KAREL programming FANUC

Kawazaki02 · October 13, 2020 at 10:31 PM

Hi guys. can you tell me which operator to use to get the value of the argument shown in the picture?

Nation · October 13, 2020 at 11:43 PM

GET_TPE_PRM is the command to parse passed in arguments from a TP call.

Example of its use from some code of mine in my conversion thread:

Code

--Should be an int from 1-3.
GET_TPE_PRM(1, data_type, int_value, real_value, str_value, STATUS)
--Validate what was passed.
IF (data_type=1) AND (STATUS=0) THEN
--Argument is an int.
IF (int_value<1) OR (int_value>3) THEN
--Invalid argument 2, not in range.
--Clear and home user screen.
WRITE(CHR(128))
WRITE(CHR(137))
--Force the user screen.
FORCE_SPMENU(TP_PANEL , SPI_TPUSER , 1)
WRITE('Invalid Argument 1. Must be an integer.',CR)
WRITE('Valid Arguments are: 1 to 3',CR)
WRITE('Mode 1: Convert all to JPOS',CR)
WRITE('Mode 2: Convert all to LPOS',CR)
WRITE('Mode 3: Convert LPOS to JPOS',CR)
WRITE('and JPOS to LPOS',CR)
ABORT
ENDIF
--Argument 2 is ok.
conv_type=int_value
ELSE
--Invalid argument 2, not an integer, or the GET_TPE_PRM failed.
--Clear and home user screen.
WRITE(CHR(128))
WRITE(CHR(137))
--Force the user screen.
FORCE_SPMENU(TP_PANEL , SPI_TPUSER , 1)
WRITE('Invalid Argument 1. Must be an integer.',CR)
WRITE('Valid Arguments are: 1 to 3',CR)
WRITE('Mode 1: Convert all to JPOS',CR)
WRITE('Mode 2: Convert all to LPOS',CR)
WRITE('Mode 3: Convert LPOS to JPOS',CR)
WRITE('and JPOS to LPOS',CR)
ABORT
ENDIF

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Kawazaki02 · October 14, 2020 at 4:36 PM

Quote from Nation

GET_TPE_PRM is the command to parse passed in arguments from a TP call.
Example of its use from some code of mine in my conversion thread:

Thank you very much. everything worked out. really not without dancing with a tambourine

Kawazaki02 · October 14, 2020 at 4:50 PM

if anyone needs a program on this topic, keep it and use it. program on KAREL. is designed to shift points by specified coordinates by the value of the argument, the argument is taken from the program call. (if you have questions about the program, write here, I will try to answer).

Thanks to everyone who helped figure it out.

Code

PROGRAM TEST_KAR_12

%ENVIRONMENT REGOPE
%NOLOCKGROUP
%ALPHABETIZE
%COMMENT = 'ALL_POS_ARG'
%ENVIRONMENT TPE
%ENVIRONMENT BYNAM
%INCLUDE klevtpe

CONST
    MAX_AXS = 9    
    
VAR
    to_prog: STRING[30]
    open_id: INTEGER
    status: INTEGER
    indx_pos: INTEGER
    num_axs : INTEGER
    group_no: INTEGER
    posn_type: INTEGER
    org_xyz : XYZWPREXT
    new_xyz : XYZWPREXT
    num_pos : INTEGER
    r_val: REAL
    i_val: INTEGER
    r_flg :BOOLEAN
    pos_num: INTEGER
    
    param_no : INTEGER
    data_type : INTEGER
    int_value : INTEGER
    real_value : REAL
    sens_name   : STRING[40]
    
    
    
BEGIN
    
    GET_TPE_PRM (1,2,int_value,real_value,sens_name,STATUS)
    
        to_prog = 'TEST_TP_1'
         
     OPEN_TPE (to_prog, TPE_RWACC, TPE_RDREJ, open_id, status)
         group_no = 1
         
     AVL_POS_NUM (open_id, pos_num, status)
             num_pos = pos_num    
             
     FOR indx_pos = 1 TO num_pos-1 DO    
         
    GET_POS_TYP (open_id, indx_pos, group_no, posn_type, num_axs, status)
        WRITE('get_pos_typ status', status,CR)
        
        SELECT posn_type OF    
            CASE (pt_rxyzwpr):
        
      org_xyz = GET_POS_TPE (open_id,  indx_pos, status)
             new_xyz = org_xyz
             new_xyz.x = org_xyz.x + int_value
             new_xyz.y = org_xyz.y + 0
            new_xyz.z = org_xyz.z + 0
            new_xyz.w = org_xyz.w + 0
            new_xyz.p = org_xyz.p + 0
            new_xyz.r = org_xyz.r + 0
            new_xyz.ext1 = org_xyz.ext1 + 0
            new_xyz.ext2 = org_xyz.ext2 + 0
            new_xyz.ext3 = org_xyz.ext3 - int_value
            
    SET_EPOS_TPE (open_id, indx_pos, new_xyz, status)
    
        ENDSELECT
        
     ENDFOR
     
    CLOSE_TPE (open_id, status)
    
END TEST_KAR_12

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sbertelli · November 18, 2022 at 12:45 AM

hello were you able to solve the problem of moving the extended axes with karel or using a table with continuous rotation. ??

KAREL programming FANUC

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