Also a question came into my mind and it might be tricky.
From what I understood that we have 5 as maximum number for running pc. During a pc, can we call another function using "call" instruction, ? or in this case the new function will be run in the program area, and we have to do it by "MC PRIME" then "MC EXECUTE"?
Thank you in advance !
Consider KISSING IT
After reading your reply, I have spent the time kissing and flirting with the kawaski references, reviewing them over and over, and watching K-EDU tutorials of pc programming.
I finally can say I have a huge better understanding of the difference between a program and a Process Control (i.e: foreground and background). You were right , it is such a an important concept we should grasp before start working. Thank you wholeheartedly for the knowledge you have provided and your precious time, I can feel now how unprofessional I was due to fact I coded only using program area.
IFP button
You also inspired me to redesign my code to use IFP, I guess it is better. Earlier I was using only prompts and prints on K-IDE to interact with robot.
I really have no idea what you are referring to in these cases
Well, as I said, I used "prompt" instruction to allow user to choose the flow of program. While I tested code on K-IDE + Kroset, it worked perfectly. However, While I used it with K-IDE + actual robot. The code worked fine, but K-IDE kept throwing unkwon error E0001 whenever it reaches any "prompt" instruction. I even tried simple program (just prompt a string and print it), situation was the same. I checked the manual it it says I should specify from which device to input, 1 for computer and 2 for pendent. apparently by computer they inclusively meant Krterm, not K-IDE. Still strange to me why such a situation occurs.
If you are sending in data from outside entry terminal, you could use simple conditional looping for example:
Yes of course you are correct ! I'm using these loops already to control the sending and receiving of tcp data. Moreover, I use "prompt" to allow user to choose. For example whether to send/receive, to confirm the received data, to proceed/abort, or to choose to assign data into pose or #pose (joint or trans), etc...
Thank you for explaining such a fundamental thing. I agree with you a training would have come in handy but there is no chance of such a thing and the manuals are also not helping. Thank you again !
Could I ask how exactly you organized your code ? I'm trying to do something similar to what you did in the video (prompt + move the robot using herculus/python script) and It worked in simulation perfectly. However, the last couple of days I was trying it on actual robot and I faced two issues.
1) The KRterm refused the motion instructions , as you stated earlier
2) I tried K-IDE but the prompt instruction works only on either the pendent or the krterm
Is it possible that I organize my code so that all the instructions related to motions can be in a program task file, and the others realted to communication are in pc task ?
Thank you in advance
Thank you for explaining the .pc files. So from what I understood, .pc files are just an optional way to program the robot. I have been using so far only main() and I see no problems with it.
What do mean by this?
It is just that I saw two different template in K-IDE . One is KRG that uses the main file method. The other one is TCPIP template that uses the autostart and .pc convention. I was confused a little bit.
Is there a possibility that I could take more of your time ? I need more elaboration about PC TASK. I haven't yet understood how they differ from normal program. For example:
-Do they include only logic ?
-What kind of tasks to write in PC TASK and for which practical cases ?
Thank you in advance
There are no other devices that use the same ip adress. I solved the problem by closing the project in Kroset and created new project with new robot, seems like some setting in the old one caused some lag.
As far the code. I'm not sure yet of the differences between a PC Task, and normal .as file. I noticed in the tcp/i[ template there are .pc files, but I haven't yet discovered the difference.
Usually when I run the code, I dont use autostart. Only upload the code and run the main() program
Hello again,
I have just encountered a similar situation but this time is in K-IDE.
Yesterday I was working on TCP/IP code and I uploaded it on simulator many times and nothing was strange. Today I have added some functionalities , and all of sudden it started acting the same weirdness (can't kill, abort, or even reupload)
Here are some snippets of the issue
Thank you for your reply and follow-up. I have tried to replicate the situations but everything seems to work fine !
Properly it was due to abundance programs and commands between K-IDE , virtual pendent and Krterm. I will defenitly post something in the future if something strange occurs again.
There is still something I don't still get it, that is the difference between PC PROGRAM, *.txt, *.as, and *.pg files ? Does pc program include them all, or is it only exclusive for the krterm load function ?
Thank you in advance
This is one reason I steer clear of the virtual teach pendant, I only use it I am designing some Interface panel stuff, otherwise it stays closed........Don't see much point in using it otherwise as KRoset controller has all that's required and more.
I agree with you. I feel it is not utilized enough to program the robot. I'm just using the virtual one to try to learn how to move and control before using the actual one. So you can say I'm still in the process of discovering its capabilities.
Explain a bit more on what you doing on KRTerm:
- IP and port (is your PC utilizing this for some other applications perhaps).
- What are trying to do and typing in that's causing issues.
-Earlier I used to write the code in K-IDE, copy it into .txt file and load it directly into Kroset's terminal (that's quicker than uploading from K-IDE), until I have started facing problems with loading, executing programs which lead spending longer time trying to find out the issue.
-One of the situations was while I was defining some points, bases, and frames. I gave a command "do lmove xpoint" and apparently this xpoint was out of reach or something but it didn't give me an error. On the contrary, it gave no response on the terminal and the virtual pendent started acting weird. I tried to kill/end, but it said "program still running"
- another situation was with a test program to decode a string into variables. I loaded into terminal as .txt and executed the program, it worked. Then I modified the code and when I tried to load it again, the terminal said "program already running". I tried to pcabort/pcend/pckill, none of them worked.
I tried another program (it was one of the tcp programs you gave as an example), it worked and was reloaded many time perfectly, with no issues.
after that I decided to stick completely to K-IDE.
I apologize for the long text.
Seems to me I need to spend more time with k-ide before using terminal in kroset
Thank you so much for your reply. As always, you have been so generous in this forum
The IDE inside Kroset I just noticed it yesterday, As you said, it looks very promising but one needs to get his hand dirtier.
Regarding KRTERM, some how they are a black box for me along the "PC Program". Sadly there is no much explanation in the manuals about them. Sometimes the krterm refuses to reload/abort/end or even kill the pc program (.txt file), and sticks to "program still running". I also witnessed this with the virtual pendent, whereas the "cycle" green light kept on, and no command could hold or stop the pc program.
Do you happen to have an idea about this situation and where I'm wrongly handling it ?
Greetings all,
First of all thank you for the great tips that are here. I have been here for a while and I could say I really learned some important details.
I was trying for the last couple of days to establish a tcp socekt with Kawasaki E-controller to read pose information from python file and make the virtual robot in kroset move correctly. I succeeded to do using K-IDE.
However, I still feel I don't get the difference between the krterm and load/save functions using .txt/.pg files, and k-ide upload/download/run code functions.
Are there big differences, or is there something I might be missing ?
Thank you in advance
