... ...... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... .... ....

55 56 59 60 61 62 63 63 63 64 66 66


Contents

8.4.3 8.4.3.1

DISPSET technology ............................................................................................ Integrating the DISPSET technology in a menu ...................................................

68 69

9

KUKA Service ..............................................................................................

71

9.1 9.2

Requesting support .................................................................................................... KUKA Customer Support ...........................................................................................

71 71

Index .............................................................................................................

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1 Introduction

1

Introduction

1.1

Target group This documentation is aimed at users with the following knowledge and skills:  

Advanced knowledge of the robot controller system Advanced KRL programming skills

For optimal use of our products, we recommend that our customers take part in a course of training at KUKA College. Information about the training program can be found at www.kuka.com or can be obtained directly from our subsidiaries.

1.2

Industrial robot documentation The industrial robot documentation consists of the following parts:     

Documentation for the manipulator Documentation for the robot controller Operating and programming instructions for the KUKA System Software Documentation relating to options and accessories Parts catalog on storage medium

Each of these sets of instructions is a separate document.

1.3 Safety

Representation of warnings and notes Warnings marked with this pictogram are relevant to safety and must be observed. Danger!

This warning means that death, severe physical injury or substantial material damage will occur, if no precautions are taken. Warning!

This warning means that death, severe physical injury or substantial material damage may occur, if no precautions are taken. Caution!

This warning means that minor physical injuries or minor material damage may occur, if no precautions are taken. Notes

Notes marked with this pictogram contain tips to make your work easier or references to further information. Tips to make your work easier or references to further information.


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KUKA.UserTech 3.1

1.4

Terms used Term

Description

KFD

KUKA form description

KFD file KRL

File format used to describe technologies KUKA Robot Language

KUKA smartHMI

KUKA robot programming language Smart human-machine interface

KUKA smartPAD

1.5

User interface of the KUKA System Software Teach pendant for the industrial robot

Trademarks Windows is a trademark of Microsoft Corporation.

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2 Product description

2

Product description

2.1

Overview of UserTech

Functions

UserTech is an add-on technology package with the following functions:      

Definition of user-specific inline forms Definition of user-specific messages Definition of user-specific technology keys and buttons Definition of user-specific scripts for inline forms and technology keys Definition of user-specific folds for inline forms Integration of user-defined inline forms and technology keys into the KUKA smartHMI user interface


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3 Safety

3

Safety This documentation contains safety instructions which r efer specifically to the software described here. The fundamental safety information for the industrial robo t can be found in the “Safety” chapter of the Operating and Programming Instructions for System Integrators or the Operating and Programming Instructions for End Users. Warning!

The “Safety” chapter in the operating a nd programming instructions must be observed. Death to persons, severe physical injuries or considerable damage to property may otherwise result.


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4 Installation

4

Installation

4.1

System requirements

Hardware



KR C4 robot controller

Software



KUKA System Software 8.2

4.2

Installing or updating UserTech It is advisable to archive all relevant data before updating a software package.

Preparation



Copy software from CD to KUKA USB stick

Caution!

The only USB stick that may be used is the KUKA USB stick. Data may be lost or modified if any other USB stick is used. Precondition



Expert user group

Procedure

1. Connect the KUKA USB stick. 2. Select Start-up > Install additional software in the main menu. 3. Press New software. If a software package on the USB stick is not displayed, press Refresh. 4. Select the entry UserTech and press Install. Reply to the request for confirmation with Yes. The files are copied onto the hard drive. 5. Repeat step 4 if another software package is to be installed from this stick. 6. Remove the KUKA USB stick. 7. It may be necessary to reboot the controller, depending on the additional software. In this case, a corresponding prompt is displayed. Confirm with OK and reboot the robot controller. Installation is resumed and completed.

LOG file

A LOG file is created under C:\KRC\ROBOTER\LOG.

4.3

Uninstalling UserTech It is advisable to archive all relevant data before uninstalling a software package.

Precondition



Expert user group

Procedure

1. Select Start-up > Install additional software in the main menu. All additional programs installed are displayed. 2. Select the entry UserTech and press Uninstall. Reply to the request for confirmation with Yes. Uninstallation is prepared. 3. Reboot the robot controller. Uninstallation is resumed and completed.

LOG file

A LOG file is created under C:\KRC\ROBOTER\LOG.


