Hi NathanJo,
You want to modify system variable ? if you need input data for example, you need to use Karel Program.
Hi NathanJo,
You want to modify system variable ? if you need input data for example, you need to use Karel Program.
I think I made an error when I mentioned a "variable."
It's not related to system variables; it's more about this concept.
I need to modify the grinding speed and angles, selecting, for instance, three different types of rings for grinding. These are the real variables, not the system ones.
I've allocated some registers for this purpose.
When the user enters data through the HMI, how do the registers interact with the HMI to store data and execute the robot's code?
The data that is being input on the HMI need to get to the robot somehow. Normally, one would use some sort of I/O-communication, preferably some sort of bus communictaion such as Profinet or Ethernet/IP.
Then, the values from the HMI will be sent to the robot in the form of Group Inputs (GI[n]).
These GIs needs to be read, and the values needs to be written to the specified register. This can be done either in the robot program, or in a background program (BG Logic). The difference is wheter or not this needs to be done cyclic (each ITP scan = 8ms) or if it's only necessary to read the input right before performing the motions.
The syntax for reading a GI and writing the value to an R-register is however the same:
R[10:input from HMI]=GI[10:Input from HMI]Everything really depends on what communication protocol you plan on using between the HMI and Robot.
I usual use Group signals for this type of Data exchange.
Once you have determined how you will set the registers, then in you code, you can use the register for your feed rate.
Such as:
1: R[150:Grinder Speed]=GI[5:Grinder Speed] ;
2:L P[1: ] R[150:Grinder Speed]mm/sec CNT5 ;
