Hallo zusammen,
ich Versuche momentan Krampfhaft ein Netzlaufwerk mit einem KRC 4 Version 8.3.40 zu verbinden.
Der Roboter und das Laufwerk sind im gleichen Netzwerk.
Die Archivierung und der Zugriff über Windows funktioniert.
Wenn ich den KUKA Befehl krl_mount benutze, bekomme ich immer die Fehlermeldung -2 (Operation fehlgeschlagen: Ungültiger Benutzer, falsches Passwort, Mount-Punkt nicht vorhanden, Datei nicht vorhanden,etc).
Ohne krl_mount ist mir die Datei, in die ich Schreibe, zu sehr versteckt.
Code: Code
&ACCESS RVO2
&REL 156
&PARAM DISKPATH = KRC:\R1\Program\WeldBrazingShift
DEF protokol( )
; ***********************************************
; * TouchSens Messung speichern *
; * Version: 1.0 *
; * Author: *
; * DATE: *
; * KRC4 *
; ***********************************************
END
GLOBAL DEF SAVE_MESURE (BASE_SHIFT:IN, DOOR_TYPE:IN)
DECL FRAME BASE_SHIFT
DECL CHAR DOOR_TYPE
OFFSET = 0
OFFSET_MSG = 0
MAX_MESURES = 100
MODE = #SYNC
HANDLE = 0
ON_ERROR_PROCEED
MODEL_TYPE = DOOR_TYPE
SWITCH $ERR.NUMBER
CASE 0
CASE 1422
OFFSET_MSG = 0
SWRITE (MSG_TEXT[], STATE_MSG, OFFSET_MSG, "Tuer Parameter fehlt (3, 5 oder H angeben).")
SWRITE (MSG_TEXT[], STATE_MSG, OFFSET_MSG, " Es kann kein Protokol angelegt werde")
MsgQuit(MSG_TEXT[], "Protokol")
Return
DEFAULT
ERR_RAISE ($ERR)
ENDSWITCH
IF VARSTATE("count_proto_3") <> #INITIALIZED THEN
count_proto_3 = 0
ENDIF
IF VARSTATE("count_proto_5") <> #INITIALIZED THEN
count_proto_5 = 0
ENDIF
IF VARSTATE("count_proto_5_rear") <> #INITIALIZED THEN
count_proto_5_rear = 0
ENDIF
CWRITE ($FCT_CALL, STAT, MODE, "krl_mount", "/ProtTrans","//136.129.1.14/Loeten/85R3", "KUKA","049D6ED2384375B8F543419D36DA9E4E18")
IF stat.msg_no < 0 then
halt
ENDIF
SWRITE(END_STR[], STAT, OFFSET, "%02d.%02d %02d:%02d%s%f%s%f%s%f", $DATE.DAY, $DATE.MONTH, $DATE.HOUR, $DATE.MIN, ", DIFF X : ", BASE_SHIFT.X, ", DIFF Y : ", BASE_SHIFT.Y, ", DIFF Z : ", BASE_SHIFT.Z)
SWITCH MODEL_TYPE ; Select Door Type
CASE "3"
count_proto_3 = count_proto_3 + 1
;TXT_STR_AKT[] = "TouchSens_Protokol_3_Akt.TXT "
;TXT_STR_ALT[] = "TouchSens_Protokol_3_Alt.TXT "
TXT_STR_AKT[] = "/ProtTrans/TouchSens_Protokol_3_Akt.TXT "
TXT_STR_ALT[] = "/ProtTrans/TouchSens_Protokol_3_Alt.TXT "
IF (count_proto_3 > MAX_MESURES) THEN
count_proto_3 = 1
CWRITE($FCT_CALL, STAT, MODE, "krl_remove", TXT_STR_ALT[])
CWRITE($FCT_CALL, STAT, MODE, "krl_rename", TXT_STR_AKT[], TXT_STR_ALT[])
CWRITE($FCT_CALL, STAT, MODE, "krl_remove", TXT_STR_AKT[])
ENDIF
CASE "5"
count_proto_5 = count_proto_5 + 1
;TXT_STR_AKT[] = "TouchSens_Protokol_5_Akt.TXT "
;TXT_STR_ALT[] = "TouchSens_Protokol_5_Alt.TXT "
TXT_STR_AKT[] = "/ProtTrans/TouchSens_Protokol_5_Akt.TXT "
TXT_STR_ALT[] = "/ProtTrans/TouchSens_Protokol_5_Alt.TXT "
IF (count_proto_5 > MAX_MESURES) THEN
count_proto_5 = 1
CWRITE($FCT_CALL, STAT, MODE, "krl_remove", TXT_STR_ALT[])
CWRITE($FCT_CALL, STAT, MODE, "krl_rename", TXT_STR_AKT[], TXT_STR_ALT[])
CWRITE($FCT_CALL, STAT, MODE, "krl_remove", TXT_STR_AKT[])
ENDIF
CASE "H"
count_proto_5_rear = count_proto_5_rear + 1
;TXT_STR_AKT[] = "TouchSens_Protokol_5_R_Akt.TXT"
;TXT_STR_ALT[] = "TouchSens_Protokol_5_R_Alt.TXT"
TXT_STR_AKT[] = "/ProtTrans/TouchSens_Protokol_5_R_Akt.TXT"
TXT_STR_ALT[] = "/ProtTrans/TouchSens_Protokol_5_R_Alt.TXT"
IF (count_proto_5_rear > MAX_MESURES) THEN
count_proto_5_rear = 1
CWRITE($FCT_CALL, STAT, MODE, "krl_remove", TXT_STR_ALT[])
CWRITE($FCT_CALL, STAT, MODE, "krl_rename", TXT_STR_AKT[], TXT_STR_ALT[])
CWRITE($FCT_CALL, STAT, MODE, "krl_remove", TXT_STR_AKT[])
ENDIF
DEFAULT
OFFSET_MSG = 0
SWRITE (MSG_TEXT[], STATE_MSG, OFFSET_MSG, "Falscher Parameter (nur 3, 5 oder H erlaubt.)")
SWRITE (MSG_TEXT[], STATE_MSG, OFFSET_MSG, " Es kann kein Protokol angelegt werde")
MsgQuit(MSG_TEXT[], "Protokol")
Return
ENDSWITCH
;Datei erstellen und oeffnen
CWRITE ($FCT_CALL, STAT, MODE, "krl_fopen", TXT_STR_AKT[], "a", HANDLE)
CWRITE ($FCT_CALL, STAT, MODE, "krl_fwriteln", HANDLE, END_STR[])
;inhalt in datei schreiben
CWRITE ($FCT_CALL, STAT, MODE, "krl_fflush", HANDLE)
;Datei schliessen
CWRITE ($FCT_CALL, STAT, MODE, "krl_fclose", HANDLE)
CWRITE ($FCT_CALL, STAT, MODE, "krl_unmount", "/ProtTrans")
END
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