Fanuc TP unordered array management?

Hi y'all,

I'm Tony, I'm 19 and I'm learning on an ER-4ia. I need to do some simple part moving, using unknown sets and irregular plates to place them on. I come from computer science town, so pardon me for using C# expressions where I lack Karel/TP syntax! I've also learned CNC gcode, although it might not help here...

I could write a simple point-to-point with pick-and-drop RO commands, but that would be exasperating to write and a nightmare to edit for every set of plates. Instead, I would like to go for something a little more KAREL-ly, perhaps some sort of:

VAR
 ArrayStartPositions [10] OF INTEGER
 ArrayEndPositions [10] OF INTEGER
BEGIN
 //Initialize current (start) positions and final (end) position arrays
 R1 = 1 //first start position count
 R2 = 1 //first end position count
 R3 = 0 //no part clamped
 
 FOR R1 <= ArrayStartPositions.SIZE , R1++
 | IF ArrayStartPositions [ R1 ] = 1
 | THEN
 | | J PR[R1] 100% CNT100 Offset , PR[1] // offset height
 | | L PR[R1] 500mm/sec FINE
 | | CALL PICKUP
 | | L PR[R1] 100% CNT100 Offset , PR[1] // offset height
 | | R3 = 1
 | |
 | | FOR R2 <= ArrayEndPositions.SIZE , R2++
 | | | IF ArrayStartPositions [ R1 ] = 1
 | | | THEN
 | | | | J PR[R2] 100% CNT100 Offset , PR[1] // offset height
 | | | | L PR[R2] 500mm/sec FINE
 | | | | CALL DROP
 | | | | L PR[R2] 100% CNT100 Offset , PR[1] // offset height
 | | | | R3 = 0
 | | | ENDIF
 | | ENDFOR
 | ENDIF
 ENDFOR
 
 IF R3 = 1
 THEN
 | J P[1] 100% CNT100 Offset , PR[1] // offset height
 | L P[1] 500mm/sec FINE
 | CALL DROP
 | L P[1] 100% CNT100 Offset , PR[1] // offset height
 | R3 = 0
 ENDIF
END

How would I approach this? Can TP programs be programmed with arrays like this? Or should I try Karel, although harder to simulate and backplot?

Thanks in advance,

|

Tony

Quote from HawkME

You can do it in TP.

There is no defining variables in TP. You use the already preexisting Registers and PR's.

There is a For loop in TP, that you use with Registers.

FOR R[1] = 1 to R[10]

.....

ENDFOR

That for loop will initialize R[1] to 1, then loop and increment by 1 until it reaches the value of R[10].

Your arrays will just be a block of PRs. The entire list of PRs and Rs is already an indexable array. You can indirectly index a PR by doing this: PR[R[1]].

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Thanks man!

I got a simple version running; the holes can be marked 1 or 0 for the R registers corresponding to the holes on the plate:

Quote from HawkME

Nice! You don't actually need line 4. The For loop will always initialize the Register to 1.

Interesting…

I was wondering whether there’s there a way to write this without so many PR’s. Would P[R[1]] be a valid way to write points for perhaps a given PR Userframe? Or would it be more trouble than it's worth?

I see. Thanks anyways!