Posts by Nation

You didn't zero out the rest of the PR.

Try PR[1]=LPOS-LPOS to start with the point zero'd.

Also, I don't recommend using PR[1]. It is typically reserved for the home position. At least in automotive.

The SafeIO can do it, if you want to go the hardwire route. You may need some safety relays in the middle to translate though.

It would help if you listed what the errors are.

Quote from Bwille

Were you able to get the program name to start with a number? if so how

Quote from HawkME

But it must start with a letter.

HawkME already stated it, but programs must start with a letter. It is a fundamental limitation in the controller. There is no way around it.

Quote from Kryten

Don't think I'm brave enough to release all the brakes! 😅 Would there not be quite a bit of movement in each link when this is done?

Its something you would do with the arm as close as possible to the pick/place position.

I don't recommend doing it, but it is an option provided your tool changer stand can take the weight of the arm on it.

A real redneck way to do it is to get the robot close to the pins, hit all the break releases, then touch up the point once the robot has settled in.

I've created a small web app that will generate the CALL graph hierarchy from a full MD: backup. It parses the .ls files, and looks for CALLS to other programs. Just zip up the backup, with no directories inside.

Using this tool, you can see what programs get called from where, and if there are any isolated programs in your backup.

Give it a try here: https://synapticrobotics-robotbackupcallgraph.web.val.run/

Your backup is deleted after the analysis is done.

Hovering over a program node will show what nodes it calls as orange. It will also show nodes that call it as blue. If a call is made to a program that isn't present in your backup (such as a system level karel program) it will show up as red. Programs that are present will show up as green.

You can also click and drag nodes around if you like, and also save a high resolution .png of the graph using the button below the graph area.

Short video of it in action:

Call Graph.mp4

Current issues:

• Macro calls are not supported.
• Run commands are not supported.

Let me know if you have any issues with the tool.

I personally haven't done it, but I think it should be doable with the servo tool change option. You call a karel program to disconnect the servo before releasing the ATC.

Upon pickup, a similar karel program is called for servo connection.

It is option #J671. Chapter 26 of the spot tool manual goes over it.

Just right click on the robot controller tree, and select "add robot".

That is a very low F# lens. I would recommend against that, as you will have not the greatest guidance in the real world. Lots of fish eye.

A higher up, fixed mount camera is typically used in depalletizing operations.

Anyway, assuming your camera is calibrated, you could teach a simple 2d vision find with a GPM to find the red part. You would then train a reference position, and use that in your pick process.

Looks like your pictures aren't showing up. Could you reattach them?

When we did it, we wrote to a string register, and the robot would call that from the mainline.

Quote from AnandTUD

Is it possible to use IF statements to check Karel variables? Has anyone tried it?

Your question piqued my interest, so I did a ton of digging and experiments on it. As far as I can tell, the answer is no.

For just TCP rotations, you can use the deg/sec speed option. That will limit the rotation of the tcp's speed.

Where did you get that it is old?

As ROBOT_G mentioned, you do need V9.30 or above on your controller though. And the 3DV iRvision option of course.

How small are the Z values?

I've had this occur. If the triangles are stationary as you move around, its a bad export (or more like bad import, since roboguide is very picky about how iges is exported).

If the triangles are jumping around randomly, then I agree with hermann.

Roboguide help details the export settings needed for Solidworks:

Also, in the Roboguide bin folder, there is a program called PolygonReductionApp.exe. You can use this app to delete the badly imported triangles. It really only works on .csb files though. Roboguide will make a .csb file in your workcell directory when you import cad into the cell.

Looking at your code, it is not outputting lines 52 and onward. I'm assuming this is desired, as the robot is a server, and waiting for a socket connection before continuing.

I think the problem is with whatever you are using to communicate to the virtual controller, and maybe roboguide.

You may need to set the IP address of the robot into the same subnet as the host computer. If your computer's IP is 192.168.1.5, verify that another ip on the same subnet is free (i.e. 192.168.1.6) and set the robot to that. You may need to reboot the virtual robot.

I would start off with local positions (P[1], P[2], etc), as Roboguide will visualize them for you.

Also, in your line tracking program, make sure you are in frame 0, and you are not doing any joint moves. Only linear moves are allowed.

TRAK-005 is a destination gone error. It means you are trying to move to a point that is downstream of your downstream boundary.