Auto Select Program on Start Up?

You've already asked about a variation of this process in an earlier thread with cycle start turning off......so what is the difference except for the condition.....

Simply:
- Set system switch to turn on an autostart.pc program(s).
- Set conditions/commands to use in the autostart.pc.
- The autostart.pc program(s) will execute on power up.

.PROGRAM autostart.pc();
	MC PRIME main,1,1;
.END

You could also include subroutines within the autostart.pc routine and also variable states to monitor for as these states will be retained (programmatically) at the point of power loss, power cycle periods.

Using this method though, uses up a background task, for a single purpose.
So it's all about deciding on the most efficient way of using autostart programs on power up and during running.
That's where real understanding of just how the controller operates in terms of sequencing, functions available, understanding the full AS language commands available to use and logical programming implementation all relative to the application.

There is no definitive way as many variations exist and each application is different:
- Control from a PLC to use dedicated signals, pg(x) naming convention and RPS system switch.
- Control from a standalone robot controller, pg(x) naming convention and RPS system switch.
- Control from a standalone robot controller without requiring any external influences.

I would look into as a point of reference:
- System switch usage and functionality.
- MC Commands.
- SWITCH commands for monitoring of dedicated system conditions.
- SYSDATA command function and usage.
- WHICHTASK (not available in C controller) and TASK commands and usage.
- Argument (parameter parsing) through CALL instruction.
- Explore dedicated signals, pg(x) naming and RPS usage if using a PLC for the control.

The above are what are used most often used when it comes to constructing complex autostart routines.

That would work in it's literal state, I would recommend a TWAIT before the GOTO though.
- for example TWAIT 0.004.

However that is easily broken by:
- Power up controller.
- Select teach mode for manual jogging.
- Turn on motor power.
- PC Task would generate an error as it will try and execute main program which it can't.
- PC Task will abort due to this error.

Not knowing your application and just how you plan to control - local or remote from PLC etc.

There are some things to consider further as you develop but by no means a golden rule.
You can make PC Tasks as simple as you choose, or elect to go very complex.
So a couple of hints but by no means any kind of 'must do':
- Try and use PC Tasks for cyclic scanning (like a PLC) so you can do multiple functions.
- Try and avoid WAIT and SWAIT as these will stop the scanning until the conditions are met.
- Try and monitor for Teach and Repeat Modes so to separate functions applicable to mode(s).
- A simple example below.
- This is not a final solution as several other conditions should be monitored for.

.PROGRAM autostart.pc();
;
  MC PRIME main,,1;
;
Loop:
;
; =====> repeat mode <=====
IF (SWITCH(REPEAT)==TRUE) THEN;
  IF (SWITCH(CS)==FALSE) THEN;
    IF (SWITCH(POWER)==TRUE) THEN;
      IF (TASK(1)==2) THEN;
        MC CONTINUE;
      ELSE;
        IF (SYSDATA(MSTEP)<>-1) THEN;
          MC EXECUTE main,,1;
        ELSE;
          MC PRIME main,,1;
        END;
      END;
    END;
  END;
END;
; =====> teach mode <=====
IF (SWITCH(REPEAT)==FALSE) THEN;
  ;xxxxxxxxxx
END
;
; =====> Goto label <=====
TWAIT 0.004
GOTO loop;
;
.END

Hi, since I found this topic I thought it would be interesting to ask some questions this way other people can benefit from it. I've been trying to learn and understand the basics of AS language and with plenty of help from Kwakisaki, I have managed to accomplish almost everything I need for my application. I am working with a C40 controller, what I wanted was being able to select and execute programs from teach pendant or externally via physical I/O , without the need to type in Execute, Hold, abort, kill, etc.......and that's exactly what we managed to do, Kwakisaki was extremely supportive and provided me an example o a task that is scanning continuously similar to the one above, and it is exactly what I need but there is only one problem, even if it works perfectly fine in simulation mode, when I am using the same code on the real controller it's not doing anything , what I mean by that is, even if all the buttons are displayed on the Interface Panel, they don' respond in any way when pressed. I have the internal signals enabled, it looks like it doesn't respond to the MC instruction or I am not understanding the exact issue.