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5 Operation

5

Operation

5.1

Refreshing UserTech

Description

This function allows UserTech to be refreshed while the robot controller is running, e.g. to display inline forms that the user has redefined. UserTech is reinitialized without rebooting the system. The progress of the reinitialization is indicated in the message window.

Precondition



Procedure



Expert user group In the main menu, select the menu sequence Configuration > Miscellaneous > Reinitialize UserTech.


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6 Programming

6

Programming

6.1

Overview of KFD syntax

Technologies

DEFTP … ENDTP

(>>> 6.4.3 "DEFTP ... ENDTP" Page 22)

Inline forms

DECL FOLD DECL INLINEFORM DECL PARAM

(>>> 6.4.6 "DECL FOLD" Page 30) (>>> 6.4.8 "DECL INLINEFORM" Page 31) (>>> 6.4.4 "DECL PARAM" Page 23)

Parameter lists

DECL PARAM PL_ DECL PLIST

(>>> 6.5.1 "DECL PARAM PL_" Page 37) (>>> 6.5.3 "DECL PLIST" Page 38)

Technology keys

DECL STATKEY DECL STATKEYBAR SET

(>>> 6.6.2 "DECL STATKEY" Page 39) (>>> 6.6.3 "DECL STATKEYBAR" Page 44) (>>> 6.6.4 "SET" Page 44)

Scripts

DEFSCRIPT … ENDSCRIPT DO MESSAGE REDECL SET SETVAR SHOWVAR SWITCH … CASE(ELSE) … ENDSWITCH SWITCH DIALOG … CASE … ENDSWITCH ACCEPTINLINEFORM CANCELINLINEFORM END NOTHING

6.2

(>>> 6.7.1 "DEFSCRIPT … ENDSCRIPT" Page 45) (>>> 6.7.5 "DO" Page 46) (>>> 6.7.6 "MESSAGE" Page 47) (>>> 6.7.4 "REDECL" Page 46) (>>> 6.6.4 "SET" Page 44) (>>> 6.7.2 "SETVAR" Page 45) (>>> 6.7.3 "SHOWVAR" Page 45) (>>> 6.7.7 "SWITCH … CASE (ELSE) … ENDSWITCH" Page 47) (>>> 6.7.8 "SWITCH DIALOG … CASE … ENDSWITCH" Page 48) (>>> 6.7.9 "Predefined scripts" Page 49)

Symbols and fonts The following symbols and fonts are used in the syntax descriptions: Syntax element

Representation

KRL code

 

Elements that must be replaced by program-specific entries


Courier font Upper-case letters

Examples: GLOBAL ; ANIN ON; OFFSET  Italics Upper/lower-case letters  Examples: Distance; Time; Format

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Syntax element

Representation

Optional elements



Elements that are mutually exclusive

6.3

Important KFD terms

6.3.1

Special characters

In angle brackets

Example:  Separated by the "|" symbol Example: IN |OUT

The following special characters are used in the KFD code: Character

Description

;

Designates a comment Example: ;This is a comment A statement in KFD must be contained in one continuous program line. 

_

"_" is used to continue a program line despite an intervening line break. There must be a space between the preceding program line and the "_" character. Example: decl _ int _ number (= Program line: decl int number) Cancels the special function of a subsequent character. The character "/" itself is not displayed in the string. 

/

Examples: 



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/%: Function of the "%" character for designating a pa-

rameter reference placeholder is canceled. /;: Function of the ";" character for designating a comment is canceled.


6 Programming

Character

Description

%

Designates a parameter reference placeholder (>>> 6.3.3 "Parameter reference placeholder" Page 19) The "/" character or a space must be inserted after the parameter reference placeholder. If a space is used, a second space must be inserted if a further character or expre ssion follows after the parameter reference placeholder. A space used to terminate a parameter reference placeholder is not displayed in the string. Example: %INLINEFORM/  %INLINEFORM Designates a value assignment 

#

Examples:  

6.3.2

#%INLINEFORM #TOGGLE

Strings

A string is a sequence of alphanumeric characters of fixed or variable length. The following rules apply in KFD:  





Strings must not include any commas. Strings must not include any line breaks, i.e. they must be contained within one line. Strings are always enclosed in double quotation marks, e.g. "This is a string". If the quotation mark is intended to be part of the string, its meaning as a special character must be canceled using the "/" character, e.g. "The character /"".

