Message H9000: Kein gültiges Base/Tool

stefanos · 21. September 2009

Hi

I have a problem with my robot with KRC 32 controller.
Process : palletization

I want to programming my robot, but when I press BEW(Großtaste)-->ptp(Softkey), I see a message:
H9000 "Kein gültiges Base/Tool"...

I don't know what I should to do...
I want to have coordinates X,Y,Z...

Help needed!

titan72 · 22. September 2009

Hello,
you must first initialize the motion parameters,

DESCR INITMOVE
INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3

BAS (#INITMOV,0,"-" )
H50 (0 ) ;init
ENDDESCR

$TOOL=TOOL_DATA[1]
$BASE=BASE_DATA[1]

stefanos · 24. September 2009

Adding/Writing of this fragment diddn't help.
What can I do with this error in order to doesn't apperar all the time?

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