At startup, the autostart.pc is running, I can see it on the teach pendant

When I press start, clear, hold, from I/P nothing happens

If I press the physical button on the controller Motor on, the following error is displayed: ERROR (-324) Cannot execute with MC instruction, No=1001 ,

Once the error appears the task stops automatically.

Any ideas?

.INTER_PANEL
1,5,"   Error"," "," "," ",6,0,2001
2,5,"  Repeat"," "," "," ",4,1,2002
3,1," ","   Start","   Robot"," ",4,2,2006,0
4,1," ","   Pause","   Robot"," ",4,2,2007,0
7,6,"  Program","    No.",1,0,-1,2010,2,0,3,1,0
8,1," ","   Clear","  Program"," ",4,2,2008,0
9,5,"   MPower"," "," "," ",3,0,2003
17,5,"   Servos"," "," "," ",3,0,2004
25,5,"   Cycle"," "," "," ",4,0,2005
.END
.PROGRAM autostart.pc()
again:
;
;===========================================
; Set IFP lamps to reflect status
;===========================================
;
  IF SWITCH(ERROR )==TRUE THEN
    SIGNAL 2001
  ELSE
    SIGNAL -2001
  END
;
  IF SWITCH(REPEAT )==TRUE THEN
    SIGNAL 2002
  ELSE
    SIGNAL -2002
  END
;
  IF SWITCH(POWER )==TRUE THEN
    SIGNAL 2003
  ELSE
    SIGNAL -2003
  END
;
  IF SWITCH(RGSO )==TRUE THEN
    SIGNAL 2004
  ELSE
    SIGNAL -2004
  END
;
  IF SWITCH(CS )==TRUE THEN
    SIGNAL 2005
  ELSE
    SIGNAL -2005
  END
;
;===========================================
; Hold Robot from button
;===========================================
;
  IF ((SIG(2007)==TRUE) AND (SWITCH(CS )==TRUE) AND (SWITCH(RGSO )==TRUE)) THEN
    MC HOLD
    WAIT ((SWITCH(RGSO )==FALSE) AND (SWITCH(CS )==FALSE))
  END
;
;===========================================
; Interrupt and Clear Program Stack
;===========================================
;
  IF SIG(2008)==TRUE THEN
    MC HOLD
    WAIT ((SWITCH(CS )==FALSE) AND (SWITCH(RGSO )==FALSE))
    BITS 2010,2 = 1
    MC KILL
  END
;
;===========================================
; Start or Continue Robot from button
;===========================================
;
  IF SWITCH(REPEAT )==TRUE THEN
    IF ((SIG(2006)==TRUE) AND (SWITCH(CS )==FALSE) AND (TASK(1)<>1)) THEN
      IF SWITCH(POWER )==FALSE THEN
        MC ZPOWER ON
        WAIT SWITCH(POWER )==TRUE
      END
      IF TASK(1)==2 THEN
        MC CONTINUE
      ELSE
        IF TASK(1)==0 THEN
          MC PRIME pg0,1
          WAIT TASK(1)==2
          MC EXECUTE
        END
      END
    END
  END
;
  TWAIT 0.0016
  GOTO again
.END
.PROGRAM pg0()
;
  HOME
;
  prod.no = BITS(2010,2)
;
  CASE prod.no OF
   VALUE 1:
    CALL pg1
   VALUE 2:
    CALL pg2
   VALUE 3:
    CALL pg3
   ANY :
    HALT
  END
;
  HOME
.END
.PROGRAM pg1()
  JMOVE #p1
.END
.PROGRAM pg2()
  JMOVE #p2
.END
.PROGRAM pg3()
  JMOVE #p3
.END

When posting error codes, please also provide STEP NO. of program.

In case main program error using either KRTerm (online) or MFP keyboard type in at prompt > or $
STATUS and press enter.

In case pc task error using either KRTerm (online) or MFP keyboard type in at prompt > or $
PCSTATUS 1: and press enter.

These will display status information and also step no at which error occurs.

So we need step no. where MC error occurs, that will open the door to troubleshoot issue.
Otherwise we are blind.

Is PC Task running in PC Task area and not in Program area?

On IFP panel, do your lamps indicate status change:
- Repeat lamp, if you toggle teach/repeat switch does lamp light for repeat position.

Using KRTerm or keyboard, if you type in IO and press enter, this will display status of IO.
So when pressing input buttons on IFP, do signals 200x display change of state.