Additional rules apply when programming fields of type BOOL. (>>> 6.4.5.7 "Field type BOOL" Page 29) 6.3.3

Parameter reference placeholder

A parameter reference placeholder consists of a percent sign and a parameter name. The percent sign causes the name of the parameter to be output not a text but as as a value. The following parameter reference placeholders are predefined: Name

Description

%TP

Name of the technology

%INLINEFORM

First parameter in every inline form Name of the inline form

%MODULE

Second parameter in every inline form Name of the program in Navigator


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6.3.4

Naming conventions and keywords

Examples of names in KFD: variable names, function names, subprogram names

Names

 

 

Names in KFD can have a maximum length of 24 characters. Names in KFD can consist of letters (A...Z), numbers (0...9) and the special characters “_” and “$”. Names in KFD must not begin with a number. Names in KFD must not be keywords.

The names of all system variables begin with the “$” sign. To avoid confusion, do not begin the names of user-defined variables with this sign. Keywords

Keywords are sequences of letters having a fixed meaning. They must not be used in programs in any way other than with this meaning. No distinction is made between uppercase and lowercase letters. A keyword remains valid irrespective of the way in which it is written. Example: The sequence of letters CASE is an integral part o f the KRL syntax

SWITCH…CASE…ENDSWITCH. For this reason, CASE must not be used in any other way, e.g. as a variable name. The use of keywords reserved for KRL is not permitted. Further information about keywords is contained in the “Operating and Programming Instructions for System Integrators”. 6.3.5

Simple data types

The following simple data types are predefined: Data type

Keyword

Description

Integer

INT

Integer 

Real

REAL

Examples: 1; 32; 345 Floating-point number 

Boolean

Character

BOOL

CHAR

-2³¹-1 … 2³¹-1

+1.1E-38 … +3.4E+38

Examples: 1.43; 38.50; 300.25 Logic state 

TRUE



FALSE

1 character 

ASCII character

Examples: "A"; "1"; "q" 6.3.6

Areas of validity

Variables and data objects have local validity, i.e. in a defined technology package, if they are declared between the DEFTP and ENDTP statements. Variables and data objects have global validity, i.e. in all technology packages, if they are declared outside the DEFTP and ENDTP statements.

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6 Programming

We recommend combining all global variables and data objects in a KFD file.

6.4

Programming a technology package

Overview

Step

Description

1

Design the technology.

2

(>>> 6.4.1 "Designing the technology" Page 21) Create KFD file.

3

(>>> 6.4.2 "Creating a KFD file" Page 22) Define the technology.

4

(>>> 6.4.3 "DEFTP ... ENDTP" Page 22) Define the parameters.

5

(>>> 6.4.4 "DECL PARAM" Page 23) Define parameter lists.

6

(>>> 6.5 "Programming parameter lists" Page 36) Prepare the scripts.

7

(>>> 6.7.1 "DEFSCRIPT … ENDSCRIPT" Page 45) Create folds.

8

(>>> 6.4.6 "DECL FOLD" Page 30) Generate KRL code.

9

(>>> 6.4.7 "Generating KRL code" Page 31) Define inline forms.

10

(>>> 6.4.8 "DECL INLINEFORM" Page 31) Program technology keys.

11

(>>> 6.6 "Programming technology keys" Page 39) Program the scripts.

12

(>>> 6.7 "Programming scripts" Page 45) Integrate the technology into the graphical user interface. (>>> 6.8 "Integrating a technology into KUKA smartHMI" Page 49)

6.4.1

Designing the technology 



 



Define the structure of the inline forms, e.g. number, type and layout of the input boxes. Define the parameters in the inline form and their respective value range s and parameter lists. Define the program lines (= folds) to be inserted. Define the technology keys (e.g. functions, conditions for activation and layout). Define the scripts to be called by user actions. Actions include:   

Open or close an inline form. Press Touch-Up. Press, release, or hold down a technology key.


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KUKA.UserTech 3.1 

6.4.2

Display a technology key.

Creating a KFD file

Description

Technologies created with UserTech are described as KFD files and saved by default in the directory C:\KRC\TP\USERTECH\TEMPLATE.   



Any editor can be used to edit the KFD file. The KFD file must be saved in ASCII format. The name of the KFD file can be freely chosen within the conventions of the Windows operating system. The KFD file can contain one or more technologies. The name of a technology may only appear once within the system.

