If you are working with windows then for KUKA programs you can use the (OrangeEdit), check it in this website, OrangeEdit Beta. It is free and it enables you to view and edit all the
.dat files and more.
As for the robot program itself, usually you can save it in a USB key, to do so you just log into the KCP of the robot as administrator (default password is "kuka") then plug your key in the robot CPU, then in the KCP, in the menu bar, choose File->Save As->USB and wait for the saving to finish. You end up with a zip file that you can extract and then access via the OrangeEdit.
Normally there are three main folders, the one you will be interested in is (KRC) inside you will have a file called (
$config.dat) where normally all the base frames are defined. Actually people, usually, use these base frames to define zones or areas of work, then in each zone another specific program defines the relative displacement. So, for example, in you application you might find a program called
pick_cartoon() where the relative displacement, according to the cartoon dimensions, will be saved in the associated
.dat file. So if that is the case then what you can do is to add offset to the part in
.src file that does the displacement of frame of work, the offset of course express the difference between the two types of cartoons you have. To do so you need to follow the following steps:
First defines your offsets parameters in the
Then program them in a convenient way in your
.src file, you can use a counter or presence sensors to differentiate between the two types of cartoon, in this case you need to use some I/O of the robot and those also you can define in the
- Then you make these parameters accessible by the operators by defining them in the
ConfigMon file which you can find under the (
\C\) folder in the robot program.
BTW, if you are under Linux you can actually access all the files and open them with any text editor, but it is not as nicer as with OrangeEdit, because that software was created specially for KUKA programs.
Let me know if this helps you, or if you have any further questions.