Known Issues and Troubleshooting




On the Kuka VKRC4 the user can export UP and Folge programs to TXT format.
After exporting two files are generated for each selected program.
The first one with TXT extension contains all the points and instructions. The second one DAT contains the point's coordinates.

Kuka software has known bug that exports point's coordinates with wrong base number what can be a crash reason when you upload this program again even unmodified.

Below you can see the orginal source code of SRC and DAT files and corresponding TXT and DAT files after exporting to TXT format.

Original SRC and DAT files
SRC file:
PTP VB=10% VE=0% ACC=100% RobWzg=1 Base=1 SPSTrig=0[1/100s] P

DAT file:
DECL VW_MPARA_TYP P1_D={TOOL_NO 1, BASE_NO 1, VB 10, VE 0, ACC 100, TRG_TIME 0, MOVE_TYPE #PTP_MOTION}
DECL E6POS P1={X 7.805, Y 1173.207, Z 605.196, A 109.704, B 75.677, C -114.625, S 2, T 10, E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0, E6 0.0}



The new TXT and DAT files
SRC file:
PTP VB=10% VE=0% ACC=100% RobWzg=1 Base=1 SPSTrig=0[1/100s] P {Pno1=1,Pno2=-1,SPSno=1}

DAT file:
DECL VW_MPARA_TYP P1_D={TOOL_NO 1, BASE_NO 0, VB 10, VE 0, ACC 100, TRG_TIME 0, MOVE_TYPE #PTP_MOTION}
DECL E6POS P1={X 7.805, Y 1173.207, Z 605.196, A 109.704, B 75.677, C -114.625, S 2, T 10 , E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0, E6 0.0}


For this point Kuka changed original base number in DAT file from 1 to 0 and left the point's coordinates exactly the same.
The original base number in both SRC files did not change. Do not forget that Kuka uses values from DAT file to calculate robot's motion.
It means that the next time when you upgrade this program the robot will move to the point with orginal coordinates but different base - C R A S H !!!