With complex technologies it is recommended that the KFD files belonging to a single technology are saved in the directory C:\KRC\TP\TPName\TEMPLATE. A key must be created in the registry database of the Windows operating system for the folder TPName. Procedure

1. Open the registry editor. 2. Select the path \HKEY_Local_Machine\Software\KUKARoboterGmbH\Options\KFD. 3. Create a new folder: Right-click and select the menu sequence New > Key > String. 4. Give the folder the name TPName. 5. Place the cursor on the folder, right-click and select the menu item Change: The Edit String window is opened. 6. Under "Value", enter the new key: %InstallationDir%\TP\TPName\Template

7. Confirm the key with OK. 6.4.3

DEFTP ... ENDTP

Description

Defining a technology

Syntax

DEFTP Name <= { }> ENDTP

Explanation of the syntax

Element

Description

DEFTP SOC

Name of the technology Defines whether the inline forms for a technology can be selected via a list box in the inline form.

SOT



TRUE: Selection is possible.



FALSE: Selection is not possible.

Default, if SOC is not defined: TRUE Defines whether technologies can be selected via a list box in the inline form. 

TRUE: Selection is possible.



FALSE: Selection is not possible.

Default, if SOT is not defined: TRUE

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6 Programming

Example 1

DEFTP MyTech ENDTP DEFTP OtherTech ENDTP

The technologies MyTech and OtherTech can be selected via a list box in the inline form.

Fig. 6-1: List box for selecting a technology Example 2

DEFTP MyTech = {SOT FALSE} ENDTP DEFTP OtherTech ENDTP

The technologies MyTech and OtherTech cannot be selected via a list box in the inline form.

Fig. 6-2: MyTech technology

6.4.4

DECL PARAM

Description

Declaration of a box (field) in the inline form

Syntax

DECL PARAM Name = {

VALUE {Field type}} Explanation of the syntax

Element

Description

DECL PARAM SHORTNAME[] UNIT[] ENABLE[ ]

Name of the box Name displayed before the box Unit displayed after the box Activation of an input box TRUE: Input box is activated. FALSE : Input box is deactivated.

VALUE

Default, if ENABLE[ ] is not defined: TRUE Type of box (field) (>>> 6.4.5 "Field types" Page 24)

Example

DECL PARAM FieldNumber = {SHORTNAME[] "Distance: ", UNIT[] "mm", _ VALUE {NUMBER: MIN 0, MAX 100, STEP 2, DEFAULT 50}}

An integer value from 0 to 100 can be entered. The box is of type Number. Issued: 13.12.2010 Version: KST UserTech 3.1 V1 en

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KUKA.UserTech 3.1

Fig. 6-3: Example of field type Number

The value in the input box can be increased or decreased in steps of 2 using the cursor keys on the keyboard. 6.4.5

Field types

6.4.5.1

Static field type

Description

A static text is displayed in the inline form, which cannot be edited.

Syntax

VALUE {STATIC: DEFAULT[] "String" }


Element

Description

DEFAULT[]

Text displayed in the inline form

Example

DECL PARAM FieldStatic = _ {VALUE {STATIC: DEFAULT[] "Field cannot be edited"}}

Fig. 6-4: Example of static field type

6.4.5.2

Free field type

Description

A text is displayed in the input box, which can be edited.

Syntax

VALUE {FREE: DEFAULT[] "String" }


Element

Description

DEFAULT[]

Default text that is displayed in the input box when you first open the inline form If no string is defined, the input box is empty.

Example

DECL PARAM FieldFree = {SHORTNAME[] "Programmer: ", _ VALUE {FREE: DEFAULT[] " Name "}}

Fig. 6-5: Example of free field type

6.4.5.3

Field type Name

Only input fields with field type Name can be linked with parameter lists. Description

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A variable name, function name or subprogram name is displayed in the input box, which can be edited. The syntax of the name is checked.


6 Programming

The use of keywords reserved for KRL is not permitted. Further information about keywords is contained in the “Operating and Programming Instructions for System Integrators”. VALUE {Name: DEFAULT[] "Name" }

Syntax Explanation of the syntax

Element

Description

DEFAULT[]

Name of the variable, function or subprogram that is displayed by default in the input box when the inline form is first opened If the last character of a name is a number (0…9) then by default, the number is incremented by one every time an inline form of this type is created. The counter is reset if the inline form is canceled after it is opened. If you do not want the number to be incremented, the key IncOnOpen, type DWORD, must be created in the registry database. Path in the registry database: HKEY_LOCAL_MACHINE\SOFTWARE\KUKA Roboter GmbH\Options\KFD IncOnOpen:  

Example

DWORD=00000000: Number is not incremented. DWORD=00000001: Number is incremented.

