Syntax for command files (.CM)

ZBJxC · May 12, 2020 at 6:31 PM

Alright, I got one more.

set Zero % Override to "TRUE" via system variables

I tried $MCR.$OVRZERO_ENB ... I don't believe that is the right SV, and cannot fond the correct.. thanks in advance!!

HawkME · May 12, 2020 at 7:16 PM

What do you mean by zero % override?

Tisonus · May 20, 2021 at 10:47 AM

Hello,

I keep having trouble using PCVLOAD to load files when the software number of the robots changes. We use the following command to load the current Ethernet configuration to the robot:

PCVLOAD UD1:\ethercat.sv

If the software version changes, we get the error: "Sys mismatch" and the script aborts.

If we try to load the file manually, it asks "Convert? Yes, No." and with a click on Yes, the file converts and loads without problems.

Is there any way to put Convert yes in the script to avoid aborting?

EnergyAddict · June 18, 2021 at 3:30 PM

Was the Original Post removed from this Thread? Is there anyway to view it again?

hermann · October 8, 2021 at 10:58 AM Best Answer

At the moment I'm a bit lost, can someone explain how a .CM file is started/loaded? I can't remember how it's done. When I try to load one, the error is: xxx.CM is not loadable.

EDIT: Found the solution: Just press "Enter" on the file screen , Always tried the softkey 'Load'.

mR.PCX · May 4, 2023 at 6:08 PM

An other exemple of .cm syntax

PRINT "azertyuiop"

DELAY 1000

DEFPROG *SYSTEM*

SETVAR $FNO "E-101165"

SETVAR $HOSTENT[17].$H_ADDR "10.143.69.30"

SETVAR $TMI_SNMASK[1] "255.255.255.0"

SETVAR $HOSTENT[20].$H_ADDR "10.143.69.254"

SETVAR $HTTP_AUTH[1].$TYPE 4

SETVAR $HTTP_AUTH[2].$TYPE 4

SETVAR $HTTP_AUTH[3].$TYPE 4

SETVAR $HTTP_AUTH[4].$TYPE 4

SETVAR $HTTP_AUTH[5].$TYPE 4

SETVAR $HTTP_AUTH[6].$TYPE 4

SETVAR $HTTP_AUTH[7].$TYPE 4

SETVAR $HTTP_AUTH[8].$TYPE 4

SETVAR $HSCDMNGRP[1].$MACRO_REG 100

SETVAR $SI_UNIT_ENB 1

SETVAR $PLST_GRP1[1].$COMMENT "QSDFG"

SETVAR $PLST_GRP1[1].$PAYLOAD 52

SETVAR $PLST_GRP1[1].$PAYLOAD_X -33.07235

SETVAR $PLST_GRP1[1].$PAYLOAD_Y 0.179398

SETVAR $PLST_GRP1[1].$PAYLOAD_Z 22.64599

SETVAR $PLST_GRP1[1].$PAYLOAD_IX 54528.49

SETVAR $PLST_GRP1[1].$PAYLOAD_IY 64557.29

SETVAR $PLST_GRP1[1].$PAYLOAD_IZ 37259.31

SETVAR $PLST_GRP1[2].$COMMENT "CHARGE 22kg"

SETVAR $PLST_GRP1[2].$PAYLOAD 74.5

SETVAR $PLST_GRP1[2].$PAYLOAD_X -3

SETVAR $PLST_GRP1[2].$PAYLOAD_Y -2

SETVAR $PLST_GRP1[2].$PAYLOAD_Z 29

SETVAR $PLST_GRP1[2].$PAYLOAD_IX 106100

SETVAR $PLST_GRP1[2].$PAYLOAD_IY 147300

SETVAR $PLST_GRP1[2].$PAYLOAD_IZ 58200

SETVAR $PLST_GRP1[3].$COMMENT "CHARGE 15kg"