What are your dedicated input and output signals set to in aux functions dedicated inputs and outputs.

The PC task is running in PC task area, in the program area is nothing shown, I will check and answer all the other questions as soon as I will get there, thank you

The teach repeat lamp updates until the error apeares

Initially the teach/repeat lamp did update on the I/F, it also got to the POWER on stage but immediately the error occurred when it got to a certain stage: step No. 71 as it shows above .

also step 54 from what I see

My dedicated input signals are set to

30 EXT_CYC_START

31 EXT_ERR_RESET

32 EXT_MTRON

but I am not using them at the moment, same with the dedicated outputs. I am only using internal for now, and they do update util the error

;
;===========================================
; Interrupt and Clear Program Stack
;===========================================
;
  IF SIG(2008)==TRUE THEN
    MC HOLD
    WAIT ((SWITCH(CS )==FALSE) AND (SWITCH(RGSO )==FALSE))
    BITS 2010,2 = 1
    MC KILL
    SWAIT -2008;*************************;
  END
;
;===========================================
; Start or Continue Robot from button
;===========================================
;
  IF SWITCH(REPEAT )==TRUE THEN
    IF ((SIG(2006)==TRUE) AND (SWITCH(CS )==FALSE) AND (TASK(1)<>1)) THEN
      IF SWITCH(POWER )==FALSE THEN
        MC ZPOWER ON
        WAIT SWITCH(POWER )==TRUE
      END
      IF TASK(1)==2 THEN
        MC CONTINUE
      ELSE
        IF TASK(1)==0 THEN
          MC PRIME pg0,1
          WAIT TASK(1)==2
          SWAIT -2006;*************************;
          MC EXECUTE
        END
      END
    END
  END

Insert the two SWAIT modifications as above and let me know what happens?

Hi, same error on MC Prime, is there anything that I was supposed to enable from OPTIONS?

.PROGRAM autostart.pc()
;
again:
100
IF SWITCH(REPEAT )==TRUE THEN
IF ((SIG(2006)==TRUE) AND (SWITCH(CS )==FALSE) AND (TASK(1)<>1)) THEN
IF SWITCH(POWER )==FALSE THEN
MC ZPOWER ON
SWAIT -2006;
IF SWITCH(POWER )==FALSE THEN
GOTO 100
END;
WAIT SWITCH(POWER )==TRUE
IF TASK(1)==2 THEN
MC CONTINUE
ELSE
IF TASK(1)==0 THEN
SWAIT -2006;*************************;
MC EXECUTE main,,1;
END;
END;
END;
END;
END;
;

if I am trying this simplified way , without MC Prime, it does work just fine

With your MC PRIME command, just use:
MC PRIME pg0

Strange issue, it does the same for MC KILL

It looks like PRIME and KILL are not included in the list, it is probably for newer controllers after C-type

Quote from marianflow

It looks like PRIME and KILL are not included in the list, it is probably for newer controllers after C-type

I doubt that as those were available in the earlier AD Controllers.

Very strange.

What happens if you just create a PC task which contains 1 step:
MC PRIME pg0 and then PCEXECUTE it?

Make a full file save and post it and I'll have a look over it.

Quote from kwakisaki

With your MC PRIME command, just use:
MC PRIME pg0

MC PRIME pg0,,1 will work if you want to prime it at line 1.

You may want a slight delay after confirming the main motion routine is killed before you prime or execute another motion routine.

Right, so.. it looks like MC used with PRIME it's literally missing from syntax or something, I've tried the simplest program possible and it's not able to do anything 😕 if I send PRIME pg0 from keyboard it does work but it doesn't like it with MC for some reason, strange problem. I even created a autostart.pc where there is only MC PRIME pg0 .... just one scan and the same error, I've added delays before and after IF conditions, wierd thing.. , If you have any other suggestions please let me know.

That's a first for me.................

Via the built in keyboard or via KCWin/KRTerm, if you type in:
help/mc and press enter.

What is returned on the screen?
That should produce a list of the commands that are available for use with MC instruction.
If PRIME is not there, then that will answer this issue.

The alternative (you've already discovered) is to use the MC EXECUTE.

There is also another option you could explore (which is a longer route) and that is to use the built in RPS option and external program reset input to prime pg0 but this route does include a PC Task control to accomplish this.