FANUC PROJECT: Data recording with background Karel program

Try putting DELAY 50 instruction at the end of while loop.

Instead of CALL DATARECORDER, use RUN command. You will have to set arguments before you use RUN, maybe in Register and String Register.

1 Make the interval to run this and delay it within the tp program that makes the call? you can also multitask this to run in Parallel with your other functioning programs.2 I'm not sure about being able to run this from a background task, but you may be able to because it contains no motion.

Hello Axillus and welcome to the forum,

There are some things to consider:

1. I would replace WAIT FOR statement with a DELAY statement.
2. If you want to run in parallel with other programs, as dha stated, you would start it with RUN.
3. If you start it with RUN and you want to run it continously you will need another WHILE or REPEAT loop above WHILE (duration > clock_var) DO

This loop will provide means on controlling the running/abort status of the program. Just use some virtual outputs (DO's mapped to rack 0, slot 0).
If you want the program just to finish after logging the data at 20 sec interval you don't need this extra loop.
In other case, run the program non-stop the program would look like :

  REPEAT 
  - start recording
    WHILE  (duration > clock_var) DO
    ......
    ENDWHILE
    clock_var=0
    DELAY(50)
  UNTIL DOUT[..]=OFF 

And you make DOUT[...]=ON in the beginning of the program. If you want to cancel the program you just make DOUT[..]=OFF.

And also take out SET_PERIOD routine.

I've made some modifications to your code:

PROGRAM datarecorder
%COMMENT = 'LOG DATA RECORD'
%SYSTEM
%NOLOCKGROUP
%NOABORT=ERROR+COMMAND+TPENABLE
%NOPAUSE=ERROR+COMMAND+TPENABLE
%NOPAUSESHFT

VAR
    logFile    : FILE
    filename   : STRING[16]
    
    duration   : INTEGER -- recording duration in milliseconds
    clock_var  : INTEGER -- clock count in milliseconds
    period     : INTEGER -- recording period in milliseconds (8 ms to 127 ms)
    timeInt    : INTEGER -- actual time
    timeStr    : STRING[18] -- formated
    
    IntTQa1    : REAL -- internal joint torque on axis 1
    IntTQa1Str : STRING[4] -- formated
 
    entry      : INTEGER
    status     : INTEGER
    -- tests
    test       : INTEGER
    clocky     : INTEGER
-----------------------------------------------------------------------------------
-- routine to get internal torque measured on axis 1
ROUTINE GET_INT_TQ(active : BOOLEAN)
BEGIN
    IF active=TRUE THEN
        GET_VAR(entry, '*SYSTEM*', '$MOR_GRP[1].$CUR_TORQUE[1]', IntTQa1, status)
    ENDIF
END GET_INT_TQ
-----------------------------------------------------------------------------------
-----------------------------------------------------------------------------------
-- main routine
BEGIN -- execute the program
    clock_var = 0
    -- begin the clock time count
    CONNECT TIMER TO clock_var
    
    period = 150 -- ms

    duration = 10000 -- ms
    
    filename = 'UT1:'+'TEST'+'.dt'
    
    entry = 0
    status = 0
    
    -- tests
    test = 0
    clocky = 0
    
    -- get actual time and convert it into string
    GET_TIME(timeInt)
    CNV_TIME_STR(timeInt, timeStr)
    
    -- open the log file
    OPEN FILE logFile ('AP', filename)
    -- write actual time and make a carriage return
    WRITE logFile (timeStr, CR)
     -- start recording
    WHILE  (duration > clock_var) DO
        clocky = clock_var
        test = clocky+period
        GET_INT_TQ(TRUE) -- call internal torque routine
        CNV_REAL_STR(IntTQa1, 2, 2, IntTQa1Str)
        WRITE logFile(clock_var)
        --WRITE logFile(';')
        --WRITE logFile(IntTQa1Str, CR)
          DELAY(period)
    ENDWHILE
    -- stop recording, close log file
    CLOSE FILE logFile
-- end of program
END datarecorder

Hello there!

Can tell me how to apply in TP program

Hi, i'm after the same data recorder and i'm having some issues to figure it out about sys vars like

$MOR_GRP[1].$CUR_TORQUE - ARRAY[9] OF SHORT$MOR_GRP[1].$CUR_DIS_TRQ - ARRAY[9] OF SHORT

because i can't understand what they really represent or the way to scale it into REAL numbers who actually represent disturbance (A) and Torque (percent or Nm, idk).

Anyone can pointme in the right direction? I've googled a lot and reviewed all sys var which are available. Readed all manualls about ZDT too and i don't know where are the variables like High Water Mark Torque, odometer, etc.

Thanks in advance, i've been programming fanuc last three years and i think i can actually help people of the forum about some other stuff, so i will be around here.

Greetings.

Hi bugme ,

Did you find what the $MOR_GRP variables represent or the way to scale it int real numbers who actually represent disturbance(A) and Torque .??

When I compare the data in this variable to the axis screen it shows different values.

Hi there,

Have you check that this variables is set to 1?

$MISC_MSTR.$hpd_enb

Minimum: 0

Default: 0

Maximum: 1

karel/Data: RW

Program: RW

Control Start: RW

Type: BOOLEAN

Memory Location: CMOS

Name: High Precision Disturbance Torque Enable

Description: If TRUE: System will update $MISC.$HPD_TRQ[]. If FALSE: System does not update $MISC.$HPD_TRQ[].

User Interface Location: SYSTEM Variables screen

Hi, I did set $hpd_enb variable to TRUE, and I see $HPD_TRQ[] updated. But I don´t understand what does the value represent, since it is different than the values shown in the "axis" screen in the TP.

Is this a % of disturbance related to the max allowed or related to the max specification of the servo?

Quote from othonmt

Hi, I did set $hpd_enb variable to TRUE, and I see $HPD_TRQ[] updated. But I don´t understand what does the value represent, since it is different than the values shown in the "axis" screen in the TP.

Is this a % of disturbance related to the max allowed or related to the max specification of the servo?

Hi,

Unfortunately I can't tell yo what is the relationship between disturbance values and those values. I just know that with monitoring those I'm able to make some part relocation based on those values. I tried to search from my manuals, but couldn't found much to share.

I have spent many, many hours trying to convert the values from system variables concerning torque, max. torque, disturbance torque to match the Teach Pendant monitor values and I have concluded that the numbers in system variables concerning the HPD_TRQ[] array are double types and they in fact represent Amps (A) and match what you see on the Teach Pendant. So this you can use safely.

Now concerning MOR_GRP system variables this is a whole lot different story. Values stored in $TORQUE, $MAX_TORQUE, $CUR_TORQUE are of type UINT and they are raw data coming straight from the Servo's DSP (Digital Signal Processor) cast internally by the Teach Pendant's Kernel to represent a measured value for MONITOR. I have not found a way so far to "pull" the value of the TP monitor screen because that value in my opinion is not stored in a system variable rather it is processed on-the-fly and updated.

A method around I used to tackle this problem was to collect a big sample of data seperately for each axis from both the value of the variable and the value on the teach pendant and compare the mins and max between specific time intervals to find MINs and MAXs as a percent.

Creating a Real-time robot torque monitor in PLC HMI

This was a project of implementing a Live Robot Monitor directly on the PLC's HMI. Scroll to my last post and you can see a video.