Types of IF Instructions

I'm unsure of what you mean, do you mean your conditions that you pass in the IF statement or something different?

i.e. IF DI[1] (IF statement with IO condition)
IF F[1] (IF statement with Flag condition)

Fanuc robot controllers with version 7.7 and under have next syntax:

IF (condition), decision(jump/call)

Everything that you can find above 8.* you have choice to use old style if logic or you can do regular for everybody

IF (condition) THEN
!do smth
(optional)ELSE
(optional) !do else logic
ENDIF

You're probably referring to mixed logic which is much more versatile.
IF (...) vs IF ...=...

It incorporates ...=(...) and ...=PULSE

I think my issue is related to this thread...…..

I have been programming using Roboguide using a Controller with:

V8.30P/48

I have written many subroutines which use the syntax:

IF...……...THEN.....ELSE.....ENDIF

I have just been provided a backup from another system, opened it up in Roboguide and that version is:

V8.20P/31

I have found none of my programs that contain the IF.....THEN......ELSE......ENDIF syntax will load into it...……

An example below:

  20:  IF (F[10:Pallet 1 Ready]=(ON) AND F[18:Pallet 1 Unload]=(OFF)) THEN ;
  21:  R[7:Target Pallet No]=1    ;
  22:  F[14:Pallet 1 In use]=(ON) ;
  23:  JMP LBL[2] ;
  24:  ENDIF ;

Is there anything I can do about this in terms of being able to use my pre-written subroutines?

Any assistance with this would be very much appreciated, as this leaves me with a hell of a lot of work to do otherwise?

On another note, I have to express my disappointment with Fanuc Products if this results in me having to re-write my code.

I sincerely hope this is down to myself making errors and not the product itself, as this is not good at all...…………

Ooooh Man.....I really wished you had a golden nugget you could hand me...………..

Fanuc was edging Kawasaki in many areas and this has just swung the vote to Kawasaki.

With this archaic syntax now will have me bouncing around programs like a monkey on a bungee.

Still, if that's how it is, I just need to now run out of tears so I can see clearly enough to mod away...…..

I suppose it'll be a question of whether to upgrade software just for this purpose.....I'll have to at least ask the question.

Does Fanuc charge for upgrade of software (I don't know whether I can hear you laughing at me for asking this)?

To be fair, both FANUC's TP and KAREL programming languages have been extremely stable for decades, especially in a forward-compatible direction (i.e. code written in 1999 will probably work on an R-30iB+ controller).

It is a bit baffling that IF-THEN-ELSE controller structures weren't supported until R-30iB, but I'm glad we finally have them. It's too bad you happened to be on v8.20 and not v8.30

Baffling for sure...….and there is probably a good reason behind it too embedded in the realms of some boffins logic who gets paid a hell of a lot more than me.....Not that I'm bitter at all...Heehee

Still, glad I've found a 'breakpoint' between these versions early doors.....it's not a job stopper, just what I call one of those 'buggeration' factors that appear small, but carry a nasty nip.

If you have a login to the Fanuc CRC then you can get the auto-update software for free. You would want to download the latest version of version 8 software which is: V8.30P/52 AUTO Update.

The strange thing is, this system has just been installed and the existing systems (hence the reason I had a backup of one) are on later versions to this.

I shall explore this now as a viable option as it would be better to at least have some continuity throughout regarding software levels.

HawkME

Many thanks for that, much appreciated.....that's half a golden nugget at least...……….

Quote

if you have a login to the Fanuc CRC then you can get the auto-update software for free. You would want to download the latest version of version 8 software which is: V8.30P/52 AUTO Update.

Unfortunately it's not as simple as that...…………..I'm in the UK and Fanuc's policy regarding software here is soooooo restricted indeed.

No option of you doing any option install or software upgrade yourself, you have to provide an image to them and they do the work for you.

And yes, everything you have to pay for, even for a software update from 8.20 to 8.30.

To be honest, I'm really hacked off with their approach regarding software options and updates, I wish I was in the USA sometimes.

I'm in the process of trying to source alternative solutions...…..do you know if Fanuc US will deal outside of their region?

I'm going to find out I think anyway...………….

When I call Fanuc tech support it is either $500 or $2000 to do what I'm asking about.

I recently had a EOAT that required 5 32bit floating point parameters over Profi-Net. I asked if there was some kind of translating subroutine as the robot has a 16bit Motorola processor. They sent me a .pdf for mapping global data. (no mention of converting the data). Fortunately the PLC programmer on the job took the communications for the EOAT and we handshaked the IO for me to control it.

hello I'm reopening this subject about the IF fonction.
I'm new to fanuc and I have some experience on Staubli robotic.
The programming section is , as you might expect, a lot different from fanuc.

I've 2 questions about the IF section :

I didn't find much about the classic IF ...... ELSIF fonction. If you have plenty of statements you usually goes for the elsif fonction to process faster.

Example:

If Instruction = 1 THEN
do task 1
ElsIf Instruction = 2 THEN
do task 2
ElsIf Instruction = 3 THEN
do task 3
ElsIf Instruction = 4 THEN
do task 4
Else THEN
do Nothing
EndIf

The Elsif fonction doesn't seem to exist.
If saw they used the SELECT fonction that seems to works similar (If I understood correctly) but It only work on register when I need to use AI instead. Should I mapped this AI into a register and use the SELECT fonction that act as ELSIF ?

Another question on the LBL / JUMP LABEL fonction that I clearly do not understand the purpose.

Why not simply writing the code of the section needed

Exemple :

If Instruction = 1 THEN
JMP LBL[1]
END_IF

If Instruction = 2 THEN
JMP LBL[2]
END_IF

If Instruction = 3 THEN
JMP LBL[3]
END_IF

LBL[1]
J P[1] 100% CNT50

LBL[2]
J P[2] 100% CNT50

LBL[3]
J P[3] 100% CNT50

Could be written as follow :
If Instruction = 1 THEN
J P[1] 100% CNT50
ENDIF
ElsIf Instruction = 2 THEN
J P[2] 100% CNT50
ENDIF
If Instruction = 3 THEN
J P[3] 100% CNT50
EndIf

Maybe In case you need to JMP into a Label twice inside a program but I guess It usually never happen.

Thank in advance

The IF/THEN/ELSE instructions were not available on Fanuc controllers until late into version 8 (R30iB). This is why Fanuc programmers were forced to use JMP LBL's instead of IF/THEN/ELSE. As you pointed out, it can make for some real spaghetti code.

This may also be why you don't have the ELSE instruction. What version of software are you running?

Hi ashley,

as pdl wrote.

And:

ELSIF is not available.

But:

you said you're using AI , so i would recommend SELECT:

:  R[1]=AI[1]    ;
:  SELECT R[1]=0,CALL TEST ;
:         =1,CALL TEST(35) ;
...
...
:         =4,CALL TEST4(3) ;
:       ELSE,CALL TEST_ABC(2) ;

thank you a lot for your response, I'm using the version 8.3.

I understand now why the JUMP LBL fonction must be added then

fanuc should try to implement the elsif fonction , it might reduced the number of line of code.

I will use the SELECT Fonction then, I'm assuming the programme automatically skip to the end on the SELECT fonction once it reach one of the condition (like a switch case fonction)

Quote from ashley

I will use the SELECT Fonction then, I'm assuming the programme automatically skip to the end on the SELECT fonction once it reach one of the condition (like a switch case fonction)

That ist correct. SELECT is the same as SWITCH (e.g. KUKA) and TEST (e.g. ABB).