Posts by AnisFrej

AnisFrej

Quote from Erik Olsen

I would try again and make sure you remove/comment out where you write the torque to the log file. I was able to run your program and make a valid angle log using the following code:

If you still want to log the $CUR_TORQUE, $TORQUE or $MAX_TORQUE Variables you need to use the correct DATA types. These system variables are stored as SHORT data types and your GET_VAR instructions were trying to write into REAL variables. SHORT data needs to be assigned to BYTE or INTEGER variables. After changing your data types and a couple of CNV instructions I was able to make a valid log containing both Angle and CUR_TORQUE values:

Thank you very much for your precise answer , but in the obtained file some values are saved as * as in the attached file from you .

So do you have any idea how to extract the value correctly?

And do you have any idea which variables I should use to extract or save the speed of the motors or encoders and the speed of the joints ?

AnisFrej

Quote from Erik Olsen

When you run the program are you getting uninitialized data on line 125 of your karel program?
The Torque values stored in $MOR_GRP[1].$CUR_TORQUE[] are some cursed UINT Values as detailed by this thread: FANUC PROJECT: Data recording with background Karel program - Fanuc Robot Forum - Robotforum - Support and discussion community for industrial robots and cobots (robot-forum.com) I think trying to get/convert/write these UINT Values is causing your issue.
Judging by the variable names you used, you've already looked over part of this thread, however, I don't think the thread landed on a Karel happy solution. If you remove the torque logging from your program the rest works just fine.

Yes I tried to run the program without the part of torque, but it didn't work

So, is there any other method to save the values in real time more reliable than this one ?

AnisFrej

Hello,

I tried to program this Karel function to extract the data from the system of a FANUC LR mate 200ic 5L robot and save this data in a ".dt" file.

Code

! TP Code
DO[1] = ON
RUN dataextract
J P[1] 100% CNT100
J P[2] 100% CNT100
J P[3] 100% CNT100
WAIT 3.00 (sec)
J P[1] 100% CNT100
J P[2] 100% CNT100
J P[3] 100% CNT100
DO[1] = OFF

PROGRAM dataextract

    %COMMENT = 'LOG DATA RECORD'
    %SYSTEM
    %NOLOCKGROUP
    %NOABORT=ERROR+COMMAND+TPENABLE
    %NOPAUSE=ERROR+COMMAND+TPENABLE
    %NOPAUSESHFT
    
    
    VAR
                 
        logFile    : FILE
        filename   : STRING[16]
    
        duration   : INTEGER
        clock_var  : INTEGER 
        period     : INTEGER
        timeInt    : INTEGER
        timeStr    : STRING[18]
    
        IntTQa1,IntTQa2,IntTQa3,IntTQa4,IntTQa5,IntTQa6    : REAL
        IntTQa1Str,IntTQa2Str,IntTQa3Str,IntTQa4Str,IntTQa5Str,IntTQa6Str : STRING[4]
         
        IntANGa1,IntANGa2,IntANGa3,IntANGa4,IntANGa5,IntANGa6    : REAL
        IntANGa1Str, IntANGa2Str, IntANGa3Str,IntANGa4Str, IntANGa5Str, IntANGa6Str: STRING[4]
 
        entry      : INTEGER
        status     : INTEGER

        test       : INTEGER
        clocky     : INTEGER



    -- routine to get internal torque measured on axis
    ROUTINE GET_INT_TQ(active : BOOLEAN)
        
        BEGIN

            IF active=TRUE THEN
                GET_VAR(entry, '*SYSTEM*', '$MOR_GRP[1].$CUR_TORQUE[1]', IntTQa1, status)
                GET_VAR(entry, '*SYSTEM*', '$MOR_GRP[1].$CUR_TORQUE[2]', IntTQa2, status)
                GET_VAR(entry, '*SYSTEM*', '$MOR_GRP[1].$CUR_TORQUE[3]', IntTQa3, status)
                GET_VAR(entry, '*SYSTEM*', '$MOR_GRP[1].$CUR_TORQUE[4]', IntTQa4, status)
                GET_VAR(entry, '*SYSTEM*', '$MOR_GRP[1].$CUR_TORQUE[5]', IntTQa5, status)
                GET_VAR(entry, '*SYSTEM*', '$MOR_GRP[1].$CUR_TORQUE[6]', IntTQa6, status)        
              ENDIF

    END GET_INT_TQ

    -- routine to get angle of axis 
    ROUTINE GET_INT_ANG(active : BOOLEAN)