SETVAR $PLST_GRP1[3].$PAYLOAD 67.5

SETVAR $PLST_GRP1[3].$PAYLOAD_X -6

SETVAR $PLST_GRP1[3].$PAYLOAD_Y -1

SETVAR $PLST_GRP1[3].$PAYLOAD_Z 28

SETVAR $PLST_GRP1[3].$PAYLOAD_IX 90200

SETVAR $PLST_GRP1[3].$PAYLOAD_IY 127700

SETVAR $PLST_GRP1[3].$PAYLOAD_IZ 53100

SETVAR $PLST_GRP1[4].$COMMENT "INTERCALAIRE"

SETVAR $PLST_GRP1[4].$PAYLOAD 52

SETVAR $PLST_GRP1[4].$PAYLOAD_X -8

SETVAR $PLST_GRP1[4].$PAYLOAD_Y 0

SETVAR $PLST_GRP1[4].$PAYLOAD_Z 27

SETVAR $PLST_GRP1[4].$PAYLOAD_IX 75000

SETVAR $PLST_GRP1[4].$PAYLOAD_IY 104300

SETVAR $PLST_GRP1[4].$PAYLOAD_IZ 41700

SETVAR $PARAM_GROUP[1].$ARMLOAD[2] 3.00E+00

SETVAR $PARAM_GROUP[1].$ARMLOAD[1] 4.00E+00

SETVAR $OPWORK.$UOP_DISABLE 0

SETVAR $SHELL_CFG.$CONT_ONLY 0

SETVAR $SHELL_CFG.$USE_ABORT 1

SETVAR $SHELL_CFG.$CSTOPI_ALL 1

SETVAR $CR_AUTO_DO 37

SETVAR $CR_T1_DO 38

SETVAR $REMOTE_CFG.$REMOTE_TYPE 1

SETVAR $IO_AUTO_UOP 1

SETVAR $JINC.$JINC_ENB 1

SETVAR $SCR_GRP[1].$HBK_ENBL 0

SETVAR $IO_AUTO_CFG 0

SETVAR $IO_AUTO_UOP 0

SETVAR $SHELL_CFG.$PNS_ENABLE 0

SETVAR $SHELL_CFG.$SEL_TYPE 9

SETVAR $SHELL_WRK.$CUST_NAME "CELL"

SETVAR $SHELL_CFG.$PROD_MODE 1

SETVAR $SHELL_CHK[3].$ENABLE 1

SETVAR $SHELL_CHK[3].$RESUME 1

SETVAR $SHELL_CHK[3].$PROMPT 0

SETVAR $SHELL_CHK[3].$WARN 0

SETVAR $SHELL_CHK[3].$FORCE 1

SETVAR $SHELL_CHK[7].$ENABLE 1

SETVAR $SHELL_CHK[7].$RESUME 1

SETVAR $SHELL_CHK[7].$PROMPT 0

SETVAR $SHELL_CHK[7].$WARN 0

SETVAR $SHELL_CHK[7].$FORCE 1

SETVAR $REFPOS1[1].$COMMENT "home"

SETVAR $REFPOS1[1].$ENABLED 1

SETVAR $REFPOS1[1].$HOMEPOS 0

SETVAR $REFPOS1[1].$DOUT_INDX 3

SETVAR $REFPOS1[1].$PERCHPOS[1] -1.570796E+00

SETVAR $REFPOS1[1].$PERCHTOL[1] 1.745329E-03

SETVAR $REFPOS1[1].$PERCHPOS[2] 4.363323E-01

SETVAR $REFPOS1[1].$PERCHTOL[2] 1.745329E-03

SETVAR $REFPOS1[1].$PERCHPOS[3] 0.000000E+00

SETVAR $REFPOS1[1].$PERCHTOL[3] 1.745329E-03

SETVAR $REFPOS1[1].$PERCHPOS[4] 0.000000E+00

SETVAR $REFPOS1[1].$PERCHTOL[4] 1.745329E-03

SETVAR $REFPOS1[1].$PERCHPOS[5] -1.570796E+00

SETVAR $REFPOS1[1].$PERCHTOL[5] 1.745329E-03

SETVAR $REFPOS1[1].$PERCHPOS[6] 3.141593E+00

SETVAR $REFPOS1[1].$PERCHTOL[6] 1.745329E-03

SETVAR $REFPOS1[2].$COMMENT "home"

