KRL to KAREL match cases

Unfortunately I don't know the KUKA side at all, so I can only help out on the Fanuc side.

Group outputs are always mapped to digital outputs. You have to define the mapping manually via the IO screen, and then reboot the robot. You could write directly to the digital outputs. The group output is more for human readability.

If you set a number to the group output, the corresponding bits will be set. There is no way no name outputs (beyond a comment) in Fanuc world.

That code you have would probably be something like this in a Fanuc controller:

GO[1]=(R[10:Measurement]) ;

Can you explain in generic terms what you are trying to do. I don't know what any of that kuka code means. What type of data are you trying to work with, boolean, integer, real? Are you trying to set data internally or communicate to another device?

First you have to decide what communication protocol you are going to use. 24v IO, EthernetIP, Profinet, Sockets, etc. Then you select 32 consecutive points on that IO slot and configure them to either Digital IO or Group IO. Group IO has a max of 16, so you would need 2 of them. Or you could use 32 Digital.

Configuration is done through the IO menu. You don't use code to map it, it is menu driven.

So now tell us which communication method you are going to use and we can then help you.

Quote from Latoff

io_gpin32 = 37 -- Grouped inputs 32 bits

io_gpout32 = 38 -- Grouped outputs 32 bits

You found the constants that defined in the kliotyps file. They are used with the SET_PORT_ASG command in Karel. After some testing, I feel like they may be for future use, and not implemented.

However, I don't think it is possible to map a GO to 32 bits. I've been trying in a V8.3 controller, and it just deletes the map if it over 16 bits. You may have to use 2 16bit groups.

KUKAs don't have GOs and GIs, just a huge array of $INs and $OUTs, which are, effectively, the same as a Fanuc's DIs and DOs.

(the analog I/Os are a bit different, but I'm ignoring those)

Now, I'm weak on Fanucs, but I've only ever seen GIs and GOs set up in the I/O Config menus.

But, in KRL, "group signals" are created in program modules, not in the system config. So, the line

SIGNAL SignalName $OUT[1] TO $OUT[8]

Creates a "group output" at the program level. SignalName would be a "handle" that the KRL program treats as an Integer variable, and assigning any value 0-255 to that variable would automatically cause the binary equivalent to be output on "DOs" 1-8.

So, what I think OP wants to know is, in KAREL, can he create/assign a Name to a GO/GI, so that instead of GO[1] = 55 (and trying to remember what GO 1 is), he could program SignalName=55.

I've never done KAREL. I know you can add a "comment" to DIs, DOs, GIs, GOs, and Rs and PRs in the Data screen, and those comments show up (usually) in TP programs when you use those signals/registers, but I'm not sure how that carries through to KAREL.

Quote from Latoff

GO[1]=(R[10:Measurement]) ; - does it asign group trigger to the register?

No trigger. That's a TP command (not KAREL) that simply pushes the contents of Register 10 to Group Output 1.

TP doesn't (AFAIK) let you create variables, so you're stuck using Registers. Registers in TP are... well, from a KUKA standpoint, imagine them as an array of REAL variables declared in $CONFIG.DAT, so they're inherently Global. Except you have a fixed number of them, and can't create more, the way you could in KRL.

The "Measurement" name shown in your example is just a "comment" attached to Register 10, it has no programmatic significance that I'm aware of. KRL doesn't really have an equivalent -- the closest match would be the "long text" names you can assign to I/Os, which only effect the user-interface display, but have no effect on the KRL program at all.

Ok, well all you will need to break it up into either two 16 bit group outputs or 32 digital outputs. You can choose any that are available and add descriptions for them. To actually see it working in the program you first have to select a communication protocol to use. If you don't know that yet then you could temporarily use the internal memory port for testing purposes.

To assign a group output to internal memory port go to menu>IO>Type>Group>Out>Config

Then for example if you want GO[1] and GO[2] you would set them as shown:

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Later on when you determine what communication protocol that you actually want to use you would need to change the rack/slot/start assignment accordingly. You can now simply set the integer value of the group outputs in your code. If instead you would like to set it each of the 32 bits individually you would need to use DO's using a similar configuration process.