Posts by Napierian

    You will need a CRT, and a kFloppy cable and software to do this.

    Go into the Karel prompt screen (k from the main menu)
    start up kFloppy in the directory you want to save (make sure that you do not have the large RJ files option set)
    type in "copy *.* fd:"

    all files should now transfer through kFloppy

    To load files into the RH type the following
    "copy /o FD:*.* BM:"

    Jeff Kocher

    Bad news is you will need a CRT! good news is if you are missing a CRT, you can use the laptop and kfloppy cable. You will need a terminal emulator program to interpret the CRT data.

    The Kfloppy cable will plug into the CRT/KB port on your controller

    I have tried puTTY terminal emulator (open source found here…atham/putty/download.html )and it will work for what you need. There is no seting for VT220, so the F keys will not work correctly.

    I will see if I can find a better one (We use an old dos one called CoTerm)

    This should not cause your good robot to die though.

    Good luck

    I do not have an answer about the software version and EPROMS, but as to the copy of the working robot you are in luck.

    power down both robots (make sure the batteries in the cabinet are good on the running robot)
    take the CMOS board out of the bad robot (it should be yellow and pluged into CNA3)
    on good robot, move the jumper to make CNA4 active
    plug bad CMOS into CNA4
    hold PB1 and PB2 and turn on the good robot
    make note if main 3 is listed as Bubble or CMOS, and Main 4 should be CMOS
    type "device" and enter on CRT
    if main 3 is bubble, type "copy BM0 CM0" followed by enter
    if main 3 is CMOS, type "copy CM0 CM1" followed by enter
    Pray that there is no parity error!
    once it completes, power down and put everything back to how it was (including the jumper)
    Your two robots should now be mirror images of each other. Copy back in your latest backup, and run the cell.

    Hope this helps

    I do not believe you are able to modify the local program positions how you want to. Your only choice will be to use a position register to maintain the positional information. If you are woried about operators (or other programs) modifying the position register, you could lock the position registers after modifying it.

    However an alternative might be to use a frame to modify all the other positions. If you program the robot to have the sensored location as the origin of the frame, you will be able to bring everything else in line when you update the frame. I have done similar in the past where I had a circle subroutine that took the current robot position as the center of the circle, and changed the frame to 0,0,0,0,0,0 at that position. This made calculating the cut really easy.

    good luck though

    Now, the easiest way to modify your working program to add a new arc start is to move your cursor to the end of the second circle line (just past the termination type) and press the F4 button for choice, and select arc start.

    Your final section should look something like the following (been a bit, and going from memory)

    L[1:start point] 2000mm Fine, Arc Start[1]
    C[2:circle point 1] 2000mm/s CNT100
    [3:circle point 2]
    C[4:circle point 3] 2000mm/s CNT100, Arc Start[2]
    [5:circle point 4]
    Arc End[2]

    Hope this helps

    It is possible to change schedules on the fly. I have not done it myself, but in theory, if you perform a new arc start on a point mid path, you can change schedules. There is probably also a command to change schedules as well.

    Hope this helps

    You are best to not teach the 4 points, then change them to circular, because when you change a point to circular, it automatically adds an end point.

    The way I have always done it is I teach the start point (usually as linear) then move to the mid point of the arc and teach that as a new point (Joint or linear doesn't matter). I then change this new point to a circular point by highlighting the L (or J if joint) and pressing F4 for choice and selecting circular. I then move to the end point of the arc and teach that in the new point that is needed for circular.

    Hope this helps

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