SETVAR $REFPOS1[2].$ENABLED 1

SETVAR $REFPOS1[2].$HOMEPOS 0

SETVAR $REFPOS1[2].$DOUT_INDX 35

SETVAR $REFPOS1[2].$PERCHPOS[1] -1.570796E+00

SETVAR $REFPOS1[2].$PERCHTOL[1] 1.745329E-03

SETVAR $REFPOS1[2].$PERCHPOS[2] 7.452556E-03

SETVAR $REFPOS1[2].$PERCHTOL[2] 1.745329E-03

SETVAR $REFPOS1[2].$PERCHPOS[3] 3.457497E-02

SETVAR $REFPOS1[2].$PERCHTOL[3] 1.745329E-03

SETVAR $REFPOS1[2].$PERCHPOS[4] 0.000000E+00

SETVAR $REFPOS1[2].$PERCHTOL[4] 1.745329E-03

SETVAR $REFPOS1[2].$PERCHPOS[5] -1.605371E+00

SETVAR $REFPOS1[2].$PERCHTOL[5] 1.745329E-03

SETVAR $REFPOS1[2].$PERCHPOS[6] 3.141593E+00

SETVAR $REFPOS1[2].$PERCHTOL[6] 1.745329E-03

SETVAR $REFPOS1[3].$COMMENT "bloblo"

SETVAR $REFPOS1[3].$ENABLED 1

SETVAR $REFPOS1[3].$HOMEPOS 0

SETVAR $REFPOS1[3].$DOUT_INDX 4

SETVAR $REFPOS1[3].$PERCHPOS[1] 1.454924E+00

SETVAR $REFPOS1[3].$PERCHTOL[1] 1.745329E-03

SETVAR $REFPOS1[3].$PERCHPOS[2] 3.458544E-01

SETVAR $REFPOS1[3].$PERCHTOL[2] 1.745329E-03

SETVAR $REFPOS1[3].$PERCHPOS[3] -6.232571E-02

SETVAR $REFPOS1[3].$PERCHTOL[3] 1.745329E-03

SETVAR $REFPOS1[3].$PERCHPOS[4] -3.438299E-03

SETVAR $REFPOS1[3].$PERCHTOL[4] 1.745329E-03

SETVAR $REFPOS1[3].$PERCHPOS[5] -1.506708E+00

SETVAR $REFPOS1[3].$PERCHTOL[5] 1.745329E-03

SETVAR $REFPOS1[3].$PERCHPOS[6] 1.167974E-01

SETVAR $REFPOS1[3].$PERCHTOL[6] 1.745329E-03

SETVAR $REFPOS1[4].$COMMENT "blabla"

SETVAR $REFPOS1[4].$ENABLED 1

SETVAR $REFPOS1[4].$HOMEPOS 0

SETVAR $REFPOS1[4].$DOUT_INDX 36

SETVAR $REFPOS1[4].$PERCHPOS[1] -1.570796E+00

SETVAR $REFPOS1[4].$PERCHTOL[1] 1.745329E-02

SETVAR $REFPOS1[4].$PERCHPOS[2] 1.144587E+00

SETVAR $REFPOS1[4].$PERCHTOL[2] 1.745329E-02

SETVAR $REFPOS1[4].$PERCHPOS[3] -5.919982E-01

SETVAR $REFPOS1[4].$PERCHTOL[3] 1.745329E-02

SETVAR $REFPOS1[4].$PERCHPOS[4] 0.000000E+00

SETVAR $REFPOS1[4].$PERCHTOL[4] 1.745329E-02

SETVAR $REFPOS1[4].$PERCHPOS[5] -9.787981E-01

SETVAR $REFPOS1[4].$PERCHTOL[5] 1.745329E-02

SETVAR $REFPOS1[4].$PERCHPOS[6] 3.141593E+00

SETVAR $REFPOS1[4].$PERCHTOL[6] 1.745329E-02

SETVAR $RSPACE1[1].$COMMENT "PALETTE"

