Kawasaki code not being executed

Welcome to the forum..........

Quote from Casper Mariager

I am trying to execute some code in a robot in KROSET, but the code does not make it past line 1 which is a comment.

What does this mean exactly - be specific?

1. Post an image of the complete KRoset screen during this condition.
2. Post an image of the KRoset IO Monitor screen during this condition.
3. Post an image of the KRoset Controller settings screen.
4. Post an image of the virtual teach pendant main teach screen whilst in this condition.

Or, save the project folder from projects folders and zip it up and attach it to your post and I'll take a look over it.

If you don't wish to share the above publicly you can send to me via conversation instead.

You're welcome.

Re: Robot Motion
- Make sure Controller settings (Quick settings) animate robot is ticked and applied as below:

This can also happen when teach panel/controller on KRoset and virtual teach pendants are used at same time.
Always recommended leaving controller in repeat and if manual jogging is used, to use KRoset teach panel.

What version are you running?
Do you synchronize controllers at all?

Maybe worth obtaining the newer version of KRoset at some point.

There are many variables involved that could be causing this and it normally down to mismatch between KRoset and PCAS (virtual controller).

Can you provide a video clip of the process you are doing from start to finish in order to execute it?

Have you got the teach panel open in KRoset - Not the virtual pendant, but the teach panel on the right hand side, if so, close it.

Hmmmm......interesting.

What happens if you don't use KIDE and just execute everything from within KRoset?
- Close KIDE after uploading to the controller.
- Use the virtual teach pendant to start the process.

KIDE is an add on and not part of KRoset, so that's why I think it would be worthwhile not having that open and running, just to rule out KIDE as a contributor.

Then it would be down to a KRoset issue (which I think it probably is).
Can you zip up your project folder and sent it me via conversation (not post it on the forum).
I'll have a look over it.

I think it may be worthwhile installing the later version of KRoset which I think is 1.8.6 revision too.

In that case it is a KRoset issue then.

Can you:
- Use virtual pendant, aux func 0601, set EXT_IT to cancel.
- Close virtual pendant.
- Synchronise Controller => KROSET (everything).
- Save project.
- Close KRoset.
- Re-launch KRoset.
- Open project.
- Execute again using virtual teach pendant.

Interesting thread - I have just gotten through recovering from the same issue.

The K-Roset controller stopped turning off the 1015 automatically, and the robot stopped being automated when it executed a program. I was unable to solve the problem. It was only for my complicated simulation - an old simpler simulation still executed.

I did have another symptom, when closing K-Roset using the [x], it would not close, but the 'File' option would become greyed out. I had to use task manager to kill K-Roset.

this shows the greyed out 'file' option after trying to close.

fail to close, and working older simpler program

closing K-Roset doesnt actually close.load a simpler program, it runs.And the simpler program closes with "File" "Exit"

www.youtube.com

and some more odd behaviour - it getting stuck on the first line (before I realised the 1015 was stuck off.

Ext_hold not allowing program to run

screen recording of 24ft sim 250113 halting execution of program on first line of code.

www.youtube.com

I uninstalled K-Roset, reinstalled it, and rebuilt the simulation from scratch, it is working now.

Well it isn't yet - but that's my coding rather than issues with K-Roset.

EDIT: something that regularly catches me is the "STEP ONCE" vs "STEP CONT" - it makes the program stop at motion points, not every step - which can be frustrating.

What version are you running?
What settings have you got in Plugins/Options/Controller?

I never use the X to exit out of KRoset before I have saved it.
If I intend on exiting I right click the project tile at the top of the tree in the layout tab to save before closing with the X.
If I am in a project and just want to save and not exit, I use the save in the start page tab.

Also, there is need to understand that there are 2 controllers in KRoset:
- KRoset Controller.
- PCAS (Virtual Teach pendant and editor).

If I have changed anything in the PCAS Controller, then I synchronize to KRoset Controller, save it and re-open the project.
If I have changed anything in KRoset Controller and need it transferring to PCAS Controller, then I synchronize to PCAS Controller, save it and re-open the project.
I very rarely have any issues like you have shown............Maybe worth shot?

A project pulls in a file called default.as from the project temporary folder (which should be the previous save) when loading the project sometimes I have found this gets corrupted but that was with older versions.

You also have the option of creating a backup controller data file using the backup controller data tab before you even save it, that way if there is an issue closing it, use that before exiting and you can recover the data that way.

Thanks kwakisaki. I don't close and re-open KRoset every time I save, or save every time I synchronise. I tend to save after I have completed a black of successful work. Is it advisable to be that diligent?

