Posts by jptp

Here is some simple program templates.

1: ! =============================== ;

1: LBL[1] ;

2: ;

3: R[3:Counter]=R[3:Counter]+1 ;

4: ;

5: IF R[3:Counter]=1, JMP LBL[10] ;

6: IF R[3:Counter]=2, JMP LBL[20] ;

7: IF R[3:Counter]=3, JMP LBL[30] ;

8: JMP LBL[999] ;

9: ;

10: LBL[10] ;

11: PR[1,1:TEST]=0 ;

12: JMP LBL[100] ;

13: ;

14: LBL[20] ;

15: PR[1,1:TEST]=50 ;

16: JMP LBL[100] ;

17: ;

18: LBL[30] ;

19: PR[1,1:TEST]=100 ;

20: JMP LBL[100] ;

21: ;

22: LBL[100] ;

23: ;

24:L P[1] 100mm/sec FINE Offset,PR[1:TEST] ;

25: ;

26: IF R[3:Counter]<3, JMP LBL[1] ;

27: ;

28: LBL[999] ;

29: END ;

1: ! =============================== ;

1: PR[1,1]=(-50) ;

2: ;

3: LBL[1] ;

4: ;

5: R[3:Counter]=R[3:Counter]+1 ;

6: ;

7: PR[1,1]=PR[1,1]+50 ;

8: ;

9:L P[1] 100mm/sec FINE Offset,PR[1] ;

10: ;

11: IF R[3:Counter]<3, JMP LBL[1] ;

12: ;

13: END ;

1: ! =============================== ;

1: R[3:Counter]=(-1) ;

2: ;

3: LBL[1] ;

4: ;

5: R[3:Counter]=R[3:Counter]+1 ;

6: ;

7: PR[1,1]=R[3:Counter]*50 ;

8: ;

9:L P[1] 100mm/sec FINE Offset,PR[1] ;

10: ;

11: IF R[3:Counter]<2, JMP LBL[1] ;

12: ;

13: END ;

This has happened a few times. Restart is the only one that helped then.

The reason why FTP crashes I have not found. In our system, the "high-level control" is talking a quite bit with the robot over FTP.

Here's one way to handle speed control from system interface. Between UI and robo there is also a PLC where to get the GI

3: ! Read SpeedRequest from input, ;

4: ! Write ActualSpeed to output ;

5: ! =============================== ;

6: ! Run this program in robot ;

7: ! BG Logic ;

8: ! =============================== ;

9: ! Robot speed = Override % ;

10: ;

11: ! Set flag for monitoring ;

12: DO[234: BG 2 OK]=ON ;

13: ;

14: !-------------------------------- ;

15: LBL[10: Read] ;

16: !-------------------------------- ;

17: R[71: Speed request]=GI[7: SpeedOverride] ;

18: IF (UO[8:TP enabled] OR DI[262: UpdateSpeedRequest]=OFF),JMP LBL[20] ;

19: $MCR.$GENOVERRIDE=R[71: Speed request] ;

20: ;

21: !-------------------------------- ;

22: LBL[20: Write] ;

23: !-------------------------------- ;

24: R[72: Active speed]=$MCR.$GENOVERRIDE ;

25: GO[4: ActualSpeed]=R[72: Active speed] ;

26: ;

Use this.

1: $SSR.$STEPSTMTTYP=1 ;

Nation, Is there any hint on how to get the first picture faster.

Hi

I got problem. I got case where I used same vision program two times.

-1 picture time to find is 1200ms
-2 picture time to find is 300ms

33: J P[1: Find vision] 100% FINE ;
34: VISION RUN_FIND 'ABC123' ;
35: VISION GET_OFFSET 'ABC123' VR[1] JMP LBL[900] ;
36: PR[110]=VR[1].OFFSET ;
37: ;
38: ;
68:J P[1: Find vision] 100% FINE VOFFSET,VR[1] ;
69: VISION RUN_FIND 'ABC123' ;
70: VISION GET_OFFSET 'ABC123' VR[1] JMP LBL[900] ;
71: PR[111]=VR[1].OFFSET ;
72: ;
73: ;
74: LBL[900: Vision error] ;

Can someone tell me why first picture take so long time?

If you really want write all programs in ls mode You need this option for robot. 1A05B-2500-R507 ! Ascii Upload

With this option, you can write all the programs in ASCII format to the robot. The robot translate programs to the binary format. I do not know if this is sufficient answer.
Fanuc is not such as, for example, ABB where everything is ASCII mode and everything can then easily be changed even with ultra edit or in any other text editor.
And off coursers you can get ABB robot studio online for free.

Why use ASCII macro, when you can save programs directly from the panel to .LS format.

You don´t see program but the variables you see.
Select your Karel program->enter-> Press data ->F1->select Karel vars. In variables, you'll see if program works.