KRC2 read number from KCP

    Hello,

    At dispensing application, I want to ask customer to enter dimensions of the workpiece and robot will perform trajectory defined by offsets (x and y directions) from the starting point.

    In ABB Rapid, this is TPRead instruction, but I'm not aware which instruction is KUKA KRL equivalent.

    Variable could be INTEGER data type.

    That values are different from time to time and cannot be fixed by program.

    Is the any way to realize that?

    Many thanks for support.

    Zeljko

    in KRL one would use geometric operator to add offset.


    DECL FRAME Shift

    ;

    Shift = $nullframe ; all 6 elements zeroed (must initialize them all)

    Shift.Y = 33.6 ; mm (this could come from where ever you like)

    PTP P1

    PTP P1:Shift

    PTP P1

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    Many thanks for you support, but I need info how to read number from KCP keyboard, first.

    Later on, once I store number (integer) into variable, lets say Y.dir, then I can use it for:

    Shift.Y = Y.dir;

    Some advice?

    Integer will likely be too coarse, it is probably better to stick with real.

    It is not clear what you are asking. It appears that you want to make changes at runtime. This is dangerous as any typo can send robot on a collision course.

    Normally values are changed by editing file or value using single variable monitor or variable overview. Better way is to use inline form created with UserTech.

    Another option is to read parameters from a file using CWRITE. Then there is an option to use dialog as a keypad. There is also fancy option using add-on software like myHmi or EasyHMi or Zenon or numeric entry from OrangeApps. And if you know enough you can make your own.

    Btw if you are ok with integers, why not use built in and almost never used functionality - counters ...

    twenty counters are already shown and editable by HMI.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    Hey Milan,

    Quote from Milan

    In ABB Rapid, this is TPRead instruction

    I'm unsure that KRL has a specific function that matches the TPRead Rapid instruction. But, it does have a dialog pop-up option. Check out the message library (MsgLib.scr / MsgLib.dat) for this.

    You can create a dialog box with up to 7 softkeys and they can be used to select certain answers. Whatever key is pressed, will return a value (similar to the nFnKey in Rapid).

    So if you have predetermined values that the user needs to choose from, you can use the first 6 keys as options and the last softkey as a "Next Page". It'd work something like this:

    Code
    MsgDialog(DialogAnswer, "Please choose: blue or red?","Cell",, "BLUE", "RED") 
IF (DialogAnswer==6) THEN
  ;color is red
ELSE
  ;color is blue
ENDIF

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