Posts by cattmampbell

  • Software Request to Fanuc - the robot forum bugs and wish list

    Quote from PnsStarter

    No, sysvars are not accessible anymore.

    PnsStarter How disappointing!

    Do you know if *.va files still exist with R-50iA Controllers?

    Quote from PnsStarter

    No, they will not work!

    This is also disappointing!

    Do you know if KCL Commands are still executable via *.cf files, *.cm files, and/or the Web Server with R-50iA Controllers?

    Quote from PnsStarter

    There is a (growing) list with so called DataID's. Using of these ID's is possible through karel,python and TP.

    Access is the same like sysvar.

    This is somewhat of a relief, though also frustrating as many people (like myself) do not have: access to (or a license for) RoboGuide, access to the KAREL compiler (ktrans), access to the software add-on required to modify KAREL on the Teach Pendant, and I imagine that the ability to execute and/or modify Python on the Teach Pendant will also be a software add-on.

    Quote from PnsStarter

    But the will get more useful names and they are curated by fanuc:

    System VariablesData IDs
    $MNUFRAME$USERFRAME.FRAME
    $DMR_GRP[a].$MASTER_COUN[b]$MASTERING.MASTERING_COUNT[a,b]
    $SV_INFO[a]. $AXIS_POS[b]$SERVO_FEEDBACK.POSITION_JOINT[a,b]

    Are the Data IDs a one-for-one match for each writable System Variable?

    I am struggling to see the benefit of removing System Variable access on the Teach Pendant in exchange for these Data IDs.

    I imagine a lot of knowledge may no longer be transferable, much third-party software may no longer be functional, and many programming standards are no longer applicable without the ability to read/write System Variables in Teach Pendant code.

    This is obviously a big change. Do you know the thought process behind this decision?

    I'm sorry for all of the questions, but I would greatly appreciate any insight you might be able to provide.

  • TCP wanders around

    Quote from Ironoxide

    This is getting worse. The above post mentions a new tool frame and the attempt to shift one program to that tool frame. Not only did that shift not work but now all the programs that use that jig are not working and are throwing the same error, INTP-251 or INTP-253. The programs that I didn't mess with at all won't work, the robot throws an error. :confused_face: I select the tool frame pertaining to the program but the robot still throws the same error. So now the robot is stuck.

    According to Know FANUC Alarm Codes, it sounds like you have a UTOOL mismatch...


    INTP-251 (%s^4, %d^5) Invalid utool number

    Cause:  The tool frame number is invalid.

    Remedy:  Refer to the error cause code. Use MENU to display the Alarm Log screen.


    INTP-253 Tool frame number mismatch

    Cause:  The tool frame number in the positional data is not the same as the currently selected tool frame number.

    Remedy:  Check the tool frame number.

  • KILL Command on Fanucs

    Quote from AnandTUD

    Like SkyeFire said, you can also try issuing KCL command from a web browser which performs abort all. You might need to change Remote device responsible for motion control before issuing abort all ($RMT_MASTER = 1). Just make sure to reset the RMT_MASTER again to the original value.

    Code
    IP_ADDRESS_OF_ROBOT/KCL/SET%20VARIABLE%20$RMT_MASTER=1%0AABORT%20ALL%20FORCE%0ASET%20VARIABLE%20$RMT_MASTER=%200

    Whoa, I had no idea that you could include line feeds in KCL commands sent via web requests. Thanks AnandTUD.

  • using SYSVAR.SV to quickly configure payloads

    Quote from Nation

    You could do a .cm file. You would have to run it from the pendant though.

    Code
    SETVAR $PLST_GRP1[1].$PAYLOAD 1.5
!Payload CoG in cm. ;
SETVAR $PLST_GRP1[1].$PAYLOAD_X 1
SETVAR $PLST_GRP1[1].$PAYLOAD_Y 2.3
SETVAR $PLST_GRP1[1].$PAYLOAD_Z 7
!Payload inertia in kgfcm^2. Times by 980 here to get 1 on the payload screen.;
SETVAR $PLST_GRP1[1].$PAYLOAD_IX 980
SETVAR $PLST_GRP1[1].$PAYLOAD_IY 980
SETVAR $PLST_GRP1[1].$PAYLOAD_IZ 980

    Nation Do you know the System Variables for the Axis #1 Armload and Axis #3 Armload?


