Posts by dha

Did you set RI as Collision IO in robot's property window?

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Option J651 Smooth stop changes all stops to cat 1.

Quote from authoms

Hi dha

I use the example below :

DEFPROG *POSREG*

! max PR

SETVAR $MAXPREGNUM 299 ;

EXIT

After restart in "controlled start" to apply the change.

then in "Start Cold"

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I confirm this approach is working.

If you need to work with system variables again use

DEFPROG *SYSTEM*

You need to toggle DO[] which is linked to UI[8: Enable].

Instead of looking for variables, it is easier to link all UOP signals to Flags (if you don't use them for PLC communication) and read DO's in KAREL.

- For E-Stop set DO in System > Config

- For Fault read UO[6]

- For enabled UO[1] and UO[2]

- For robot motion you set DO in IO > Cell Outputs

For reading DO use GET_PORT_VAL (2, port_nr, STATUS).

You can do it from TP program or KAREL

$TAST_PARAM[x].$COMP_RATE_Z = 9999
$TAST_PARAM[x].$COMP_RATE_Y = 9999

I know that way. I was wondering if there is a way to do it using CM...

M-900iB/330L displays fine in V9 Rev.ZG

You can do what SkyeFire suggested, but use Browser favourite shortcut with address

/KAREL/KAREL Program Name?chVar1="Hello"&chVar2="World"

You can use

$SV_INFO[1].$AXIS_POS[7]
$SV_INFO[1].$AXIS_POS[8]

I need help setting %MAXREGNUM in [*NUMREG*] using CM.

I tried this:

SETVAR [*NUMREG*]$MAXREGNUM 200    -> No error, but also no change
SETVAR [NUMREG]$MAXREGNUM 200      -> No error, but also no change
KCL SET VAR [*NUMREG*]$MAXREGNUM = 200 -> "Undefined parse syntax error"
KCL SET VAR [NUMREG]$MAXREGNUM = 200   -> "Variable not defined"

$RPM_CFG.$N_BUFFERS = 16

Check all remedies from manual:

Check whether the duty and applied load exceed the rating. If so, reduce the duty or applied load.
Check whether the robot is pushed or pulled by an external force. If so, remove the external force to the robot or modify the taught point.
Check whether the power line of the robot connection cable or the cable in the mechanical unit are down.
Check whether the motor power cable/connector and brake cable/connector are connected correctly. Especially, check whether the power cable/connectors are not connected to other motors.
Check whether the robot setup (setting of 2BK or 6BK) is correct, if the used robot has 2BK option.
Measure the supplied voltage. Then, check whether the voltage is matched to the controller specification.
Check whether the motor brake is released properly when RESET is pressed or the robot moves. First of all, check whether the setting of brake number is correct when this alarm occurs on an auxiliary axis.
When this alarm occurs on the auxiliary axis whose brake is controlled by the auxiliary brake unit, check the fuse on the auxiliary brake unit.
If this alarm cannot be reset, refer to the Controller Maintenance Manual for more information. About auxiliary axis, refer to the Auxiliary Axis Option Maintenance Manual.

Once I did something like this.

I had one KAREL program which calculated positions for palatalizing.

User set registers depending on product type: size of pallet, size of products, how many products were stacked and and if they overlapped in height and distance to next product.

Each time you called KAREL program, it output next position.

Where do you need this?

I never had this request from anyone ...

Quote from mahboobelahi93

Hi all,

I have written a simple KAREL prog to convert xyzwpr data received through HTTP request like:

http://192.168.1.1/KAREL/Mov_HTTP?id=100&x=214.384&y=-282.970&z=170.502&w=179.937&p=.712&r=89.751

after compilation of the source file, I am getting the following error

And when I run p-code file I get TP warning can not lock motion group, how to resolve this error/issue

Here is the KAREL code:

Code

PROGRAM Mov_HTTP

%ENVIRONMENT  REGOPE

%ENVIRONMENT  STRNG
%COMMENT = 'GET POS_HTPP'
%NOLOCKGROUP
%NOABORT=ERROR+COMMAND
%NOPAUSE=ERROR+COMMAND+TPENABLE
%ALPHABETIZE
%INCLUDE KLEVKEYS
%INCLUDE KLEVKMSK
%INCLUDE KLEVCCDF
%INCLUDE KLIOUOP
%INCLUDE KLIOTYPS


VAR
    id,XX,YY,ZZ,WW,PP,RR: STRING[10]
    con: CONFIG
    reg_ID,x,y,z,w,p,r:  REAL
    temp_pos: XYZWPR
    fFileHandle : FILE
    chOutFile: STRING[20]
    ret_code,status,prog_index: INTEGER
----------------------------------------------------
-- BEGIN MyProgram                             
----------------------------------------------------
BEGIN
    -- clear the TPERROR screen
    --FORCE_SPMENU(TP_PANEL,SPI_TPUSER,1)
    WRITE(CHR(137),CHR(128))
    WRITE TPERROR(CHR(128))
    WRITE('Waiting for HTTP Req...',CR)
    IF UNINIT(chOutFile) THEN
        chOutFile='TD:RESPONSE.HTM'
        WRITE('[X] INSIDE',CR)
    ENDIF
    CNV_STR_REAL(id,reg_ID)
    CNV_STR_REAL(XX,x)
    CNV_STR_REAL(YY,y)
    CNV_STR_REAL(ZZ,z)
    CNV_STR_REAL(WW,w)
    CNV_STR_REAL(PP,p)
    CNV_STR_REAL(RR,r)
    WRITE(reg_ID,x,y,z,w,p,r,CR)
    temp_pos.x = x--CNV_STR_REAL(x,XX)
    temp_pos.y = y--CNV_STR_REAL(y,YY)
    temp_pos.z = z--CNV_STR_REAL(z,ZZ)
    temp_pos.w = w--CNV_STR_REAL(w,WW)
    temp_pos.p = p--CNV_STR_REAL(p,PP)
    temp_pos.r = r--CNV_STR_REAL(r,RR)
    --CNV_STR_CONF('n',con,status)
    --temp_pos = POS(XX,YY,ZZ,WW,PP,RR,con)
   WRITE('--->',temp_pos,CR)
    SET_POS_REG(TRUNC(reg_ID),temp_pos,status,1)
    CALL_PROG('HTTP_test', prog_index)
    WRITE('Openign Foile...',CR)
    OPEN FILE fFileHandle ('RW', chOutFile) 
    WRITE fFileHandle ('OK',CR)
    wait for DOUT[101]
    CLOSE FILE fFileHandle 
END Mov_HTTP

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You get this kind of error, if your KAREL program, which you are compiling, is still running or it is paused.

You can also try deleting Mov_HTTP.VR from MD.

I don't know how to do it, but you can send KCL commands via telnet. With this you can avoid karel...

You get error MEMO-088 Program does not exists.

I'm thinking that there is a problem with TRANSLATE function. In KAREL manual it is mentioned that Translator is an option.

And if you look at possible options for robot there is R567 Karel Trans/Comp which is grayed out and I can't enable it. Maybe TRANSLATOR is not used anymore ...

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Try TRANSLATE('RD:\qqq.kl', FALSE, STATUS)

Also check you return status.