SETVAR $RSPACE1[1].$IN_EXTERIOR 1

SETVAR $RSPACE1[1].$PRIORITY 1

SETVAR $RSPACE1[1].$DOUT_INDX 2

SETVAR $RSPACE1[1].$DIN_INDX 2

SETVAR $RSPACE1[1].$LENGTH_VTEX 1

SETVAR $RSPACE1[1].$FIRST_VTEX[1] 260.000

SETVAR $RSPACE1[1].$FIRST_VTEX[2] -2600.000

SETVAR $RSPACE1[1].$FIRST_VTEX[3] -2000.000

SETVAR $RSPACE1[1].$SECND_VTEX[1] 2460.000

SETVAR $RSPACE1[1].$SECND_VTEX[2] 3000.000

SETVAR $RSPACE1[1].$SECND_VTEX[3] 2000.000

SETVAR $RSPACE1[1].$CUR_TCP[1] 0

SETVAR $RSPACE1[1].$CUR_TCP[2] -1253.099

SETVAR $RSPACE1[1].$CUR_TCP[3] 349.928

SETVAR $RSPACE1[1].$PRE_TCP[1] 0

SETVAR $RSPACE1[1].$PRE_TCP[2] -1253.099

SETVAR $RSPACE1[1].$PRE_TCP[3] 349.928

SETVAR $RSPACE1[1].$ENABLED 1

SETVAR $THRRDITABLE[1].$DO_NO 56

SETVAR $THRRDITABLE[1].$THR_ENB 1

SETVAR $THRRDITABLE[2].$DO_NO 53

SETVAR $THRRDITABLE[2].$THR_ENB 1

SETVAR $THRSDITABLE[1].$DI_NO 289

SETVAR $THRSDITABLE[1].$DO_NO 83

SETVAR $THRSDITABLE[1].$THR_ENB 1

SETVAR $THRSDITABLE[2].$DI_NO 290

SETVAR $THRSDITABLE[2].$DO_NO 84

SETVAR $THRSDITABLE[2].$THR_ENB 1

SETVAR $RSCH_LOG.$EXP_ENB 1

SETVAR $RSCH_LOG.$DEFAULT_DEV 1

SETVAR $SCR_GRP[1].$M_POS_ENB 1

SETVAR $SCR.$MAXNUMTASK 10

SETVAR $EXTLOG_SIZ 1000

SETVAR $EXTLOG_REQ 1000

JHROJO · June 30, 2023 at 8:15 PM

Quote from Jhubb

Does anyone here know how to use a .cm file to configure the I/O on a FANUC robot? (i.e. Rack, Slot, Starting point) I have placed an example of the file that I am attempting to use, but it will only map the flags I/O as I have it written. (Rack 33 and 34).
!MAPS DIGITAL INPUTS
DIOASG 1 1 16 34 1 0 1
DIOASG 1 17 16 34 1 0 17
!MAPS DIGITAL OUTPUTS
DIOASG 2 1 16 34 1 0 1
DIOASG 2 17 16 34 1 0 17
Also, there are 7 digits in this assignment. what does the 6th digit represent? The digit that is currently a "0" in the two above examples.
The above code will work on an actual robot, and Roboguide. But if I try and use it to map another types of I/O, it does nothing.
Thanks for you knowledge and time.

Display More

Hi Jhubb,

I was playing with your command and i found how to setup another DIO,

Input

DIOASG 1 1 512 89 1 1 1

DIOASG 1 672 48 89 14 1 1

DIOASG 1 801 20 89 18 1 1

Output

DIOASG 2 1 512 89 1 2 1

DIOASG 2 672 48 89 14 2 1

DIOASG 2 801 20 89 18 2 1

DIOASG 2 17 16 89 1 0 17

where did you get this command "DIOASG"?, if you have a manual about this could you share with me?

Regards.

dha · July 28, 2023 at 8:25 AM

I need help setting %MAXREGNUM in [*NUMREG*] using CM.