    I get many results when I search for *ARMLOAD* in SYMOTN.VA, including:

    • Field: $MRR2_GRP[1].$ARMLOAD  ARRAY[3] OF ARMLOAD_T
    • Field: $MRR2_GRP[1].$ARMLOAD_X  ARRAY[3] OF ARMLOAD_P_T
    • Field: $MRR2_GRP[1].$ARMLOAD_Y  ARRAY[3] OF ARMLOAD_P_T
    • Field: $MRR2_GRP[1].$ARMLOAD_Z  ARRAY[3] OF ARMLOAD_P_T
    • Field: $MRR_GRP[1].$PS_ARMLOAD Access: RO: SHORT = 0
    • Field: $MRR_GRP[1].$ARMLOAD  ARRAY[3] OF REAL
    • Field: $MRR_GRP[1].$ARMLOAD_X  ARRAY[3] OF REAL
    • Field: $MRR_GRP[1].$ARMLOAD_Y  ARRAY[3] OF REAL
    • Field: $MRR_GRP[1].$ARMLOAD_Z  ARRAY[3] OF REAL
    • Field: $MRR_GRP[1].$ARMLOAD_NUM  ARRAY[9] OF INTEGER
    • Field: $PARAM2_GRP[1].$ARMLOAD  ARRAY[3] OF ARMLOAD_T
    • Field: $PARAM2_GRP[1].$ARMLOAD_X  ARRAY[3] OF ARMLOAD_P_T
    • Field: $PARAM2_GRP[1].$ARMLOAD_Y  ARRAY[3] OF ARMLOAD_P_T
    • Field: $PARAM2_GRP[1].$ARMLOAD_Z  ARRAY[3] OF ARMLOAD_P_T
    • Field: $PARAM_GROUP[1].$PS_ARMLOAD Access: RW: SHORT = 0
    • Field: $PARAM_GROUP[1].$ARMLOAD  ARRAY[3] OF REAL
    • Field: $PARAM_GROUP[1].$ARMLOAD_X  ARRAY[3] OF REAL
    • Field: $PARAM_GROUP[1].$ARMLOAD_Y  ARRAY[3] OF REAL
    • Field: $PARAM_GROUP[1].$ARMLOAD_Z  ARRAY[3] OF REAL
    • Field: $PARAM_GROUP[1].$ARMLOAD_NUM  ARRAY[9] OF INTEGER
    • Field: $PLID_GRP[1].$ARMLOAD1 Access: RW: REAL = 2.500000e+01
    • Field: $PLID_GRP[1].$ARMLOAD2 Access: RW: REAL = 5.500000e+02
    • Field: $PLID_GRP[1].$ARMLOAD3 Access: RW: REAL = 0.000000e+00
    • Field: $PLID_GRP[1].$ARMLOAD_X  ARRAY[3] OF ARMLD_POS_T
    • Field: $PLID_GRP[1].$ARMLOAD_Y  ARRAY[3] OF ARMLD_POS_T
    • Field: $PLID_GRP[1].$ARMLOAD_Z  ARRAY[3] OF ARMLD_POS_T
    • Field: $PLID_SV.$ARMLOAD1 Access: RO: REAL = 0.000000e+00
    • Field: $PLID_SV.$ARMLOAD2 Access: RO: REAL = 0.000000e+00


    $MRR_GRP[1].ARMLOAD[1] looks like it might be the most promising, but I'm not 100% certain as it's not included in any of the System Variable manuals in my possession.

  • Determining the Date from CREATE and MODIFIED in TP *.LS Files

    Quote from AnandTUD

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

    AnandTUD This means the examples from the HandlingTool Manual are more like pseudocode than they are applicable/loadable examples?

