This procedure helps to automatically fix any KRL syntax warnings and resolve many system dependencies.
Currently, there is no official documentation for the generated program source and the entire process of editing the program in our editor is the result of reverse engineering.
We make every effort to ensure that the programs comply with the VKRC standard and syntax, but of course some errors may occur.
Therefore, all programs should be uploaded to the robot using the Manual upgrade option.
However, we managed to integrate the functionality of the robot controller with our editor using the software provided by Kuka.
To use this new function, it is necessary to install dedicated software KUKA.WorkVisual VSS Standard in the newest version.
After installation it may be required to set the path to the WoV Script Runner executable file (wvsr.exe).
This option is available in the editor settings for the VKRC controller. When it is empty, DReS takes wvsr.exe from the folder of WorkVisual.exe (path of WorkVisual in the same settings).
The user can decide if Manual upgrade should be processed on file saving (Run WoV manual upgrade on file save). When WorkVisual is installed and wvsr.exe is found at the first start of DReS, this option is switched on by default; your own choice in the settings is kept.
With this option on, the WoV Script Runner starts once in the background a few seconds after the start of DReS (starting it takes about 7 s) and keeps running until DReS is closed. Every save then takes only about 50 ms extra.
If the KUKA code generator reports an error, DReS shows it in a message and keeps the program as saved by DReS (without the manual upgrade) – a failed upgrade never replaces the program with empty files. If the script runner stops or does not answer, it is started again on the next save.
Files with TPVW below 8.3 and Tech commands
The KUKA code generator rewrites the Tech commands in the 8.3 format (CN= P1..P10), while the file header stays at the old version (e.g. 8.1.8). Therefore, with Run WoV manual upgrade on file save on, DReS asks before a file with TPVW below 8.3 that contains Tech commands is written (question Manual upgrade):
• Yes – run the manual upgrade,
• No – keep the file as saved by DReS (without the manual upgrade),
• Cancel – nothing is saved (status bar: Save cancelled.).
With Do not show this message again (until the program is closed) the answer is used for every further save until DReS is closed.
The default answer is set in Settings > VKRC, tab Manual Upgrade, option File with TPVW below 8.3 and Tech commands: Ask (default), Run the manual upgrade or Save without the manual upgrade.
Editor API: the commands save and save_all take the parameter manualUpgrade81 (true = run the manual upgrade, false = skip it); without it the setting decides. When the question is closed by the API, it counts as Cancel: the file is not saved (saved:false) and the error names the parameters (manualUpgrade81 / manualUpgradeCommented: true / false answers this question). (Before, closing it counted as No and the file was saved.)
Files with commented folds
The KUKA code generator deletes commented folds (;;FOLD ..., see Comment / uncomment selected text): motion points (also their coordinates in the .dat file), SCHRITT (makro step), Trigger (makro trigger) and VExpert folds. Therefore, with Run WoV manual upgrade on file save on, DReS asks before a file with commented folds is written (question Manual upgrade, it names the number of commented folds (points, SCHRITT, Trigger, VExpert)):
• Save – save and run the manual upgrade (the commented folds are deleted),
• Save without manual upgrade – save the file without the manual upgrade, the commented folds stay,
• Cancel – nothing is saved.
With Do not show this message again (until the program is closed) the answer is used for every further save until DReS is closed.
The default answer is set in Settings > VKRC, tab Manual Upgrade, option File with commented folds (before: File with commented points): Ask (default), Run the manual upgrade or Save without the manual upgrade.
Editor API: the commands save and save_all take the parameter manualUpgradeCommented (true = run the manual upgrade, the commented folds are deleted; false = save without it); without it the setting decides. When the question is closed by the API, it counts as Cancel: the file is not saved (saved:false) and the error names the parameter.
After configuration the Manual upgrade runs automatically on every save. DReS runs the WoV Script Runner in the background, no window is opened. Only an error is shown in a message.
You can write your own csx scripts to extend editor functionality and run them in the Windows Command Line with wvsr.exe -executescript -scriptpath=<script.csx>.
The script runner generates the documentation of the scripting interface itself: wvsr.exe -docu -directory=<folder>.
We can assist you in this task.