Create a TP program with KAREL

Quote from RKind

I have created the code to send and receive the values from the controller to the PLC via a ProfiNET.

What kind of values?

Quote from RKind

As mentioned before, I am new to KAREL. I am reading documents and learning through the threads created here.

Where did you get the informations for those variables like f.e. "bHCodeREQ". For me this looks like an overboarding fantasy.

Communicating via Profinet normally works with single bits, groups of bits as unsigned integer or analog values. It's just the same as in TP programs.

So if you have a working Profinet connection to the PLC, you can use DOUT[]/DIN[], GOUT[],GIN[] or AIN[] AOUT[].

PROGRAM WRITEHM
%COMMENT = 'WRITEHM'
%NOLOCKGROUP
%NOBUSYLAMP
%NOPAUSE = ERROR+COMMAND+TPENABLE
%PRIORITY = 1                                
%TIMESLICE = 8                                 
%DELAY = 8                                  
%ALPHABETIZE
%NOPAUSESHFT
--%INVISIBLE
--%
--%CMOSVARS
%NOABORT= ERROR + COMMAND

--SECTION 2 constant and variables declaration
VAR
 input_Nr1 :  INTEGER;

--SECTION 4: MAIN PROGRAM
BEGIN
 DOUT[10]=ON;
 GOUT[1]=123;
 input_Nr1=GIN[1];
END WRITEHM

Quote from hermann

I wanted to set the values like parameters for laser.

EX.

H1 = 1000 ; Set Laser Power to 1000 Watt

M20 ; Set Laser to ready

M21 ; Start Laser

These below user defined variables will Communicate with PLC. Similarly GET and SEND data.

HCodeREQ

HCodeACQ

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Quote from RKind

These below user defined variables will Communicate with PLC. Similarly GET and SEND data.

HCodeREQ

HCodeACQ

May be you think they should, but they won't.

H1 = 1000 ; Set Laser Power to 1000 Watt
M20 ; Set Laser to ready
M21 ; Start Laser

Seems to be G-Code from CNC. Robots work different. Read, and try to understand my post above.

You don't need Karel for setting I/O to a Laser or PLC. You can use a simple TP program to set those values to DO / GO /AO.

But you must define them properly in the settings of profinet and DI/DO and GI/GO settings.

Has absolutely nothing to do with Karel.

Quote from JT

See attached code which contains a non supported build-in. Not all movement types are supported but it might do the trick for your application.

Fanuc is not keen on supporting movement in Karel. Their vision is that all generated points should be teached by a qualified operator in TP. Karel logic programs can then call these teached movement TP programs.
But FANUC seems to forget that in some cases you have to use the readily available robot kinematic model on the controller to compute or convert points during operation, so it is easier to let the controller generate the TP programs without any link to a PC/software. On the opposite of the attached code typically a software is used to create the TP program structure and points offline which is then uploaded to the controller. In the latter if anything goes wrong the software is to blame and not the controller. I guess it is a question of liability.

Have fun!

JT, do you know if we can create weld statements using mnemonics ? I have been trying to figure it out but I wasn't able to reproduce a functioning statement.

I also tried to read in a statement that is already written and look at its mnemonics values, but this returned an array of 255s.