    Code
    Creation Date:     21–FEB-2006
Modification Date: 21–FEB-2006

    If this is the case, it looks like Process Simulate exports *.LS files with incorrectly formatted CREATE and MODIFIED values, for example:

    Code
    CREATE              = DATE 2023-12-07  TIME 09:44:02;
MODIFIED            = DATE 24-07-19    TIME 10:10:14;

    I imagine the TP interpreter would be able to accommodate similarly formatted CREATE and MODIFIED values, or someone else would have posted a similar question before I did.

    Thank you!

  • Determining the Date from CREATE and MODIFIED in TP *.LS Files

    I'm trying to programmatically parse the date from the CREATE and MODIFIED in TP *.LS files, but I am having a difficult time determining the year, month, and day because they are formatted as 2-number values separated by a - character, for example:

    Code
    CREATE      = DATE 23-09-24  TIME 18:48:42;
MODIFIED    = DATE 23-09-24  TIME 20:53:32;

    In the example above, the first (23), second (09), and third (24) 2-number values could be the year, month, or day.

    Writing logic to determine if a 2-digit number is greater-than 99 (not the year), greater-than 12 (not the month), greater-than 31 (not the day), does not cover the example above considering:

    • The first (23), second (09), and third (24) 2-number values could be the year (less-than 99).
    • The first (23), second (09), and third (24) 2-number values could be the day (less-than 31).
    • The second (09) 2-number value could be the month (less-than 12).

    I checked the ERR*.LS files from the same Robot to see if the formatting was the same, but it uses a 2-number value for the day, a 3-letter value for the month, and a 2-number value for the year, for example:

    Code
    851752" 15-OCT-23 20:10:10 " APPL-175 Backup started           " " WARN 00000000" "
851753" 15-OCT-23 20:01:10 " APPL-176 Backup finished          " " WARN 00000000" "
851754" 15-OCT-23 19:54:26 " SDTL-115 Data Output is completed " " WARN 00000000" "

    I found many examples in the Version 9.30 of the HandlingTool Manual, but the formatting is different as it uses a 2-number value for the day, a 3-letter value for the month, and a 4-number value for the year, for example:

    Code
    Creation Date:     21–FEB-2006
Modification Date: 21–FEB-2006

    In Version 9.30 of the HandlingTool Manual, Creation Date is described as:

    Quote

    Creation date is the date on which the program name was created.

    In Version 9.30 of the HandlingTool Manual, Modification Date is described as:

    Quote

    Modification date is the date, according to the calendar in the controller, when the file was last displayed in the editor. This information can be displayed using the [ATTR] function key on the SELECT menu.

    Is there a System Variable or a setting that determines how the year, month, and day are formatted in the CREATE and MODIFIED in TP *.LS files?

  • Removing Unused Motion Groups Compromises Path Accuracy?

    Quote from Erik Olsen

    Providing the TP programs (if allowed) or even snippets of the logic and /POS data would be helpful. Additionally, a list of software options installed on the robot that could potentially cause some strange behavior (Coord Motion Package, Multi-Group Motion, Interference Check, etc) might give some clues. Lastly, are you running any custom Karel scripts on the robots?

    Hey there,

    I am willing to share what information I can. Below you will find two files: prog081wogp.ls is the previously mentioned docking sub-program without Motion Groups 2-5 and prog081wgp.ls is the same docking sub-program with Motion Groups 2-5. Also, I have removed much of the logic contained within the P-SPS with "pseudocode". NOTE: All MAKRO programs have a DEFAULT_GROUP of *,*,*,*,*. Also, I have attached some relevant information from the summary.dg file for which software options are installed.


    Thank you for your help!

  • Removing Unused Motion Groups Compromises Path Accuracy?