DECL PARAM FieldName = {SHORTNAME[] "Welding-Point-Nr.: ", _ VALUE {NAME: DEFAULT[] "WPT1"}}

Fig. 6-6: Example of field type Name

No IncOnOpen key is created in the registry database. When the inline form is first opened, the value WPT1 is displayed by default. The next time the inline form is created, the number is incremented by one and the value WPT2 is displayed. 6.4.5.4

Field type Number

Description

An integer value is displayed in the input box, which can be edited using the numeric keypad on the keyboard.

Syntax

VALUE {NUMBER: MIN minimum value, MAX maximum value, }


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KUKA.UserTech 3.1


Element

Description

MIN

Type: INT Minimum input value Note: This value must always be specified.

MAX

Type: INT Maximum input value Note: This value must always be specified.

STEP

Type: INT Increment for the cursor keys on the keyboard that can be used for increasing and decreasing the value in the input box.

DEFAULT

Default, if STEP is not defined: 1 Type: INT Default value that is displayed when you first open the inline form.

AUTOLIMIT

Default, if DEFAULT is not defined: 0 TRUE: A value that is too large or too small is automatically set to the minimum or maximum input value. (= default if AUTOLIMIT is not defined) 



Example

Entered value < minimum value: Value is set to minimum value. Entered value > maximum value: Value is set to maximum value.

DECL PARAM FieldNumber = {SHORTNAME[] "Distance: ", UNIT[] "mm", _ VALUE {NUMBER: MIN 0, MAX 100, STEP 2, DEFAULT 50}}

An integer value from 0 to 100 can be entered.

Fig. 6-7: Example of field type Number

The value in the input box can be increased or decreased in steps of 2 using the cursor keys on the keyboard. 6.4.5.5

Field type REAL

Description

A floating-point number is displayed in the input box, which can be edited using the numeric keypad on the keyboard.

Syntax

VALUE {REAL: MIN minimum value, MAX maximum value, }

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6 Programming


Element

Description

MIN

Type: REAL Minimum input value Note: This value must always be specified.

MAX

Type: REAL Maximum input value Note: This value must always be specified.

STEP

Type: REAL Increment for the cursor keys on the keyboard that can be used for increasing and decreasing the value in the input box.

DEFAULT

Default, if STEP is not defined: 0.1 Type: REAL Default value that is displayed when you first open the inline form.

AUTOLIMIT

Default, if DEFAULT is not defined: 0.0 TRUE: A value that is too large or too small is automatically set to the minimum or maximum input value. (= default if AUTOLIMIT is not defined) 



Example

Entered value < minimum value: Value is set to minimum value. Entered value > maximum value: Value is set to maximum value.

DECL PARAM FieldReal = {SHORTNAME[] "Delay: ", UNIT[] "sec", _ VALUE {REAL: MIN 0.5, MAX 5, STEP 0.5, DEFAULT 2}}

A value from 0.5 to 5 can be entered.

Fig. 6-8: Example of field type REAL

The value in the input box can be increased or decreased in steps of 0.5 using the cursor keys on the keyboard. 6.4.5.6

Field type List

Description

A list box is displayed in the inline form. You can use the list to select a parameter. The parameters in the list cannot be edited.

Syntax

VALUE {LIST: | ITEM[1] List parameter 1,

< … ,> }


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Element

Description

DEFAULT[]

Default list parameter value that is displayed when you first open the inline form.

POS

ITEM[1] … ITEM[n]

This parameter must correspond to one of the defined list parameters. (VALUE[] or DISP[]) Type: INT Default list parameter number [n] that is displayed when you first open the inline form. Values of list parameters [1] to [n] Complete syntax of the list parameters: {ITEM: VALUE[] "StringX" <, DISP[]  

"StringN" >}

VALUE[]: This value is processed. DISP[]: This value is displayed.

