hi
To help you to explain I need some more information that which sensor you are using.
what is the application?
you can PM me .
Rupy
hi
To help you to explain I need some more information that which sensor you are using.
what is the application?
you can PM me .
Rupy
Hi,
This real time path modification can be done without DPM also.
Yes you can write a karel program who can read the data and pass on to robot to correct the path.
what option do you have on your controller?
Rupy
Hi
Can you help me in guiding how to reallocate the memory for TP
The detial of the existing memory is enclosed.
Rupy
HI,
we have R 30iA controller and the application is hemming.
We are facing problem of less memory.
When we try to load the TP program, it does not get load.
No message is displayed on Tpendent.
When I checked the moemory of the controller it showa only 70KB left out of 2 MB.
The no of TP and Karel programa are 90 only.
I do not know how this happened.
Can anybody help me out.
Rupy
HI,
First of all you can go to that DO and open the CONFIG tab.
There you can see the mapping detail of the DO.
From there you can get the clue that where it is connected.
Rupy
HI,
can you guide me that wether robot will need a request from PLC to transmit the data or he just transmit the data with the karel program.
Rupy
HI,
He is asking about the format of data.
I told him it is ASCII or binary.
I also told him about start- parity - stop.
but he want to know weather the robot need some request from PLC to transmit data or robot can send the data without any request.
Rupy
HI,
I am having RJ3iC controller where I want to send data of Register to PLC through RS 232 port.
PLC guy is asking me the RS 232 protocol.Which I do not understand.
I do not understnad do we need any communication protocol from Fanuc.
Does the controller transmit the data through RS 232 port if PLC send request like Master Slave communication.
Rupy
HI
1.
I want to know that the karel Program ( as below) ,will it also act as polling program to the device connected on RS 232 port.(not PLC)
I mean to say that this program will send the data to the device connected to the port without any request from the other slave device.
2.
Also the format of data is from robot is mostly ASCII
Karel Program is as below:
PROGRAM COMM_WRT
%ALPHABETIZE
%NOLOCKGROUP
%NOBUSYLAMP
%NOPAUSE = ERROR + TPENABLE + COMMAND
%NOABORT = ERROR
%COMMENT = 'KEYENCE comm'
------------------------------------------------------------------------------
---- Constant and Variable Declaration
------------------------------------------------------------------------------
VAR
STATUS : INTEGER -- Holds error status from the builtin calls
port: FILE -- Filehandle fuer den geoeffneten seriellen Port
data_type, int_value: INTEGER
real_val,real_value: REAL -- Benoetigt fuer GET_TPE_PRM, wird nicht benutzt
str_value: STRING[32] -- Benoetigt fuer GET_TPE_PRM, wird nicht benutzt
text IN DRAM: STRING[128] -- Text von der Kamera
sub_string: STRING[32] -- String wird in substrings zerlegt
trenner: STRING[2] -- Trennzeichen im von der Kamera gesendeten String
int_val,i, j: INTEGER -- Zaehler / Hilfvariablen
loc1, loc2 : XYZWPREXT -- Positionsdaten der Kamera
conf : CONFIG -- Achskonfiguration fuer das Positionsregister
bool_flag:BOOLEAN
------------------------------------------------------------------------------
---- CHK_STAT
---- Tests whether the status was successful or not.
---- If the status was not successful the status is posted
------------------------------------------------------------------------------
ROUTINE chk_stat (rec_stat: INTEGER)
BEGIN
IF (rec_stat <> 0) THEN -- if rec_stat is not SUCCESS
-- then post the error
POST_ERR (rec_stat, '', 0, 0) -- Post the error to the system.
ENDIF
END chk_stat
-----------------------------------------------------------------------------
---- Main Program
-----------------------------------------------------------------------------
BEGIN -- COMM
-- Initialize config data
conf.CFG_TURN_NO1=0
conf.CFG_TURN_NO2=0
conf.CFG_TURN_NO3 =0
conf.CFG_FLIP = FALSE
conf.CFG_LEFT = TRUE
conf.CFG_UP = TRUE
conf.CFG_FRONT = TRUE
loc1 = POS(0, 0, 0, 0, 0, 0, conf)
loc2 = POS(0, 0, 0, 0, 0, 0, conf)
text='1'
-- WRITE (CHR(128),CHR(137)) -- By default this will clear TPDISPLAY
WRITE TPERROR (CR,' ',CR)
-- WRITE TPSTATUS(CR,' ',CR)
-- WRITE TPPROMPT(CR,' ',CR)
-- WRITE TPFUNC (CR,' ',CR)
FORCE_SPMENU(TP_PANEL,SPI_TPUSER,1) -- Force the USER menu screen to be visible last.