    Hey there,

    I work as an integrator at an OEM automotive manufacturing facility. This OEM has developed a programming guideline that is continuously updated until the next version of the programming guideline is released. At the beginning of each new project, the lead robot technician of the facility provides an updated facility-specific document for the current version of the programming guideline. This facility-specific document takes precedence over the OEM programming guideline. In the facility-specific document for the project I am working on at this facility, it says:

    Quote

    By default, when a program is created, the default group setting is all 5 groups are active. No programs should have all 5 groups active. The program structure must be set individually for each program based on the necessary motion groups needed. If a technology is not configured to use motion groups 2, 3, 4, or 5, it must be masked.


    For example:

    • A robot that only performs handling operations would have DEFAULT_GROUP equal-to 1,*,*,*,*;
    • A robot that only performs welding operations with a robot-mounted servo gun would have a DEFAULT_GROUP equal-to 1,1,*,*,*;
    • A robot that performs handling and welding operations with a robot-mounted servo gun would...
      • Have a DEFAULT_GROUP equal-to 1,*,*,*,*; during programs with only handling operations
      • Have a DEFAULT_GROUP equal-to 1,1,*,*,*; during programs with only clinching/welding operations
      • Have a DEFAULT_GROUP equal-to 1,1,*,*,*; during programs with handling and clinching/welding operations
      • The "main" program would have a DEFAULT_GROUP equal-to 1,1,*,*,*; while sub-programs would only contain groups necessary for the application(s) performed in each sub-program
        • NOTE: Sub-programs cannot call other sub-programs!


    Now, the offline programs delivered by the design company include all 5 groups active in all "main" programs and sub-programs. Unfortunately, we are unable to reject the OLP as-is and wait for new offline programs that comply with the facility-specific document. Instead, my colleagues and I must remove the unnecessary groups ourselves.


    My colleagues and I have written macros/scripts (offline) and used the Group Mask Exchange built into the Teach Pendant (onsite) to remove the unnecessary groups from backups without any issues.


    Using backups from Monday, 2024-05-13, my colleagues and I removed the unnecessary groups offline and loaded the new programs/sub-programs on Saturday, 2024-05-18. Then, we began testing the new programs/sub-programs in manual-mode. While checking a docking sub-program of a particular robot (docking, handling, gluing with a stationary gun), a colleague noticed the gripper was going to crash with a nearby station.


    Next we:

    1. Verified the station had not been modified or relocated since the backup used was taken on Monday, 2024-05-13
    2. Verified the docking stand had not been modified or related since the backup used was taken on Monday, 2024-05-13
    3. Verified the gripper had not been modified since the backup used was taken on Monday, 2024-05-13
    4. Verified the robot's mastering data
    5. Took a backup of the robot with the new programs and compared it to the backup from Monday, 2024-05-13:
      1. Verified the DEFAULT_GROUP of the docking sub-program was 1,1,1,1,1; before being changed to 1,*,*,*,*;
      2. Verified the /POS data included GP1, GP2, GP3, GP4, and GP5 before being changed to only include GP1
      3. Verified the /POS data of GP1 was the same in the new docking sub-program
      4. Verified there was no change to the point parameters (ACC, CNT, TB)
      5. Verified there was no change to the PAYLOAD data
      6. Verified there was no change to the UFRAME data
      7. Verified there was no change to the UTOOL data


    Unable to determine the cause of the deviation in the path, we loaded the docking sub-program from the backup from Monday, 2024-05-13 and the robot did not crash with the nearby station.


    Next, we wondered if the macro/script used to remove the unnecessary groups offline might have altered the docking sub-program in some way that could explain the path deviation. So, we used the Group Mask Exchange built into the Teach Pendant (MENU → UTILITIES → F1 [ TYPE ] → Group Exchg → ENTER) to remove the unnecessary groups and began to check the docking sub-program in manual-mode, but the gripper was still going to crash with the same nearby station as before.


    Out of concern this issue could present itself in robots elsewhere on the line and due to the limited amount of time we had to complete our weekend work, we resorted to rolling back all the robots to the backup from Monday, 2024-05-13.


