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Access $SYSTEM_TIMER in Karel

  • Nono
  • June 7, 2021 at 4:13 PM
  • Thread is Resolved
  • Nono
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    • June 7, 2021 at 4:13 PM
    • #1

    Hi everybody,

    I am looking for a way to count the time when the servos of my robot are on. I found the $SYSTEM_TIME[1].SRV_TOT variable that would do the job but I can't access this variable with my Karel program. I am on a R30iB mini plus controler.

    Thanks!

    :smiling_face:

  • HawkME June 7, 2021 at 5:56 PM

    Moved the thread from forum Manuals, Software and Tools for Fanuc Robots (you should look here first before posting) to forum Fanuc Robot Forum.
  • jmd2777
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    • June 7, 2021 at 10:29 PM
    • #2

    Please post your Karel code and the error that you get.

  • Nono
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    • June 8, 2021 at 8:43 AM
    • #3

    Here is my Karel code:

    IF Day <> $SYS_TIME.$DAY THEN

    IF $SYSTEM_TIME[1].SRV_TOT - Memo_SRV_TIME > 480 THEN

    TIMER_DAY[i] = $SYSTEM_TIME[1].SRV_TOT - Memo_SRV_TIME - 480

    ELSE

    TIMER_DAY[i] = 0

    ENDIF

    Memo_SRV_TIME= $SYSTEM_TIME[1].SRV_TOT

    i=i+1

    ELSE

    Day = $SYS_TIME.$DAY

    ENDIF


    And this is the error:


    C:\Users\NMARILLE\Documents\My Workcells\Arvis2\loc_timer.kl(45)

    45 IF $SYSTEM_TIME[1].SRV_TOT - Memo_SRV_TIME > 480 THEN

    ^ ERROR

    Id must be defined before this use. Id: $SYSTEM_TIME

    thanks

  • HawkME
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    • June 8, 2021 at 11:35 AM
    • #4

    Missing a $.

    $SYSTEM_TIME[1].$SRV_TOT

  • Nono
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    • June 8, 2021 at 11:58 AM
    • #5

    Hello HawkME,

    I still have the same error, and in my program $SYSTEM_TIME[1].$SRV_TOT is not written in yellow like other system variables.

    Do you have an idea?

  • jmd2777
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    • June 8, 2021 at 2:58 PM
    • #6

    You need to use the GET_VAR command to read system variables. The syntax is in the Karel user manual.

  • Nono
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    • June 9, 2021 at 1:24 PM
    • #7

    this is working!

    thank you !

    :smiling_face:

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