Posts by RKind

Quote from hermann

I wanted to set the values like parameters for laser.

EX.

H1 = 1000 ; Set Laser Power to 1000 Watt

M20 ; Set Laser to ready

M21 ; Start Laser

These below user defined variables will Communicate with PLC. Similarly GET and SEND data.

HCodeREQ

HCodeACQ

Display More

Quote from hermann

Why don't you open a new thread? You have a complete different question.

What do you mean by 'it is not working'?

Imho this code even won't be compiled. So it can't work.

F.e. you define an array of integer: FANUC_OUT

then you use FANUC_OUT as a structure FANUC_OUT.bHCodeREQ[i].

This will not be compiled.

Your main program

Code

--SECTION 4: MAIN PROGRAM
------------------------------------------------------------------------------------------------------------------------
------------------------------------------------------------------------------------------------------------------------
BEGIN
WRITEHM
END WRITEHM

doesn't do anything but calling itself, so what other things should this program do instead of nothing?

Even worse, this is a endless recursive calling, you will get a stack overflow or something similar.

Display More

Hello Hermann,

Sorry I would have created a new thread.

Exactly, I'm trying to compile the file but have so many errors that it doesn't work.

That's where I would need your help to fix these errors.

As mentioned before, I am new to KAREL. I am reading documents and learning through the threads created here.

Hello all!!

I am just posting here without creating a new thread.

I am new to Karel but trying to understand all the functions.

I have created the code to send and receive the values from the controller to the PLC via a ProfiNET.

But unfortunately it is not working.

I would like to get some help from the experts out here.

------------------------------------------------------------------------------------------------------------------------
--SECTION 1: Program environment
------------------------------------------------------------------------------------------------------------------------
------------------------------------------------------------------------------------------------------------------------
PROGRAM WRITEHM
%COMMENT = 'WRITEHM'
%NOLOCKGROUP
%NOBUSYLAMP
%NOPAUSE = ERROR+COMMAND+TPENABLE
%PRIORITY = 1                                 -- Priority for task execution -> 0 is highest priority
%TIMESLICE = 8                                 -- Time slicer for tasks having the same priority, 1 is highest.
%DELAY = 8                                 -- Each 256ms a task is delayed by default 8ms
%ALPHABETIZE
%NOPAUSESHFT
--%INVISIBLE
--%
--%CMOSVARS
%NOABORT= ERROR + COMMAND
------------------------------------------------------------------------------------------------------------------------
------------------------------------------------------------------------------------------------------------------------
--SECTION 2 constant and variables declaration
------------------------------------------------------------------------------------------------------------------------
------------------------------------------------------------------------------------------------------------------------
CONST
CLR_SCRN     = 128
VAR
-- M and H code SPS_IN FANUC_OUT
iMCode : ARRAY [5] OF INTEGER
bMCodeREQ :  ARRAY [5] OF BOOLEAN
iHCode : ARRAY [3] OF INTEGER
bHCodeREQ :  ARRAY [5] OF BOOLEAN
rHCode : ARRAY [3] OF REAL
-- M and H code SPS_OUT FANUC_IN
bMCodeACQ :  ARRAY [5] OF BOOLEAN
bHCodeACQ :  ARRAY [5] OF BOOLEAN
------------------------------------------------------------------------------------------------------------------------
------------------------------------------------------------------------------------------------------------------------
--SECTION 3: ROUTINES
------------------------------------------------------------------------------------------------------------------------
------------------------------------------------------------------------------------------------------------------------
ROUTINE tp_err(message:STRING;abort_flag:BOOLEAN)
-- Writes on th TP error line a message & aborts the program if required
    BEGIN
        WRITE TPERROR (CHR (CLR_SCRN) , message, CR)
        IF abort_flag THEN ABORT; ENDIF
    END tp_err
    
ROUTINE SetHCode (iHCode: INTEGER; rHCodeVal: REAL; bQuick: BOOLEAN)
    -- Suche "freien H-Code"
VAR
iSet : INTEGER
I : INTEGER
FANUC_OUT : ARRAY [5] OF INTEGER
FANUC_IN : ARRAY [5] OF INTEGER