    Why would this happen? How is this possible?

  • How to speed up FTP backup of MD?

    Quote from asdf

    I tried the BackupTool from One Robotics . Didn't show any error messages, the file structure of the generated backup looks correct but there are no actual files from the robots.

    Any one using this tool have a similar issue?

    I have been using backuptool on a daily basis since 2018 with R-30iA, R-30iB, and R-30iB+ robot controllers. The main issue that I have experienced is when the TCP/IP connection to one (or more) robots is intermittent (or nonexistent) while backuptool is running — causing backuptool to exit with an error — effectively stopping backuptool for all robots (regardless if the TCP/IP connection is intermittent or not) — resulting in one or more robots with incomplete backups.


    I've come up with a workaround and haven't run into this issue since implementing it. I have included an example below:


    C:\backuptool\backup_tool.csv


    Code: C:\backuptool\backup_tool.csv
    r01 172.18.75.91
r02 172.18.75.92
r03 172.18.75.93


    C:\backuptool\backuptool_backup_all.bat



    C:\backuptool\backup_tool.json


    I'll be the first to admit that the JSON generated by the backuptool_backup_all.bat file is ugly, but it is valid JSON.

    Code: C:\backuptool\backup_tool.json
    {"Destination":"C:\\backuptool\\backups","Version":"1.0.0","Robots":[{"Name":"r01","Host":"172.18.75.91"},{"Name":"r02","Host":"172.18.75.92"},{"Name":"r03","Host":"172.18.75.93"}]}


    Additionally, you can open Command Prompt and run the TREE command to see the directory/file structure...


  • Determining if there is an argument present in TP

    Quote from Nation

    Given the R50iA comes out next year, and it supports python snippets, I might be correct!

    It will be interesting to find out.

    Nation, I had no idea about this until I saw your comment. Besides being about to use Python, it looks like the R-50iA also has "Integration with Visual Studio Code". Do you know any specifics, or have any idea as to what FANUC means when they say that the R-50iA has "Integration with Visual Studio Code"? Very curious about that. 🤔

  • How to rename(recomment) a lot of digital IO's fast?

    Quote from hermann

    Last time I create batch files with curl commands. So i can set comments and values for registers, I/O, Group I/O, position registers , string registers. Using Excel it is easy to convert a list with the comments to a batch file. Here the sFc values I know so long.

    Here the Roboguide simulation is addressed (127.0.0.1), change it to the real robot or you can use a variable parameter of the batch file (like %1).

    So i can set the comments from command line, on every robot on the network. One little problem: spaces aren't allowed in the comments.

    If I had several robots with same comments I would prefer this procedure.

    Thank you, hermann! I had made a note to look into this as a possible way of changing I/O Comments (I do something similar for PAYLOAD, TIMER, UFRAME, UTOOL data via KCL). A couple of honorable mentions for accomplishing the OP's goal are fexcel from jay at ONE Robotics and FANUC Comment Tool from linuxsand (the same person behind the incredibly useful Know FANUC Alarm Codes website).

  • KAREL/KCL/System Variable to Disable Comments, Line Numbers, IO Status

    Thank you, zemog11! That is correct.

    I ended up toggling the Line Numbers, Comments, Colors, and I/O Status ON/OFF manually, downloaded SYSTEM.VA each time, and compared the SYSTEM.VA files with Beyond Compare to find the System Variables. Then, I tested each one to confirm the results were the desired outcome.

    Anyway, here are the System Variables for the aforementioned functionality:

    EDIT → EDCMD → 8 Line Numbers ➡️ $LN_DISP.$HIDE_LINE_N = TRUE 

    EDIT → EDCMD → 6 Comment ➡️ $MNDSP_CMNT = 0 

    EDIT → EDCMD → 0 -- NEXT -- → 2 IO Status ➡️ $UI_CONFIG.$IOSTAT_INST = FALSE

    What I find strange is that only the $MNDSP_CMNT System Variable is mentioned in the FANUC Robotics System R-30iA Controller Software Reference Manual MARACSSRF03061E Rev. F Version 7.20 PDF. I have a copy of the FANUC America Corporation System R-30iB System Variable Addendum MARXUSVAR06181E Rev. A PDF, and it doesn't mention the other System Variables I was able to discover.

