Posts by AnandTUD

I don't think, you might be able to execute "CONTINUE" command through HTTP. It is one of the blocked commands by default.

I use karel to copy/update the PMC file and when PMC is running, sometimes the copy does not execute successfully. So, i would like to stop the PMC before update and then start again.

Hello all,

Does anyone know a method apart from navigating to MENU -> I/O -> PMC -> [FUNC] -> Run/Stop PMC to start/stop PMC (like using System variable or other methods)?

Thanks and Regards

Anand

Hello MANIKANDAN_S ,

You could refer to the KAREL reference manual. Below is the description for RUN_TASK builtin.

Yes, even i tried some combinations and wasnt successful. Anyways thanks for the effort Nation

Quote from Nation

It is unfortunate that this is not documented anywhere, but I found the IF statement synax in one of Fanuc's .cm files.

Here it is:

Code

IF VAR $APPLICATION[2] "V7.30P/*"
  SETVAR $CCSCB2_GRP[1].$FS_TYP2 1
ELSE
  IF VAR $APPLICATION[2] "V7.40P/*"
    SETVAR $CCSCB2_GRP[1].$FS_TYP2 1
  ELSE
    IF VAR $APPLICATION[2] "V7.50P/*"
      SETVAR $CCSCB2_GRP[1].$FS_TYP2 1
    ELSE
      IF VAR $APPLICATION[2] "V7.60P/*"
        SETVAR $CCSCB2_GRP[1].$FS_TYP2 1
      ENDIF
    ENDIF
  ENDIF
ENDIF

Display More

Is it possible to use IF statements to check Karel variables? Has anyone tried it?

Thanks Nation

Hello all,

I have an additional text "Continuous" below the speed override in one of my Roboguide projects. I guess theres one option/system variable activated. Could anyone tell me what does this mean and which system variable makes this change?

Thanks and Regards

Anand

Okay. Thank you for the response.

Again regarding this topic, I tried configuring the Group Input for Override Select and then tested it, but there seems to be a little delay (~0.5 seconds) from the Group Input going to 0 and the robot stopping completely. If I am not wrong, shouldn't Override = 0 bring the robot to standstill immediately?

$UI_CONFIG.$IOSTAT_INST = FALSE should do the job

Quote from Nation

Yes, I mean background task. Another task would work, but is overkill for this application.

Here is code to control the speed I've used in the past. Speed is read in on GI[5] and applied.

Code

/PROG  BACKGROUND
/ATTR
OWNER        = MNEDITOR;
COMMENT        = "Reporting data";
PROG_SIZE    = 1046;
CREATE        = DATE 06-10-26  TIME 17:25:26;
MODIFIED    = DATE 10-12-18  TIME 08:12:06;
FILE_NAME    = ;
VERSION        = 0;
LINE_COUNT    = 32;
MEMORY_SIZE    = 1446;
PROTECT        = READ_WRITE;
TCD:  STACK_SIZE    = 0,
     TASK_PRIORITY    = 50,
     TIME_SLICE    = 0,
     BUSY_LAMP_OFF    = 0,
     ABORT_REQUEST    = 0,
     PAUSE_REQUEST    = 0;
DEFAULT_GROUP    = *,*,*,*,*;
CONTROL_CODE    = 00000000 00000000;
/MN
  6:   ;
  7:  !Get override from the PLC. ;
  8:  IF (UO[8:TP enabled]=OFF AND GI[5:Override]>=1 AND GI[5:Override]<=100),$MCR.$GENOVERRIDE=(GI[5:Override]) ;
  9:   ;
 10:  !Reenable the UOPs if they were ;
 11:  !disabled by the user. ;
 12:  IF (UO[8:TP enabled]=OFF AND $OPWORK.$UOP_DISABLE=1),$OPWORK.$UOP_DISABLE=0 ;
 13:   ;
 14:  !Report out current override. ;
 15:  GO[5:Current Override]=($MCR.$GENOVERRIDE) ;
 16:   ;
/POS
/END

Display More

I can't really help you with the wiring. I believe CRMA15 and 16 are assigned to rack number 48.

Isnt it possible to map the GI to Override directly through Override Select option instead of Background logic?

If I am not wrong, the format in CREATE and MODIFIED is DATE YY-MM-DD TIME HH:MIN:SS;

You could use Karel to get more info using GET_ATTR_PRG and CONV_TIME_STR functions.

Hello all,

Does anyone know how to use the PBUTLIB %Environment directive in Karel? There seems to be some useful functions defined in it but I am unable to call it in a karel program. It seems to be available only for Controller versions v9.40.

Thanks and Regards

Anand

I had made a list some time back. Not complete though.

Hello ikalus1988 ,

May I know the source for this ? Are the 50iA manuals released?

Thanks and Regards

Anand

Hello DS186,

Thanks for the input. I am trying to use the Override Select menu to define 0% override. It does not allow me to define that since the range of Override expected is from 1 to 100. Could you please explain me how to achieve 0% override by using Zero % Override = TRUE and Override Select menu (Using DI)?

Thanks and Regards

Anand

U need to call %ENVIRONMENT UIF at the beginning of your karel program so that u can use SIM_KEY routine.

Okay. I found one function called SIM_KEY (Not documented in Karel programming manual ) which does this. I tested it in roboguide and it works. There are two arguments for this function. Unfortunately, I dont know what the first argument is (Its a string, maybe someone knows what it is). The second argument is the function key number F1 to F5 which is mapped to 129 to 134.

I am looking for a similar solution. I am able to navigate to the BG logic page through karel but could not find an way to input the soft function keys without using the Teach pendant. Could someone suggest a method?