Hi, everyone
I'm new to FANUC karel programming and it attract my interest last week. I tried to transform a roller hemming offset TP program to karel form last Friday. I used GET_TPE_PRM to read AR value(real number type), however, when I input integer it can't recognize and output to zero. How could I read AR in both REAL and integer type ?
Any reply will be appreciated.
Code
PROGRAM offset
%COMMENT = 'Version 1.0'
%NOBUSYLAMP
%NOLOCKGROUP
%NOABORT = ERROR + TPENABLE + COMMAND
%NOPAUSE = ERROR + TPENABLE + COMMAND
%INCLUDE kliotyps
VAR
STATUS:INTEGER
XYZ:XYZWPR
intParam:INTEGER
realParam,offset_x,offset_z,offset_p,offset_r,offset_zdry:REAL
strParamy:STRING[12]
BEGIN
XYZ = GET_POS_REG(221,STATUS,1)
GET_TPE_PRM(1,2,intParam,offset_x,strParamy,STATUS)
GET_TPE_PRM(2,2,intParam,offset_z,strParamy,STATUS)
GET_TPE_PRM(3,2,intParam,offset_p,strParamy,STATUS)
GET_TPE_PRM(4,2,intParam,offset_r,strParamy,STATUS)
GET_TPE_PRM(5,2,intParam,offset_zdry,strParamy,STATUS)
XYZ.x = offset_x
XYZ.z = offset_z
XYZ.p = offset_p
XYZ.r = offset_r
IF DIN[12] = ON THEN XYZ.z = offset_zdry
ENDIF
SET_POS_REG(221,XYZ,STATUS,1)
END offset
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