You'll need to use Karel for this. There are two specific built in procedures, CHECK_EPOS, where you have to give it the position, the uframe, the utool, and the group number. There is also the IN_RANGE built in which uses the current uframe, utool, and group.
Posts by pdl
-
-
-
I'm wondering what is a "reset on my pc"?
RoboGuide has a very good/finiky license manager. Even swapping out hardware like a video card or adding an extra hard drive will deactivate your license.
A full windows reinstall is the only way to get a clean install of RoboGuide to work with a trial license.
-
What do you mean by "trying to open my program"?
Are you trying to create a new cell by restoring from backdate.dt?
-
What is the version of the robot that you are trying to recreate?
I always thought that the FRVC version had to match the robot software version, which would mean that you would only be able to restore a version 7.3 robot. I may be wrong on this, if I am, I would love to know.
All I know is that I have a universal subscription that covers all versions of RoboGuide. Every time I update RoboGuide, I always update any updated FRVC version as well. I have every FRVC back to 5.3, so I've never seen this error or thought that FRVC versions may be different from the actual controller versions.
-
How many motion groups do you have?
If this is a multi group robot, if so what is the group mask on your program? (Go to the select screen, highlight your program, press next, then F2 for "detail"
What software version? I'm guessing this is version 7 / R30iA because of the previous and next buttons on your teach pendant.
What is the value of system variable $PR_CARTREP?
Please post position details for P[51] and PR[51]
-
If you want to run it in parallel, use the RUN command. The program does not have to be a Karel program though and I would stay away from Karel unless you are trying to do something that cannot be done with TPP.
-
The maximum speed of each joint will be specific to each type of mechanical unit
-
$SCR.$RUNOVLIM
-
The EE (End Effector) connector is on the connector mounting plate next to J3. There are some available configurations that do not have an EE port, but I've never seen them personally.
What do you have on the connector mounting plate?
-
Looks like you just need to add and ENDIF
-
-
Some more information on this robot would really help. Specifically what software version was it running?
Also, did you pull the memory from the main board? If you did, it will be wiped without reloading software.
Do you have backups?
-
Do you have any backups or the original system software?
-
-
Why are you using so many position registers? You could easily do this with only one:
Code
Display MoreLBL[500] PR[22]=LPOS IF DI[101:X_Left]=ON, THEN PR[22,1]=PR[22,1]+R[20] END IF IF DI[102: X_Right]=ON, THEN PR[22,1]=PR[22,1]-R[20] END IF J PR[22] 100% CNT JMP LBL 500
Your original code is missing a LBL[602]. Jump labels used to be an almost necessary evil before Fanuc finally came out with IF/THEN statements. If your controller supports them I would highly recommend using them. If your controller doesn't support IF/THEN statements, I would use the IF (...) instruction:
CodeLBL[500] PR[22]=LPOS IF (DI[101]),PR[22,1]=(PR[22,1]+R[20]) IF (DI[102]),PR[22,1]=(PR[22,1]-R[20]) J PR[22] 100% CNT JMP LBL 500
Also, if you want the robot to actually move the actual distance in register 20, then your move should have a CNT 0 or FINE termination.
-
Usually it would be S3: as the first two servers are configured by default for FTP. In the server setup you can define the port. I believe it defaults to port 9000, but this is just a SWAG.
-
RoboGuide should be good back to version 5.3, which would be an RJ3. KFLOPPY should also work if you can find an old enough version.
-
How is the repeatability of the robot? You should be able to measure with a test or dial indicator.
Do you have your payload properly set? How many hours are on the mechanical unit? It may look clean because it was in a clean environment and well cared for, but that doesn't mean it didn't have a tedious past life.
If the repeatability is spot on then you may just be running into the accuracy limits inherent to an articulated pedestal robot.
-
What's the group mask of the subprogram?
How many motion groups does this controller have?