Hi all,
I have a KAWASAKI RS007N, I wonder how to use macro to execute multiple as program and insert instructions.
I saw that KRterm can use macro but I don't know how to write macro instructions.
Does anyone have example?
Thanks
Hi all,
I have a KAWASAKI RS007N, I wonder how to use macro to execute multiple as program and insert instructions.
I saw that KRterm can use macro but I don't know how to write macro instructions.
Does anyone have example?
Thanks
And is there a command that can be entered directly on KRterm to open the .uas file?
I saw that KRterm can use macro but I don't know how to write macro instructions.
The HELP in KRTerm contains macro commands and syntax.
And is there a command that can be entered directly on KRterm to open the .uas file?
I doubt it, never tried it, and can't see the point of it really.............
MacroDlg.INI file is the file that is required to allocate .uas files to buttons on the macro page.
1. Setup the MacroDlg.INI to display the macro button page.
2. Allocate a button to a .uas file you wish to create.
3. Create the .uas file.
4. Open KRTerm and the Macro page should be displayed with your allocated button(s).
5. Press the button to execute the macro.
Attached is a small video demonstrating this.
Note, any file saves made will be saved by default to the root directory of the KRTerm application.
Hi Kwakisaki,
Thanks for your detailed reply!
I am building a automation structure that can operate our device and robotic arm interactively. My framework can control KRterm to type commands, so that's why I want to know if it have any command can execute macro file. As for why I use macro instead using my framework to execute as program and instructions interactively, there are some company policy considerations.
AS language reference manual mention that :
''To record a macro, choose from the menu bar [FILE (F)] [MACRO (M)] and enter the file name to save that macro. To run a macro, use the SEND''
But I can't type SEND + macro name to execute it.
Thanks for your information again, it really very helpful to me
Display MoreHi Kwakisaki,
Thanks for your detailed reply!
I am building a automation structure that can operate our device and robotic arm interactively. My framework can control KRterm to type commands, so that's why I want to know if it have any command can execute macro file. As for why I use macro instead using my framework to execute as program and instructions interactively, there are some company policy considerations.
AS language reference manual mention that :
''To record a macro, choose from the menu bar [FILE (F)] [MACRO (M)] and enter the file name to save that macro. To run a macro, use the SEND''
But I can't type SEND + macro name to execute it.
Thanks for your information again, it really very helpful to me
Hi!
I want to add my word about integration of robot with custom programs and frameworks.
KRTerm is not the only way to communicate with robot and send commands. There are at least three more ways to control robot by external program.
1. You can use KRCC dll (It's a .NET library, so you can use it only on Windows. May be mono will be OK with this library too, but I haven't tested it yet). You can download it from Kawasaki Download Center
2. Also, there is a KRNX library, written on C++. For Windows and Linux OS. You can find it at kawasaki's github repository khi_robot
3. You can use telnet client to establish communication with robot and send commands to it.
I hope this information will help you
dm.bogachev you read my mind my friend and beat me to it with that information...........
AS language reference manual mention that :
''To record a macro, choose from the menu bar [FILE (F)] [MACRO (M)] and enter the file name to save that macro. To run a macro, use the SEND''
AFAIK what is stated in the manual is very vague and is not necessarily correct.
The SEND command in AS relates to Serial data transmission and requires the correct syntax.
I also think you have to be connected to the controller via serial for this to work.
I am just speculating here as it's something I've never actually attempted to do.
Kawasaki would be better to contact over this for clarification.
KRTerm is a mature product and no longer being developed.
I'd be surprised if you could get an answer from them.
The [File] option can be used to:
- directly execute a specified macro file.
- directly send a binary file to the controller (never tried this).
The M icon/button in the tool bar can be used to directly execute a specified macro file.
Hi dm.bogachev,
Using telnet to establish communication is a great idea!
This information is useful to me
Thanks for your kind assistance