Posts by linuxsand

Quote from ancrof

How would i go about getting KRL to write this file?

i.e. https://www.robot-forum.com/ro…ed-in-a-text-file-(krc4)/

Link deleted.

I suppose the search function of that site was powered by Google Custom Search, if people in some countries can not visit google service......

KUKA is very similar to ABB.

Writing code in KRL (Kuka Robot Language), then use the official tool: KUKA.Encryption Tool, which will convert the *.src and *.dat file into a *.pfc file.

Differences between FANUC's *.pc and KUKA's pfc:

• *.pc is binary file


• *.pfc is still a plain text file, you can open *.pfc with any text edtior, but can not see any KRL code inside.

sample of *.pfc:

<protectedFilesContainer>
  <protectedFile name="xxxxxxx">
    <header>
      <author>
      </author>
      <comment>
      </comment>
      <encryptionCertificateStore>KUKA Roboter GmbH</encryptionCertificateStore>
      <signatureCertificateStore>KUKA Roboter GmbH</signatureCertificateStore>
      <signatureCertificateName>KUKA Roboter GmbH</signatureCertificateName>
      <encryptionCertificateName>KUKA Roboter GmbH</encryptionCertificateName>
      <signedBlocks>None</signedBlocks>
      <encryptedBlocks>Content, PrivateData</encryptedBlocks>
      <privateHeader>
        <entry name="&amp;ACCESS" value="RVO" />
        <entry name="&amp;REL" value="254" />
        <entry name="&amp;PARAM EDITMASK =" value="*" />
        <entry name="&amp;PARAM TEMPLATE =" value="C:\KRC\Roboter\Template\ExpertVorgabe" />
      </privateHeader>
    </header>
    <privateData>kkkkkkkkkkkkkkkkkkkkk</privateData>
    <content>xxxxxxxxxxxxxxxxxxx</content>
    <signature>
    </signature>
  </protectedFile>
</protectedFilesContainer>

If I recall it right, KAREL Runtime is enough.

Officially, order PCDK or RobotInterface from FANUC.

Seams like you sniffed the TCP socket telegrams somehow, then built your own telegrams to change controller data.

Interesting but can not know the robustness.

Quote from cobenson

Seems a lot more complicated then it is worth. I just do all my commenting using Karel. Then delete the Karel file from the robot when done. Simple.

It did need some preparations, yes, your method is simple. I used this tool for updating I/O comments during AUTO mode.

Use Background Logic, say

DO[100:FINAL] = DO[10:ATPOS1] AND DO[20:ATPOS2]

then use DO[100] to notify PLC.

When you run the scripts (whether Windows batch or Python scripts), files you archived are from the hard drive, maybe they are different to files in the ram disk.

See if this suits your need :http://www.robot-forum.com/rob…chive)/msg69075/#msg69075

Hi,

There is a built-in function located at Configuration -- Miscellanuous -- Monitoring working envelope

KUKA has another more powerful package just like FANUC DCS: Safe Operation.

Basiclly, your problem has nothing to do with PluginSDK, it's more about C# programming / WPF.

Target users of PluginSDK should have advanced knowledge of C# / WPF. Sample code that you posted exposed KUKA private API, I think that is not appropriate because the SDK is only for internal use.

I am curious about where you get the SDK.

Quote from K-Sky

Just wanted to add in my experience you don't need to restart the robot as you have in Step 2. You can just press next and then press F3, INIT, and then you will get a popup window with the standard YES/NO options. Ive tried looking back through the manuals to see where I learned this from, but cannot find these steps in the Fanuc manuals, but I know it works. Plus its a lot quicker than having to cycle power. I mostly work with brand new robots so maybe the INIT option hasn't been around long, but just wanted to offer this option.

Thank you, useful one

Quote from Iprogram

How is this different than pushing the shift key and DIAG at the same time?

I extracted contents from manual (Alarm codes list of R-30iB, B-83284EN-1/02) , which includes more info, i.e. cause & remedy.

I have no idea if Fanuc teach pendant had those built-in info.

Hi,

1. UO[1-10] indicates the status of a robot, always need to know those infomation in production.
2. There is a system variable like $UOP_ENABLE or something, do a search in forum. But it has some safty problem: if you disable UOP programmatically in production, after that cell controller loses the status of robots, it is dangerous.
3. Pulse.
4. Lie to the robot? I never did that, check the attachment...

All about safty.

http://linuxsand.info/fanuc/

Hi, I made the website for searching alarm codes of FANUC robots. Webpage is optimized for mobile browser.

Usage:
1. normal way: input alarm code, hit "search" button, you'll get the description, cause and remedy.
2. command line: curl http://linuxsand.info/fanuc/code-api/INTP-440

Drop me an email if website is down: root {at} linuxsand {dot} info

Quote from 27dawid

Hello,
I've already tried.
Backup works but update does not work. The program ends without message

Hi, I figured it out. The encoding of the old config.txt file is utf-8, because I commented with some chinese words in the last update.

I already removed those chinese comments and converted the file encoding from utf-8 to ansi. The attachment is updated too (the original url is still valid).

Quote from 27dawid

Hello,
I've already tried.
Backup works but update does not work. The program ends without message

Hi, thank you for testing. Try to start do_update.py in cmd.exe window, then check the output.

Hi all,

This is a free tool for commenting I/O and registers for Fanuc robots, which is based on comment tool of official web server.

Download -> http://linuxsand.info/fanuc_tools/fanuc_comment_tool.html

Release log:

- 2019-mar-06, SPACE (' ') in comment text will not be '+' any more
- 2018-jul-06, you can comment position registers and flags now
- 2016-sep-21, you can comment registers and group I/O now
- 2016-sep-18, comments can include Japanese or Chinese characters (as long as your controller supports)
- 2014-aug, first version (Python scripts)

Requirements: Microsoft .NET Framework >= 2.0

Configuration:

1. Set controller's IP first: menu - setup - host comm - TCP/IP - Port#1 IP addr
2. Restart robot controller to make IP setting valid check reply 4, thanks to K-Sky
3. Unlock karel: host comm - HTTP - line2 (KAREL:*) - F3 (UNLOCK)
4. Config IP for your PC, make sure it is in the same network with robot controller

Note: Reply 1 to 3 was posted when this tool was written in Python. Later on, it has been rewritten in C# .NET.

Screenshot:

http://media.linuxsand.info/image/comment-tool-csharp.jpg

Today I finally set up a Windows XP environment to test Robot Neighborhood -- it worked in XP.

Hi, an error occured when I was adding a real robot in Fanuc Robot Neighborhood: Run-time error '13', Type mismatch.

My OS is Windows 8 32bit, robotguide version is 8. And I connect the robot via my wireless router, the router and the robot controller are plugged in the same switch, IP address is 192.168.20.xxx.

Oh, and I have tried directly connect my PC to the robot controller, failed. Anybody can help?