Three functions in the menu VKRC » More help to keep glue programs (VW standard KL) in order:

• Renumber the glue Schaltpunkt - renumbers the parameter tables (Parametertafel) switched on the path with BS binXX ( EIN ) = n
• Set Genau for the glue points - sets the approximation distance Genau of all KLIN / KCIR points from their speed VB
• Add comment for Schaltpunkt - writes a comment with the parameter table number above every point with a parameter table command

The functions work in Folge and UP programs opened in the VKRC editor. They support up to three glue controllers KL1, KL2 and KL3. At the end a window shows what was changed. The program is not saved - check the changes and save the file yourself. The changes cannot be reverted with Undo (the editor clears the undo history after changing the point data); to discard them, close or reload the file without saving.

▲ Rules of the VW standard used by the functions

• The glue controller gets the parameter table number from a binary output. Before the seam the first parameter table is set with a normal command (e.g. bin11 ( EIN ) = 1 or TECH3 KL Steuerung=Nr1 ... Parametertafel=1). The next ones are switched on the path with the path switching function, e.g. BS bin11 ( EIN ) = 2 Schaltpkt: 5 [mm]: -50[ms].
• Parameter tables are numbered in the programming direction, ascending and without gaps.
• Glue points are programmed with KLIN (on arcs KCIR), Genau is about 1/5 of the speed VB, e.g. VB=250[mm/s] → Genau=50[mm].
• A working point - a point where a makro or a subprogram is called - is programmed with Genau=0[mm].

▲ Renumber the glue Schaltpunkt

The function searches the program for the parameter table commands BS binXX ( EIN ) = n of the selected glue controllers and gives them consecutive numbers. Only the number is changed - the switching distance, the delay time and the rest of the line stay as they are.

Field	Meaning
KL1 / KL2 / KL3	glue controllers whose parameter tables are renumbered
binXX	binary output with the parameter table number of this controller. Default: bin11 for KL1, bin9 for KL2, bin7 for KL3. Check the I/O assignment of your robot - e.g. in the KS26 standard KL2 and KL3 use bin12 and bin13. The values are saved in the settings and used also by Add comment for Schaltpunkt. The same output cannot be selected for two controllers.
From point ... to	only parameter table commands of points with these point numbers are changed (e.g. one seam of a program with several seams)
Start value	number of the first parameter table command. The editor proposes the number of the parameter table set before the first BS command + 1 (for bin11 ( EIN ) = 1 it proposes 2), so the numbering continues without a gap.
None / Add comment / Modify comment	optional comment above every point with a parameter table command, see Comments
Comment text	text of the comment; the parameter table number is added at the end. The keyword __KLNO__ is replaced by KL1, KL2 or KL3.

Example - KL1, start value 2:

Before:

KLIN VB=250[mm/s] Genau=50[mm] ACC=100% RobWzg=1 Base=1 SPSTrig=0[1/100s]
   BS bin11 ( EIN ) = 7 Schaltpkt: 5 [mm]: -50[ms]
KLIN VB=250[mm/s] Genau=50[mm] ACC=100% RobWzg=1 Base=1 SPSTrig=0[1/100s]
   BS bin11 ( EIN ) = 5 Schaltpkt: 0 [mm]: -50[ms]

After:

KLIN VB=250[mm/s] Genau=50[mm] ACC=100% RobWzg=1 Base=1 SPSTrig=0[1/100s]
   BS bin11 ( EIN ) = 2 Schaltpkt: 5 [mm]: -50[ms]
KLIN VB=250[mm/s] Genau=50[mm] ACC=100% RobWzg=1 Base=1 SPSTrig=0[1/100s]
   BS bin11 ( EIN ) = 3 Schaltpkt: 0 [mm]: -50[ms]

▲ Set Genau for the glue points

The function calculates Genau of every KLIN and KCIR point in the program:

Genau [mm] = VB [mm/s] / divisor

The result is always rounded to an integer value, because the Genau parameter accepts only integers. With the default divisor 5 (1/5 of the speed) VB=70[mm/s] gives Genau=14[mm] and VB=250[mm/s] gives Genau=50[mm].

Field	Meaning
Genau [mm] = VB [mm/s] /	divisor, 1 ... 100, default 5
For working points (where Makro or UP is called) set Genau parameter to 0	a KLIN / KCIR point that calls a makro or a subprogram in its subfolds (SPSMAKROxx = ..., UPxx = ..., REPEAT UP / MAKRO) gets Genau=0[mm]. Without this option these points get the calculated value too.

The divisor and the option are saved in the settings. Only the Genau value in the point line changes; for a KCIR motion the value is stored for both points of the arc. Other motions (PTP, LIN, CIRC, ...) are not changed. Points without a Genau parameter or without point data are skipped and counted in the summary.

▲ Add comment for Schaltpunkt

The function writes a comment above every point with a parameter table command, e.g.:

-- KL1 Schaltpunkt 5 --
KLIN VB=250[mm/s] Genau=50[mm] ACC=100% RobWzg=1 Base=1 SPSTrig=0[1/100s]
   BS bin11 ( EIN ) = 5 Schaltpkt: 5 [mm]: -50[ms]

In the dialog enter the comment text (__KLNO__ is replaced by KL1, KL2 or KL3), select the glue controllers and check their binary outputs (the same settings as in Renumber the glue Schaltpunkt). The number in the comment is the number of the parameter table command of the point.

▲ Comments

• A comment is written directly above the point, one comment per point and glue controller - also when the point has more parameter table commands.
• Comments are not duplicated: if the point already has a comment with the same text above it, the comment is left as it is. A comment with the same text and another number is corrected.
• Add comment (renumbering) adds missing comments and corrects existing ones, Modify comment only corrects existing comments.
• The number may follow the text after spaces or an underscore (e.g. -- Parametersatz_27 --) and may be followed by additional text (e.g. -- Parametersatz 27 STP --). When the number is corrected, the separator and the additional text are kept. The comparison of the text ignores upper / lower case.

▲ See also

• Fanuc glue functions - the same functions for VFanuc programs
• Path tools » Check switch points - switching distances of the BS commands compared with the length of the motions
• Syntax warnings & VASS Standard