Default, if DISP[] is not defined: the displayed value corresponds to the processed value. Example 1

DECL PARAM FieldList = {SHORTNAME[] "Weave pattern:", _ VALUE {LIST: POS 1, ITEM[1] {ITEM: VALUE[] "Triangle"}, _ ITEM[2] {ITEM: VALUE[] "Trapezoid"}, _ ITEM[3] {ITEM: VALUE[] "Sinus"}}}

Fig. 6-9: Example of field type List Example 2

DEFTP MyTech = {SOC TRUE} DECL PARAM FieldList = {SHORTNAME[] "Weave pattern:", _ VALUE {LIST: ITEM[1] {ITEM: VALUE[] "3", DISP[] "Triangle"}, _ ITEM[2] {ITEM: VALUE[] "Trapezoid"}, _ ITEM[3] {ITEM: VALUE[] "Sinus"}}} DECL FOLD MyFold[1] MyFold[1] = "Model = %FieldList" DECL INLINEFORM MyCmd = {FOLD[1] MyFold, PARAM[1] FieldList} ENDTP

Fig. 6-10: Example of field type List - inline form MyTech.MyCmd

The value Triangle selected in the list box WeavePattern is not the value actually processed. In the fold, the global variable Model is assigned value 3. 28 / 81


6 Programming

KRL code in the program:

6.4.5.7

Field type BOOL

Description

The inline form displays a checkbox that can be activated and deactivated.

Syntax

VALUE {BOOL: DEFAULT Bool ,

} Explanation of the syntax

Element

Description

DEFAULT

Default check box value that is displayed when you first open the inline form.

TRUE[]



TRUE: Check box active.



FALSE: Check box inactive.

Text that is inserted in the program as KRL code if the checkbox is active. If TRUE[] is not defined and the checkbox is active, "TRUE" is inserted into the program by default as KRL code. Note: For BOOL type fields, additional rules apply when

FALSE[]

creating strings. (>>> "Rules for strings" Page 29) Text that is inserted in the program as KRL code if the check box is inactive. If FALSE[] is not defined and the check box is inactive, "FALSE" is inserted into the program by default as KRL code. Note: For BOOL type fields, additional rules apply when

creating strings. (>>> "Rules for strings" Page 29) Rules for strings

The string can have a maximum length of 16 characters. The following notations or characters are not allowed in the string:

Example



"" (empty string)



"



"Las,on" (comma)



"Las"on" (quotation marks)

" (only space)

DEFTP MyTech DECL PARAM ParamList = {SHORTNAME[] "Val: ", _ VALUE {Name: DEFAULT[] "VAL1"}} ... DECL PARAM FieldBool = {SHORTNAME[] "Laser", _ VALUE {BOOL: DEFAULT TRUE, TRUE[] "EIN", FAlSE[] "AUS"}} ... DECL FOLD PFold[1] PFold[1] = "ParamList" ... DECL INLINEFORM ILF_With_ParamList={FOLD[1] PFold, _ PARAM[1] ParamList, PARAM[2] FieldBool ENDTP


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Fig. 6-11: Example of field type BOOL (check box active )

KRL code in the program (check box active):

Fig. 6-12: Example of field type BOOL (check box inactive)

KRL code in the program (check box inactive):

6.4.6

DECL FOLD

Description

Declaring a fold Folds make programs more transparent. Folds a re used to hide sections of the program. The hidden program sections are processed during program execution in exactly the same way as visible program sections.

Syntax

DECL FOLD NAME[n] NAME [1] = "String1" ,

... NAME [n] = "StringN"


Element

Description

NAME

Name of the fold Number of lines in the fold Contents of the fold

[n] String1 … StringN

All parameter reference placeholders in a string are replaced in the program by the values selected in the inline form. Example

DECL FOLD MyFold[2] MyFold[1] = "Laser(#%INLINEFORM/,%DataSet/,%Pattern/)" MyFold[2] = "TRIGGER WHEN PATH=%DistanceWay/ DELAY=0 _ DO LASER_ON=TRUE"

The following values are selected in the inline form:    

DataSet = DataSet6 DistanceWay = 210 Pattern = STEP INLINEFORM = ON

KRL code in the program: Laser(#ON,DataSet6,STEP) TRIGGER WHEN PATH=210 DELAY=0 DO LASER_ON=TRUE

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6 Programming

6.4.7

Generating KRL code

Description

Subprograms or functions which are also to be inserted in selected programs on closing an inline form must be defined globally.

Procedure

1. Create a program in folder KRC:\R1\TP. 2. In the program, define the required subprograms and functions with the corresponding transfer parameters.

6.4.8

DECL INLINEFORM

Description

Declaration of an inline form

Syntax

DECL INLINEFORM Name = {

<...,>
NameFoldN ,>

<...,>
Bool ,>

KST UserTech 31 En

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