Do you have an extended axis on this robot? You may need to check E1 on the PR is initialized with data.
Do you have an extended axis on this robot? You may need to check E1 on the PR is initialized with data.
In this case i am trying to home off GP3 which consists of a rotary, tilt and linear rails and the PR's values seem to be registered correctly for these positioners.
It seems it's that section "PR[18]=JPOS" is causing all the problems because i can skip past it and the thing homes off. Sorry I'm still very new to all this!
Check the group mask in the 'detail' screen for that TP program and ensure it is set to (*,*,1,*,*).
Check the group mask in the 'detail' screen for that TP program and ensure it is set to (*,*,1,*,*).
Checked that, and it looks ok it's set to the correct value. I'm contacting Fanuc today for some support as i have seen it could be down to the Karel program itself.
Yes the error you're getting is in the KAREL program 'HOME_TABLE'. It's using a variable that has no value assigned yet.
Yes the error you're getting is in the KAREL program 'HOME_TABLE'. It's using a variable that has no value assigned yet.
I think you are right.
I have zero experiance with Karel so I think I'm gonna have to get support from Fanuc.
Have to learn at some point I guess!
It might be that the program uses a position register that is loaded on the 'other PC', while it's uninitialized on your own PC. If you have access to the source code (the *.KL file) you can easily trace the steps of the program to see if the problem is in an uninitialized KAREL variable, or a position register.
Your original screenshot shows that it's paused at 'HOME_TABLE LINE 4', so you check what variable(s) is/are used in line 4 of the source code. If the program includes other files, this will mess up the line numbers and make debugging a bit more complex.
To see the current values of the KAREL variables, if you have the program selected (HOME_TABLE in this case), you can go to DATA > TYPE > KAREL Vars/Posns to monitor them. This way you can manually deduce what steps in the program are successfully executed, and where it must have stopped.
You can also post the source code of the program here so we can take a quick look at it.
Go to your PRs and shift touchup PR[18]. PRs need to be initialized before you can use them.
'HOME_TABLE' is not a karel pro,just a simple TP pro. You have to initialized the PR which u used in the pro.
Manually ini the PR, just record PR[18] in anywhere ,EVERYTHING WILL BE OK.....
I tried to shift record the PR to initialise it however this still does not work I still get unintialized data problems.
The original cell from yonks ago with the same program however works, it seems to be just this cell where it does not like the program.
Here are some links to a video with the issue, one is called OLD CELL this is the exact same program in an older version of what I am working on which is working.
The other one I have called NEW CELL which is the one with the Unintialized data issue.
OLD CELL :
NEW CELL:
Re-Recorded PR:
Please correct me if i have made a mistake!
Cheers!
I have had issues with Karel programs when using programs compiled on older controllers. That includes TP programs; I've had issues where it appears that the arguments were not passed correctly to the Karel program when called from an old TP program. Did you copy the TP programs from the older cell?
hi AK95,
how did you set Up the Group Mask of the new cell Program?