    With this knowledge, I wanted to see if it was possible to change the value of these System Variables using KCL Commands and the built-in Web Server. So, I quickly put together a .bat script that I ran from a Windows computer on the Robot network like so:

    Code
    curl http://172.18.1.90/KCL/SET VAR $LN_DISP.$HIDE_LINE_N=TRUE
curl http://172.18.1.90/KCL/SET VAR $MNDSP_CMNT=0
curl http://172.18.1.90/KCL/SET VAR $UI_CONFIG.$IOSTAT_INST=FALSE

    As I explored changing other System Variables using KCL Commands and the built-in Web Server, I discovered that using curl required me to escape some characters and that curl wasn't bundled with Windows 10 until Version 1803. With this knowledge, I ended up using the Invoke-WebRequest PowerShell Cmdlet (which has been a part of PowerShell since Version 3.0, bundled with Windows 8). Using Invoke-WebRequest instead of curl meant that I no longer had to worry about special characters (common in FANUC System Variable syntax) and/or which version of Windows was installed on the computer which would execute the script (at least at the manufacturing facility I work in).

    I am not that familiar with PowerShell, so instead of writing a .ps1 script, I opted to call PowerShell from a .bat script like so:

    Code
    POWERSHELL -NoProfile -Command "& { Invoke-WebRequest -Uri 'http://172.18.1.90/KCL/SET VAR $LN_DISP.$HIDE_LINE_N = TRUE' ; Exit ;}"
POWERSHELL -NoProfile -Command "& { Invoke-WebRequest -Uri 'http://172.18.1.90/KCL/SET VAR $MNDSP_CMNT = 0' ; Exit ;}"
POWERSHELL -NoProfile -Command "& { Invoke-WebRequest -Uri 'http://172.18.1.90/KCL/SET VAR $UI_CONFIG.$IOSTAT_INST = FALSE' ; Exit ;}"

    The problem with sending multiple requests to the Robot Web Server in this way is that you must wait for the response from the current/previous request before sending the next request, and that takes a long time (not as much time as it takes for me to travel from one Robot to another, manually disabling Comments, Line Numbers, and/or IO Status via the iPendant, but you get the idea).

    I learned that you can start an asynchronous process in PowerShell by passing a -ScriptBlock to the Start-Job Cmdlet with all the commands you want to execute, and it worked:

    Code
    POWERSHELL -NoProfile -Command "& { $myJob = Start-Job -ScriptBlock { Invoke-WebRequest -Uri 'http://172.18.1.90/KCL/SET VAR $LN_DISP.$HIDE_LINE_N = TRUE' ; Invoke-WebRequest -Uri 'http://172.18.1.90/KCL/SET VAR $MNDSP_CMNT = 0' ; Invoke-WebRequest -Uri 'http://172.18.1.90/KCL/SET VAR $UI_CONFIG.$IOSTAT_INST = FALSE' ; } ; Wait-Job $myJob ; Receive-Job $myJob ; Exit ; }"

    Now, PowerShell sends each request to the Web Server at once and waits for the response from each request ...but all the HTML returned with the response from the Web Server is printed to the Console (this is the HTML that would be rendered in the browser if you were to enter the value of the -Uri passed to the Invoke-WebRequest Cmdlet). In order to avoid this, remove Receive-Job $myJob from the -ScriptBlock passed to the Start-Job Cmdlet like so:

