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

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

Display More

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

Nation · September 23, 2024 at 9:13 PM

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

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

Syntax for command files (.CM)

Advertising from our partners

Anyware Robotics is hiring!

How to see your Job Posting (search or recruit) here in Robot-Forum.com

Users Viewing This Thread