-- OPEN FILE port ('RO', 'input.txt')
OPEN FILE port ('RW', 'P3:')
GET_REG(13,bool_flag,int_val,real_val,STATUS)
-- This below lines are not required to write and thus remarked on 6.12.16
-- Wenn ein Parameter uebergeben wird und dieser 1 ist, dann RS232 Puffer leeren
--GET_TPE_PRM(1, data_type, int_value, real_value, str_value, STATUS)
-- IF ((data_type = 1) AND (int_value = 1)) THEN
-- SET_FILE_ATR(port, ATR_TIMEOUT,100) -- Timeout 100 ms
-- --REPEAT
-- WRITE port (int_val)
--ELSE
--SET_FILE_ATR (port, ATR_TIMEOUT, 2000) -- Timeout 2000 ms
WRITE port (int_val)
WRITE(int_val)
WRITE TPERROR('it is written')
--ENDIF -- (data_type = 1 AND int_value = 1)
CLOSE FILE port
SET_INT_REG(15,int_val,STATUS)
END COMM_WRT
Rupy
Hi,
I tried as advised by you.
and it is working
Rupy
Hi,
Thanks for your support and filling mw with confidence.
Rupy
HI,
Thanks for this information.
Please do not feel otherwise.I want to double sure that the .PC file compiled in FRVC 6.40 work in actual controller V 6.1
I also checked with Local Fanuc guy he told me that for versions less then 6.30 karel is not supported, but one guy from Fanuc Germany told me that karel is since the begining of the Fanuc robots.
Please confirm my first query as my actual site is far away and I do not want to get into any trouble.
Regards
Rupy
HI,
Thanks for your help.
With new setup of roboguide software when I am creating a cel with FRVC 6.40 then the karel file get compiled.but when we create a cell with FRVC 6.30 and try to compile the file then the "build" button on top right is disabled and we are unable to build the file.
Rupy
HI
I am having following version installed on my PC
Installed version of WINOLPC
V6.40-1
V6.43-1
V7.30-1
V7.40-1
V7.50-1
V7.60-1
V7.70-1<---- this is the default version
I also change the version by Ktrans/ver v6.40-1
and it get changed to V 6.40 and it still gives the problem of version library.
I also have doubt in installation.
Can you give me your demo setup for few days.or can you give me OLPC pro demo setup.
Rupy
Hi,
I tried again with by re-installing the roboguide.
It is the same problem
----------------------------------------------------------------------
Translating E:\Documents\My Workcells\test_unipart\untitled1.kl
Build Failed: Internal error:
2(0x2)
Unable to load version library
----------------------------------------------------------------------
I do not know how to fix it.
Rupy
HI,
Thanks for your efforts and help.
So, I will re install and then check it again.
Rupy
Hi,
It is Version 7
build ID 7.7019.00.09
Rupy
HI,
I tried your modified karel program.
But the result is same
It shows:
----------------------------------------------------------------------
Translating E:\Documents\My Workcells\test_unipart\untitled1.kl
Build Failed: Internal error:
2(0x2)
Unable to load version library
----------------------------------------------------------------------
Regards
Rupy
HI,
Thanks for your reply.
I already compile with GUI of robot but then the error comes.
Screen shot of error window attached.
the karel program is as below:
PROGRAM hello2
%NOPAUSE=ERROR+COMMAND+TPENABLE
%NOPAUSESHFT
CONST
CLS=128
VAR
ent_val:INTEGER
exit_loop:BOOLEAN
BEGIN
--WRITE(CR,CR,CR,CR,CR,CR,CR,CR)
WRITE(CHR(CLS))
FORCE_SPMENU(TP_PANEL,SPI_TPUSER,1)
exit_loop=FALSE
REPEAT
WRITE('Hello World',CR)
WRITE('0END')
READ(ent_val)
IF ent_val=0 THEN
exit_loop=TRUE
ENDIF
UNTIL exit_loop
WRITE ('Done',0)
FORCE_SPMENU(TP_PANEL,SPI_TPSELECT,1)
END hello2
Rupy
HI,
I have roboguide with virtual controller version from 6.3 to 7.1 .
I want to compile a karel file for robot Rj3ib controller with version 6.10p/96.
I got some clue that I can convert with help of Krtans.
But I do not know how to convert.
can some one guide me how to do that.
Rupy