    Code
    POWERSHELL -NoProfile -Command "& { $myJob = Start-Job -ScriptBlock { Invoke-WebRequest -Uri 'http://172.18.1.90/KCL/SET VAR $LN_DISP.$HIDE_LINE_N = TRUE' ; Invoke-WebRequest -Uri 'http://172.18.1.90/KCL/SET VAR $MNDSP_CMNT = 0' ; Invoke-WebRequest -Uri 'http://172.18.1.90/KCL/SET VAR $UI_CONFIG.$IOSTAT_INST = FALSE' ; } ; Wait-Job $myJob ; Exit ; }"

    NOTE: A similar result can be achieved by using the KCLDO command instead of the KCL command, as mentioned in the FANUC America Corporation SYSTEM R-30iB Plus Controller Internet Options Setup and Operations Manual MAROUIN9010171E REV H Version V9.10:

    Quote

    Note To send KCL commands without getting a response in your web page use KCLDO instead

    of KCL. KCLDO is the same as KCL except that there is no content returned as long as the

    command is successful. This is useful for buttons on web pages which are intended to cause an

    action without requiring the web page to be rewritten.

    By using the KCLDO command instead of the KCL command, you can keep Receive-Job $myJob in the -ScriptBlock passed to the Start-Job Cmdlet in case the KCLDO command is unsuccessul, like so:

    Code
    POWERSHELL -NoProfile -Command "& { $myJob = Start-Job -ScriptBlock { Invoke-WebRequest -Uri 'http://172.18.1.90/KCLDO/SET VAR $LN_DISP.$HIDE_LINE_N = TRUE' ; Invoke-WebRequest -Uri 'http://172.18.1.90/KCLDO/SET VAR $MNDSP_CMNT = 0' ; Invoke-WebRequest -Uri 'http://172.18.1.90/KCLDO/SET VAR $UI_CONFIG.$IOSTAT_INST = FALSE' ; } ; Wait-Job $myJob ; Receive-Job $myJob ; Exit ; }"

    NOTE: I have not (yet) tested using the KCLDO command instead of the KCL command.

    To scale this functionality, I created a .csv file that included all the Robot IP Addresses that I wanted to send these KCL Commands to and iterated over each one using a FOR Loop.

    The contents of robot-ip-addresses.csv:

    Code
    robot1 172.18.1.90
robot2 172.18.1.91
robot3 172.18.1.92
robot4 172.18.1.93
robot5 172.18.1.94
robot6 172.18.1.95
robot7 172.18.1.96
robot8 172.18.1.97
robot9 172.18.1.98
robot10 172.18.1.99

    The contents of set-system-variables.bat:

    This implementation allows me to change the values inside the robot-ip-addresses.csv file and execute the set-system-variables.bat file again to achieve the same result with different Robots.

    ...and one more thing. Have you ever found yourself annoyed by the beeping sound of the piezo disc inside the Teach Pendant whilst making use of the touchscreen keyboard? I learned that you can disable the beeping sound using the following System Variable:

    Disable Touchscreen Piezo Disc (Beep) ➡️ $UI_CONFIG.$TOUCH_BEEP = FALSE

  • KAREL/KCL/System Variable to Disable Comments, Line Numbers, IO Status

    Hey there,

    One annoyance when getting Backups for many Robots on multiple lines is having any combination of Comments, Line Numbers, and/or IO Status enabled.

    While I have Regular Expressions and scripts to remove Comments, Line Numbers, and/or IO Status if they are in a Robot Backup, I would rather not employ them if I don't have to. So, in order to circumvent this, I usually go from one Robot to another, manually disabling Comments, Line Numbers, and/or IO Status via the iPendant like so:

    Code
    EDIT → F5 [EDCMD] → 6 Comment
EDIT → F5 [EDCMD] → 8 Line Number
EDIT → F5 [EDCMD] → 0 -- NEXT -- → 2 IO Status

    I am hoping someone here knows if there is/are System Variable(s) that controls if/when Comments, Line Numbers, and/or IO Status are enabled/disabled, and if I can use KCL to disable Comments, Line Numbers, and/or IO Status via the System Variable(s).

    Here's a few examples:

    Any help or knowledge that is passed on would be greatly appreciated!

    Thank you.

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