I tried this:

Code

SETVAR [*NUMREG*]$MAXREGNUM 200    -> No error, but also no change
SETVAR [NUMREG]$MAXREGNUM 200      -> No error, but also no change
KCL SET VAR [*NUMREG*]$MAXREGNUM = 200 -> "Undefined parse syntax error"
KCL SET VAR [NUMREG]$MAXREGNUM = 200   -> "Variable not defined"

mR.PCX · July 28, 2023 at 5:09 PM

Hi,

I think you need to be in ctrl start to change the num of registers

MENU/0 NEXT/1 PROGRAM SETUP/2 NUMERIC REGISTERS

pasted-from-clipboard.png

dha · August 1, 2023 at 8:56 AM

I know that way. I was wondering if there is a way to do it using CM...

mR.PCX · August 9, 2023 at 9:59 AM

Oh sorry i did'nt read carefully your first message. With a .Cm i think it will be complicated because you have to be in controlled start to do it (version 9.4, for older version it's different). You can test with system variables concerned. I hope i helped you a bit. good luck

PnsStarter · August 9, 2023 at 12:41 PM

Quote from dha

I need help setting %MAXREGNUM in [*NUMREG*] using CM.

I also didn't got thit to work.

The only way was to setup the var via karel

pdl · August 9, 2023 at 4:57 PM

Can you execute the command file under a controlled start and see what happens?

authoms · August 22, 2023 at 10:27 PM

Quote from dha

I need help setting %MAXREGNUM in [*NUMREG*] using CM.

I tried this:

Code

SETVAR [*NUMREG*]$MAXREGNUM 200    -> No error, but also no change
SETVAR [NUMREG]$MAXREGNUM 200      -> No error, but also no change
KCL SET VAR [*NUMREG*]$MAXREGNUM = 200 -> "Undefined parse syntax error"
KCL SET VAR [NUMREG]$MAXREGNUM = 200   -> "Variable not defined"

Hi dha

I use the example below :

DEFPROG *POSREG*

! max PR

SETVAR $MAXPREGNUM 299 ;

EXIT

After restart in "controlled start" to apply the change.

then in "Start Cold"

AnandTUD · August 23, 2023 at 9:43 AM

Does this need controlled start? I tested in Roboguide and it works after just cold start.

Quote from authoms

Hi dha
I use the example below :
DEFPROG *POSREG*
! max PR
SETVAR $MAXPREGNUM 299 ;
EXIT

After restart in "controlled start" to apply the change.
then in "Start Cold"

Display More

dha · August 23, 2023 at 11:36 AM

Quote from authoms

Hi dha
I use the example below :
DEFPROG *POSREG*
! max PR
SETVAR $MAXPREGNUM 299 ;
EXIT

After restart in "controlled start" to apply the change.
then in "Start Cold"

Display More

I confirm this approach is working.

If you need to work with system variables again use

Code

DEFPROG *SYSTEM*

AnandTUD · January 3, 2024 at 1:18 PM

Hello all,

Could someone tell me if it is possible to execute the .CM file without using the Teach Pendant? I tried with RUNCF but it does execute only .CF files and not .CM.

Thanks and Regards

Anand

AnandTUD · September 20, 2024 at 10:15 AM New

Quote from Nation

It is unfortunate that this is not documented anywhere, but I found the IF statement synax in one of Fanuc's .cm files.

Here it is:

Code

IF VAR $APPLICATION[2] "V7.30P/*"
  SETVAR $CCSCB2_GRP[1].$FS_TYP2 1
ELSE
  IF VAR $APPLICATION[2] "V7.40P/*"
    SETVAR $CCSCB2_GRP[1].$FS_TYP2 1
  ELSE
    IF VAR $APPLICATION[2] "V7.50P/*"
      SETVAR $CCSCB2_GRP[1].$FS_TYP2 1
    ELSE
      IF VAR $APPLICATION[2] "V7.60P/*"
        SETVAR $CCSCB2_GRP[1].$FS_TYP2 1
      ENDIF
    ENDIF
  ENDIF
ENDIF

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Is it possible to use IF statements to check Karel variables? Has anyone tried it?

Nation · September 23, 2024 at 9:13 PM New

Quote from AnandTUD

Is it possible to use IF statements to check Karel variables? Has anyone tried it?

Your question piqued my interest, so I did a ton of digging and experiments on it. As far as I can tell, the answer is no.

AnandTUD · September 24, 2024 at 7:48 AM New

Yes, even i tried some combinations and wasnt successful. Anyways thanks for the effort Nation

Syntax for command files (.CM)

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