Posts by jupp

Not sure if you can do this, but I'm sure someone here will know.

Here's a quick and dirty way to simulate a signal using Flags. In this example Flag [1] would be your imaginary digital input signal and would turn on after you open your grippers to place the part. You can then call this flag in other jobs. An example being that you turn it off if you have a pick from table program as well. Again - very quick and dirty if you only need one or a couple signals.

1:

2: !PLACE PART ON TABLE ;

3:J P[1] 100% FINE ;

4: !OPEN GRIPPERS ;

5: RO[7:OPEN GRIPPERS]=ON ;

6:

7: !MOCK PART PRESENT SIGNAL ;

8: F[1:PART PRESENT SIGNAL]=(ON) ;

9:

10: !RETREAT FROM TABLE ;

11:J P[2] 100% FINE ;

$SCR.$MULSELENB I believe is what you're looking for.

Quote from Nation

PATH is a data structure. It is described in the karel referenc manual, in the A-Z section under appendix A. You need to use a period to access subcomponants. Should be pth1[node_ind].node_pos.

Worked! Thanks a bunch!

Hi All.

Running into trouble with one of FANUC's KAREL example programs. The error I am encountering pertains specifically to the handling of data types within the program. It occurs when the interpreter tries to assign a value to the identifier TMP_XYZ. Here are my declared variables and lines of code where I'm getting the error:

VAR --Variable Declaration
    cont_timer,
    last_node, node_ind,
    status :INTEGER                --Status from builtin calls
    prg_abrt :BOOLEAN            --Set when the program is aborted
    pth1 :PATH                        --Process Path
    stop_pos :XYZWPREXT            --Process Stop Postion
    perch_pos :XYZWPR            --Process Perch Position
    tmp_xyz :XYZWPR                  --XYZWPR variable for temp use
    indx :INTEGER                    -- Used a FOR loop Counter
    ports_ready: BOOLEAN        --Check if Port is assigned.
    cmt_str :STRING[10]            --Comment String
.
.
.
.
.
IF DOUT[EQIP_READY] THEN
tmp_xyz = pth1[1] -- Convert path node to XYZWPR
SET_POS_REG(25, tmp_xyz, status) -- Put position in PR[25]
frst_nod -- Call TP program to do move
FOR node_ind = 2 TO (last_node - 1) DO
tmp_xyz = pth1[node_ind]
SET_POS_REG(25, tmp_xyz, status)
mid_nods
ENDFOR
tmp_xyz = pth1[last_node]
SET_POS_REG(25, tmp_xyz, status)
end_nod
ELSE
FORCE_SPMENU(TP_PANEL,SPI_TPUSER,1)
WRITE (' Equipment is NOT READY',CR)
WRITE (' Set equipment TO READY MODE',CR)
WRITE (' BEFORE executing this PROGRAM.',CR)
WRITE (' SET DOUT[’,EQIP_READY,’] = TRUE ',CR)
ABORT
ENDIF

I am then met with the following errors when trying to compile:

 397 tmp_xyz = pth1[1] -- Convert path node to XYZWPR
           ^ ERROR
Data type of Id is incompatible with right hand side.  Id: TMP_XYZ

 401 tmp_xyz = pth1[node_ind]
           ^ ERROR
Data type of Id is incompatible with right hand side.  Id: TMP_XYZ

 405 tmp_xyz = pth1[last_node]
           ^ ERROR
Data type of Id is incompatible with right hand side.  Id: TMP_XYZ

These lines of code are directly from Example B.1 in the KAREL reference manual. Considering this, it seems likely that the issue might involve either an incorrect data type declaration or a mismatch between the data types expected by the operation and those actually provided. I've tried declaring temp_xyz as XYZWPREXT and that unfortunately did not resolve the issue.

Any thoughts appreciated! Thanks.