    BEGIN
        iSet=0 ;
        FOR I=1 TO 3 DO
                   IF NOT (FANUC_OUT.bHCodeREQ[I]) THEN
                iSet=I;
              ENDIF
        ENDFOR
        IF (iSet=0) THEN
            --WRITE TPPROMPT(’FEHLERMELDUNG AND BEWEGUNGSSTOP OR WARTEN BIS EIN H-Code FREI IST’,CR)
        else
            FANUC_OUT.iHCode[iSet]=iHCode;
            FANUC_OUT.rHCode[iSet]=rHCodeVal;
            FANUC_OUT.bHCodeREQ[iSet]=TRUE;
        ENDIF
        IF NOT (bQuit) THEN
            --BEWEGUNGSSTOP / PRGSTOP;
            WHILE NOT(FANUC_IN=bHCodeACQ[iSet])  DO
                --WARTE EINEN ZYKLUS;
            ENDWHILE
            FANUC_OUT.bHCodeReq[iSet] = FALSE;
        ENDIF
        RETURN
    END SetHCode
ROUTINE QuitHCodes() 
--am Ende oder Anfang des ZYKLUS
    BEGIN 
        -- Quittiere alle H-Code
            FOR I:=1 TO 3
                IF FANUC_IN.bHCodeACQ[I] THEN
                    FANUC_OUT.bHCodeREQ[I]:= FALSE;
                ENDIF
            ENDFOR
            RETURN
    END QuitHCodes
ROUTINE GetHCode() 
-- am Anfang oder Ende des ZYKLUS
    BEGIN
        -- Suche "gesetzen H-Code"
            iSet:=0;
            FOR I:=1 TO 3
                IF SPS_IN.bHCodeREQ[I] THEN
                    actHCode := SPS_IN.iHCode[I]
                    actHCodeVal := SPS_IN.rHCode[I]
                    ExecuteHCode(actHCode, actHCodeVal);
                    SPS_OUT.bHCodeACQ[I]:=TRUE;
                ENDIF
            ENDFOR
            QuitHCodes();
            RETURN
    END GetHCode
ROUTINE QuitHCodes()
    BEGIN
        -- Rücksetzen des Acquire-Bits
            FOR I:=1 TO 3 
                IF  NOT(SPS_IN.bHCodeREQ[I]) THEN    
                    SPS_OUT.bHCodeACQ[I]:=FALSE;
                ENDIF
            ENDFOR
            RETURN
    END QuitHCodes    
END WRITEHM
------------------------------------------------------------------------------------------------------------------------
------------------------------------------------------------------------------------------------------------------------
--SECTION 4: MAIN PROGRAM
------------------------------------------------------------------------------------------------------------------------
------------------------------------------------------------------------------------------------------------------------
BEGIN
WRITEHM
END WRITEHM

Hello Oats,

I agree with you but i would have suggested the same, using a absolute value must solve your issue.

Hello Oats,

It will be more easy to look into problem if you share your pseudocode

Hello All,

I am going to use Laser Cladding apllication for my coming project.

Just trying to gather the data and inputs from you all expertise people around here.

Basically i am using Fanuc M20ID35-30P-A-CENR, Controller g R-30iB Plus Type A, Fieldbus ProfiNET with FANUC/MOLEX card (yet to finallise), DCS, ProfiNET Safety and iRProgrammer.

What all the things must be taken into account before hand for this special application

I also have developed pseudocode for my understanding.

Any reference backup would also help me to understand the concepts.

Thanks and Regards,

RK

Hello,

currenly I am working on Tucker device (stud weld) and willing to pass on all the errors from tucker device to the plc.

thank you in advance

Thank you dewitm

I have checked these codes and its working perfect.

Can i ask you one more thing, is it possible to seperate robot error and slave devices error?

hello dewitm,

I only need to send alarm code and not the complete string. and you said it is possible sending only code, how do we do that

Isn't any other option for sending alarm

I am not sure about this but is it possible to receive alarm code from tucker system in one byte and just send it to plc. and later plc will display those alarm code using data block.

Hello All,

I am willing to send active alarms in robot to the PLC over Profi-bus protocol. ( using R-30ic controller)

Active alarms like Tucker faults or welding faults in robot pendent wanted to show on HMI. Adding to this, tucker device is having more than 750 alarms.

Your help is highly appreciated!

Thank you

Thank you for your valuable reply.

infact i was looking for some command, but i dont find anything. Now i'll go with flags and jump labels.

Greetings from the day !

i am continuously monitoring water supply to the weld gun using BGLogic TP program.
But wanted to stop BGLogic in a Tip/Cap change (using automatic cap changer) program. because when i stop water flow for tip/cap change, then program gets paused and fault (user alarm) occurs due to BG TP program.

is there any command to start and stop BGLogic perticular program?

yes exactly

Agreed with Panic mode

issue is with cable connections from X11

you just need to check with 3-4 and 21-22.

Hello Empireryan,

KUKA provides tech-pack for auto backup or else Its possible with ethrnet connection for that you need to make a network connectivity with line-PC. if you have then just follow the below settings.

please go through the following settings

c_KRC_UTIL_NETWORKCONNECTIVITY

NETWORKCONNECTIVITY.ini
Type=1
LokalPfad=
disableNetwork=false
Networkadapter=Intel(R)

[UserData1]
Kennwort=operator
Domaine=operator
Benutzer=LinePCSupervisor ()
Pfad=x: \\172.27.45.240 (follow with robot id)

Hope this is helpful to your requirements.

please check whether you selecting the file or opening it.

you need to "open" the config.dat, and after making changes just submit pressing with "yes".

Thanks for the details

Can someone provide me the robot backup with background tip dress program.

Thanks in advance.

For KUKA Robot : How do we call Tip Dress (Pedweld Robot) program in background while its doing the other task too (multiple program running).

E.x. Robot is picking the panel and doing tip dress

Hello All,

i am in need of Robotic Sealer system power point presentation document for reference.

Thanks in advance

Is there any possibility to convert kuka program to kawasaki program??

E.g. suppose we are replacing kuka robot to kawasaki robot ....

thanks