Also: I am not sure of the 'best' flow for writing and testing .AS code. Maybe you can advise?

I write it in VisualStudio, then use the "display in the editor" to load a program with the load icon - then save it to the controller

at that time it will do a syntax check for me, and I iterate that (edit in VS, load to the editor, save to the controller) until it loads with no errors. Then synchronise controller -> K-roset so that both parts of the program have the same data.

I know there are three places where programs can be executed. I don't know which is best, or correct. And I think they might also run different code from different places, so if I haven't synchronised properly, I can get different versions running depending on where I start the program. I shared the video of starting from the Virtual TP ,using the cycle start button: with K-Roset support: they advised that the simulation plug-in is the intended execution method. but each change in the code I write takes so many mouse clicks to get to a point where I can execute it.

1. from the terminal.

execute testmotion.

I believe this executes it directly on the controller (not in K-Roset?) it is easier for just running one procedure at a time, like initialisations. and I use it to change variables to test different behaviours. ie. Test side = 1.

2. Then, after I synchronise controller => K-roset, I can open the simulator, select the program and 'play' it. (K-Roset supports' preferred option) but requires a lot of synchronisation, and if I have edited a process variable in the virtual TP, or in the terminal, then it is not updated in the simulation (that took me a while to figure out, side 2 (displayed on the virtual TP) was automatically changed back to side 1, without any code being executed).

3. I can also use the virtual TP, select it in the directory, and cycle start. I don't know if that is running the version of code on the controller, or in K-roset.

I have an operator interface on the TP and I haven't figured out where the best place to start the IO_Manager.pc program from. at this point I always start from the terminal.

Quote from greenman

I don't close and re-open KRoset every time I save

Neither do I.

Quote from greenman

or save every time I synchronise.

I only synchronize what I need to synchronize in order to reflect the reason I am synchronizing.
Other than controller settings, unless I need to transfer location data, program code between the two controllers for what I am doing, I don't synchronize those.
I am very diligent in knowing just when and what I need to synchronize for the purpose.
Only after a synchronize do I save and re-open the project if controller data is changing.

If I get time tomorrow I drop a video clip in on what I am referring to, there are some settings which people don't utilize enough which I'll drop in.

Quote from greenman

1. from the terminal.

execute testmotion.

I believe this executes it directly on the controller (not in K-Roset?) it is easier for just running one procedure at a time, like initialisations. and I use it to change variables to test different behaviours. ie. Test side = 1.

Correct.
Also If you use the virtual teach pendant for program creation or the virtual teach pendant keyboard to modify code, set variables etc, or use the motor power, cycle start etc both the virtual teach pendant and terminal are in sync with each other and reflect without having to do anything else.
You can do it all via that route - just as you are.

Quote from greenman

2. Then, after I synchronise controller => K-roset, I can open the simulator, select the program and 'play' it. (K-Roset supports' preferred option) but requires a lot of synchronisation

Why does it?
You have selectable synchronization options available within the synchronization function.
Just synchronize what you need to synchronize, no need to synchronize everything.
Controller settings need to be synchronized ONLY if you have changed anything in the Controller settings.

I'll show you this in the video clip too.

Quote from greenman

if I have edited a process variable in the virtual TP, or in the terminal, then it is not updated in the simulation (that took me a while to figure out, side 2 (displayed on the virtual TP) was automatically changed back to side 1, without any code being executed).

For sure, as that program does not automatically update so needs to be 'reloaded'.
I'll show you this in the video clip too.

Quote from greenman

3. I can also use the virtual TP, select it in the directory, and cycle start. I don't know if that is running the version of code on the controller, or in K-roset.

That runs the code, programs and all that you can access via terminal editor.

If you are going to use the virtual teach pendant and terminal editor and not the right hand side drag and drop programming or utilize KRoset functions and unless you change dedicated settings, tool centre points or other controller settings, there is no need to do any synchronizing.

I've put a couple of videos up on my youtube channel that may interest you.
A couple showing basic configuration and setup at the start of a project (which result in the same, just differeing methods) and another one which goes through a basic project build utilizing KRoset and several of the functions which is a good 75mins worth which may highlight some additional areas you were not aware of:
KRoset (Licensed Version) - Initial Setup and Synchronization Novice Method

KRoset (Licensed Version) - Initial Setup and Synchronization Advanced way

KRoset (Licensed Version) - Transfer Parts Basic Build Project

Thank you for the videos - they are tough to follow without any sound. I have tried a couple of times, but I always get sidetracked. I will keep pushing on till I get through them.