Posts by nhfMinion

I should have mentioned that I want to abort the BG logic so that I can overwrite the program.

The solution you suggested would allow me to essentially stop the execution of the program via a flag. But the BG Logic status would still be 'running'. If I try to overwrite the program via FTP, I get an error stating that the 'the specific program is in use'.

I know that you can run and stop BG Logic by going to MENU->SYSTEM->BG Logic and pressing the Stop soft key for the programs.

I was wondering if there is a Karel operation (similar to ABORT_TASK) that can stop the BG Logic?

I use the following code to get the current position in the current user and tool frames:

$GROUP[1].$UTOOL = $MNUTOOL[1,$MNUTOOLNUM[1]]
$GROUP[1].$UFRAME = $MNUFRAME[1,$MNUFRAMENUM[1]]
currentPos = CURPOS(0,0)

I suppose you can do the following to get the position in some particular frames (in this case UF3 and TF3):

$GROUP[1].$UTOOL = $MNUTOOL[1,3]
$GROUP[1].$UFRAME = $MNUFRAME[1,3]
currentPos = CURPOS(0,0)

If you want to convert the point to world frame, you can do the following:

currentFrame = $MNUFRAME[1,$MNUFRAMENUM[1]]
currentPos = CURPOS(0,0)
worldPos = currentFrame : currentPos

I was wondering if there is a way to check what pipe files exist on a given robot (essentially get all contents of the PIP: directory).

I am currently able to check do the following to read pipe files from our R30-iB robot by entering the following into a web browser: http:/192.168.1.1/PIP/example.dat

I get a 404 error if I try to use http:/192.168.1.1/PIP

Furthermore, I can access other directories via FTP via the following on command prompt:

ftp 192.168.1.1

bin

cd ..

dir md:

If I replace the md: directory with pip: , it says 'Invalid device or path name' error.

The system variable "$EADER_FRM " you are are using doesn't seem to be a standard system variable, could you show the path you are taking to get to your screen?

Below is an example of how you can use the SET_VAR instruction in a Karel Routine (note: the parameter name might not be correct):

PROGRAM VAR_SET

--Translation Directive to work with system variables

%ENVIRONMENT sysdef

--Variable Definitions

VAR

status: INTEGER

tempInteger:INTEGER

parameter: STRING[40]

value: REAL

--Program Logic

BEGIN

parameter = '$EADER_FRM[1].$X'

value = 563.000

SET_VAR(tempInteger, '*SYSTEM*',parameter, value,status)

END VAR_SET

Thanks, the 'ERR_NUM' put me in the right direction.

I needed to create a condition monitor with the following code:

WHEN ERR_NUM = '11105', CALL KAREL_PRG

After that, I just need to call the condition monitor in my normal code to get it running.

Is there a system variable that can show the current alarm, or if a specific error code has occurred?

For instance, if I want to create a karel program if the error 'SRVO-105' occurs, can I do something like this?:

!11105 = SRVO-105 (11 is the facility code for SRVO)

IF ($System_Variable = '11105'), CALL KAREL_PRG

Hey Guys,

We resolved this a while ago actually. I figure I should put the solution that worked for us:

1) We got a brand new USB drive, and reformatted it to FAT32 from a PC

2) We put in the AutoUpdate contents onto this USB

3) We restored a previous image backup on the robot to get it back to V8.30/P17

4) Then we simply performed the normal Auto-Update stuffs I mentioned above

It seems like there is an issue with using USBs that were used for other purposes (as mentioned above).

I think just using a brand new USB and reformatting it prior to usage did the trick for us.

I was trying to perform an auto-update on two of our robots from V8.30/P17 to V8.30/P63. This was done to install a newer software option (R739) on the robots.

One of the robots updated versions without issue, but the other robot froze with a grey screen that only says ''UD1: ¥plp¥M332896.COM Opening".

I did the following to perform the auto-update:

1) Downloaded V8.30/P63 from the Fanuc Crc Website.

2) Extracted the files and put them onto a USB (formatted as FAT32)

3) Ran the ap.verify batch script to confirm the auto-update contents was in-tact

4) Inserted the Auto-Update USB into R30iB Controller's UD1: port

5) On the teach pendant, I went to Menu->File->UTIL->Set Device, and chose UD1:

6) Then, I pressed NEXT and INSTAL->Auto Update.

The auto-update process started up correctly, but after about 10-30 minutes it ends up freezing with the aforementioned message.

I can get the robot back to a working state by restoring an image backup. However, the same issue occurs if I try to perform the update again.

Has anyone faced this issue before?

The ':' operator worked. Thanks for the insight!

Below is the Karel code that allows me to convert a position between any pair of user frames:

BEGIN
    --Get input arguments
    GET_TPE_PRM(1, 1, inputIdx, tempFloat, tempString, status)
    GET_TPE_PRM(2, 1, outputIdx, tempFloat, tempString, status)
    GET_TPE_PRM(3, 1, oldFrameIdx, tempFloat, tempString, status)
    GET_TPE_PRM(3, 1, newFrameIdx, tempFloat, tempString, status)
    oldPos = GET_POS_REG(inputIdx, status)
    oldFrame =  $MNUFRAME[1, oldFrameIdx]
    newFrame =  $MNUFRAME[1,newFrameIdx]
    --Transform Frame
    worldPos = oldFrame : oldPos
    newPos   = INV(newFrame) : worldPos 
    SET_POS_REG(outputIdx, newPos, status)
END CHANGE_FRAME

TitusLepic Thanks! The ':' operator might be what I need to avoid doing all the math for transforming frames. I will look into implementing it in Karel to see if it works.

Nation Thanks for the code on doing the calculations. I think I was missing the additional math for calculating WPR. Do you know of a source I can look at to understand the intuition behind the WPR math?

I want to convert an XYZWPR position from the world frame to a specific user frame programmatically (so via a Karel/TP program instead of menu utility).

I am able to successfully convert the XYZ values from the world frame to a specific user frame by computing the below equation:

x', y', z' = New coordinate values

x, y, z = Old coordinate values

Xt, Yt, Zt, W, P, R = User Frame values

However, it seems that the point's orientation values are not as easy to convert. For instance, if I apply a user frame with a W offset, it also changes a point's P and R values.

I was wondering if anyone has insight into how to calculate the WPR values of a point based on a user frame.