Cannot call EXECUTE from Main - KROSET

    Dear guys,

    I'm coming to you again with another doubt.

    I'm using KROSET to simulate a RS013N and KIDE to code programs in AS language.

    When I try to use the instrution EXECUTE to call a program from my Main, it gives me the error P0111: Cannot use this command/instruction in current mode. This happens when I try to send the AS file to the robot (simulation).

    My code looks something like this:

    Basically, I am trying to run the program Communication and then enter the WHILE after it.

    I assume it is something that has to do with the mode that has been set in KROSET. I have turned TEACH/REPEAT to REPEAT and also turned on the MOTOR...

    Is there something I am missing?

    Thank you so much again in advance.

    Edited once, last by dhindhimathai: Adding a missing detail. (June 9, 2023 at 4:54 PM).

  • Go to Best Answer

  • SkyeFire June 9, 2023 at 3:58 PM

    Approved the thread.

    To execute a program in K-Roset requires:

    - Repeat Mode.

    - Motor Power On.

    - Or just use the K-Roset Controller (synchronization, simulator plugin outlined in the K-Roset Manual).

    Then you can either:

    - Using the terminal, type in EXECUTE program_name.

    - Use virtual teach pendant and prime the program and press the cycle start on the virtual pendant.

    Shelving that for a moment.

    There are many ways to answer your issue with your coding but fundamentally:

    If you have a look in the AS Manual, EXECUTE is a monitor command under program control.

    Monitor commands are direct entry commands from the terminal when you are online with the robot.

    They are not program commands so using it in the way your code is will never work.

    MC EXECUTE is a valid command, but as it's a monitor command, it can only be used in a PC TASK.

    (MC is abbreviation of Monitor Command).

    You can CALL programs in a main program in the program area.

    However a CALL will mean it branches to the CALL, executes it and returns to the next step after the CALL.

    However, if you are looking at executing just some communication program in parallel with the main, you use it as a PC TASK as a one shot routine and use:

    PCEXECUTE 1:communication

    This will then start it in the PC TASK area and the main program continues.

    However, you could just run that as a continuous PC TASK which is asynchronous to the main program area (assuming there are no motion commands in the communication program.

    What is your intention for the program called main - Can you be more specific?

    Hi kwakisaki

    Again, great and complete answer. I fully understood.

    Regarding your last question: the idea is to have two "threads": one for communication (send robot status and recieve commands) and a second to execute commands from a queue.

    So, at this point the idea would be to do the following: 1) Start the main and prepare necessary variables and initialize communication, 2) PCEXECUTE the communication "thread", and 3) after that in the main, use a WHILE loop execute commands. Something like this:

    I implemented a binary semaphore on my own to manage the queue properly. Hope this works.

    Thank you again for all your help. :smiling_face:

    • Best Answer
    Quote from dhindhimathai

    Regarding your last question: the idea is to have two "threads": one for communication (send robot status and recieve commands) and a second to execute commands from a queue.


    So, at this point the idea would be to do the following: 1) Start the main and prepare necessary variables and initialize communication, 2) PCEXECUTE the communication "thread", and 3) after that in the main, use a WHILE loop execute commands.

    Yes, I had a feeling this was your intention but didn't want to assume anything and possibly sending you down a rabbit hole.

    From your example code as it reads (I think you may be aware of this already), but I'll just highlight it anyway as a point to note regarding PC TASKING from the main program area whether just in K-Roset or in the live controller.

    When using PCEXECUTE from within a main routine, you need to ensure/manage that command is not executed again when it is already in execution or else it will error out and also to ensure ANY proceeding code that uses the information in the PC TASK does not execute before the PCTASK has been completed - if using it as a one shot to grab the data before actioning.

    Something to look into is the WHICHTASK or TASK command and using that in conjunction with a variable/flag that gets set and reset so that a simple handshake can be setup between processes.

    However, you could implement your own handshaking sequence without using any of the above.

    I may be telling you something that you've already considered and implemented already though, so if I have, please disregard.

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