        BEGIN

            IF active=TRUE THEN
                GET_VAR(entry, '*SYSTEM*', '$MOR_GRP_SV[1].$CUR_SV_ANG[1]', IntANGa1, status)
                GET_VAR(entry, '*SYSTEM*', '$MOR_GRP_SV[1].$CUR_SV_ANG[2]', IntANGa2, status)
                GET_VAR(entry, '*SYSTEM*', '$MOR_GRP_SV[1].$CUR_SV_ANG[3]', IntANGa3, status)
                GET_VAR(entry, '*SYSTEM*', '$MOR_GRP_SV[1].$CUR_SV_ANG[4]', IntANGa4, status)
                GET_VAR(entry, '*SYSTEM*', '$MOR_GRP_SV[1].$CUR_SV_ANG[5]', IntANGa5, status)
                GET_VAR(entry, '*SYSTEM*', '$MOR_GRP_SV[1].$CUR_SV_ANG[6]', IntANGa6, status)
            ENDIF

    END GET_INT_ANG

    -- main routine
    
    BEGIN -- execute the program
    
    clock_var = 0
        
        -- begin the clock time count
        CONNECT TIMER TO clock_var
    
        period = 10 -- ms
        duration = 100000000  -- ms
    
        filename = 'UD1:\'+'Test'+'.txt'
    
        entry = 0
        status = 0
    
        -- tests
        test = 0
        clocky = 0
    
        -- get actual time and convert it into string
         GET_TIME(timeInt)
        CNV_TIME_STR(timeInt, timeStr)
    
        -- open the log file
        OPEN FILE logFile ('AP', filename)

        -- write actual time and make a carriage return
        WRITE logFile (timeStr, CR)
        
        REPEAT  
            -- start recording
    
                clocky = clock_var
                test = clocky+period
                
                GET_INT_TQ(TRUE) -- call internal torque routine
                
                CNV_REAL_STR(IntTQa1, 2, 2, IntTQa1Str)
                CNV_REAL_STR(IntTQa2, 2, 2, IntTQa2Str)
                CNV_REAL_STR(IntTQa3, 2, 2, IntTQa3Str)
                CNV_REAL_STR(IntTQa4, 2, 2, IntTQa4Str)
                CNV_REAL_STR(IntTQa5, 2, 2, IntTQa5Str)
                CNV_REAL_STR(IntTQa6, 2, 2, IntTQa6Str)
                
                GET_INT_ANG(TRUE) -- call internal angle routine
                CNV_REAL_STR(IntANGa1, 2, 2, IntANGa1Str)
                CNV_REAL_STR(IntANGa2, 2, 2, IntANGa2Str)
                CNV_REAL_STR(IntANGa3, 2, 2, IntANGa3Str)
                CNV_REAL_STR(IntANGa4, 2, 2, IntANGa4Str)
                CNV_REAL_STR(IntANGa5, 2, 2, IntANGa5Str)
                CNV_REAL_STR(IntANGa6, 2, 2, IntANGa6Str)
                
                WRITE logFile(clock_var)
    
                WRITE logFile(';')
                WRITE logFile(IntTQa1Str,CR)
                WRITE logFile(IntTQa2Str,CR)
                WRITE logFile(IntTQa3Str,CR)
                WRITE logFile(IntTQa4Str,CR)
                WRITE logFile(IntTQa5Str,CR)
                WRITE logFile(IntTQa6Str,CR)
                
                WRITE logFile(';')
                WRITE logFile(IntANGa1Str,CR)
                WRITE logFile(IntANGa2Str,CR)
                WRITE logFile(IntANGa3Str,CR)
                WRITE logFile(IntANGa4Str,CR)
                WRITE logFile(IntANGa5Str,CR)
                WRITE logFile(IntANGa6Str,CR)
                
                  DELAY(period)
        
        UNTIL DOUT[1]=OFF
        
         -- stop recording, close log file
         CLOSE FILE logFile

END dataextract

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But unfortunately, I got only an empty file and there is no result in the file, only that :

03-MAR-22 17:33

0;

And here is an example of the file I got

can you help me find out where the issue is coming from or can you give me another solution to save in real time the system data like internal joint torque, joint speed, etc...

Thanks in advance

Test.txt

Posts by AnisFrej

Recording system data from a FANUC robot with the Karel program

Recording system data from a FANUC robot with the Karel program

Recording system data from a FANUC robot with the Karel program

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