KL File for long program management on FANUC

    Hello Forum!

    I hope someone can help, I've been stock with this problem for a while and can figure it out...

    We have a M20iD/35 robot with a R30iB plus controller. We have the KAREL option, ASCII upload, and KAREL comp/Trans options loaded.

    We are using a third party software to generate the programs. Our programs are usually extremely long so the software split it into multiple LS files and also generate a KL file that is supposed to manage the upload and switch between the different files.

    The problem is that I cannot figure how to use the KL file.

    Since we are developing a customer solutions, so we are trying to avoid using roboguide to simplify the process. Thus why we added the Karel comp/Trans option (R567 & R632) as we were explained that this option would allow the controller the take the KL file and compile it directly.

    The controller won't load the KL file from a USB. Using FTP connection, I can move the file to the controller but it won't load it from there ether...

    Does anyone know that option is suppose to actually allow to do this?

    If this is not the solution, does anyone know how to turn the KL File into a PC file without using roboguide?

  • Nation February 20, 2024 at 11:07 PM

    Approved the thread.

    I don't have any experience with the Karel compliation process on the controller, but you could rewrite the Karel routine to take arguments from a TP program.

    I did that on a robot that had humongous blending paths.

    Here is an example of the tp program calling the Karel programs:

    Code
    :  !Download Part 1 Programs. ;
:  CALL PROGDOWNLOAD('part1\*.tp')
*** all the various calls and logic here***
:  !Delete Part 1 Programs from ;
:  ! controller. ;
:  CALL PROGDELETE ;

    Progdelete in this case would use a list created during the program download to delete programs.

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    Hi Xav91

    This is a rare combination of features and workflow (nowadays).

    The programs (kl source) still have to be translated on the controller. That's why you can't load them "directly".

    There are several ways to translate the programs on the controller:

    (check the karel manual)

    Via KCL or with the help of another Karel program:

    Code
     KCL> TRANSLATE testprog DISPLAY LIST

    or

    Code
    Karel builtin: TRANSLATE(file_spec, listing_sw, status)


    In general, I would recommend loading the programs automatically on the controller(FTP script) and having another ls/tp program created via script. This should replace the Karel program and call the individual programs. Since you know the Prognames during or befoer upload, generating another LS Prog is not a big task.

    There are more solutions, like calling your progs indirect with SR's


    best

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