I think you have added external axis as integrated axis. That's why the TCP moves when you jog the robot.
Posts by vipinpunneri


Have you done this inside Karel?
Not inside the KAREL. see the example below.
SETVAR $THRSDITABLE[1].$THR_ENB 1
SETVAR $THRSDITABLE[1].$DI_NO 100
SETVAR $THRSDITABLE[1].$DO_NO 101Copy this and paste it in notepad and save as by .CM extension to USB or Memory card then insert to robot
finally keep your cursor on the .CM file and press enter to execute the file.
here DI 100 is interconnected to DO 101

if you want assign kinematics then machine link should be used. part is the component for having pick and drop simulations

i have used this variable and created .CM file by using SETVAR command. It will work for you i guess

interconnect can be set using system variable $THRSDITABLE.

Does anyone knows to execute a Karel program in BG logic screen

have you checked the hardware connections and IP address settings.

Hi everyone.
I'm trying to offset a position by using Offset PR instruction. My X,Y,Z values are moving perfectly with respect to the USER frame selected. But when I'm trying to offset WPR using same method by robot is not behaving properly. Anyone having idea regarding this

Hi all,
I'm using fanuc arc mate robot with 9.4 software version. Im getting 3 errors while welding. Arc019 followed by arc250,arc251 at the weld end point.
Welding is happening but at the end robot stops with these erros. I'm using job mode
I'm using fronius welding controller and EthernetIP communication

Hi
I am working with kawasaki BX200L and E controller. We are making trail runs in automatic mode, but i found that some of the robots is moving in high speed even the repeat override is 10% only. It is happening only for linear programmed lines and not for joint lines. Does anyone know to solve this?

Hi All,
Does anyone having knowledge in GM standard INOS camera pick drop applications. ?? i need to know the camera working and how offset values are transferred to robot.

i have already increased to 15 but still no use

i'm trying to do multitasking using RUN command, i have 2 groups and i have created 2 different programs with different groups, im using RUN command inside program 1 for program 2
and it's working perfectly. and im using PNS0001 for selecting program 1, now i need to select program 3 while program 2 in execution and program 1 is aborted using PNS0002, but im getting error for max number of task reached.

You can remove or modify your PMC program first to avoid UOP signals from PMC, then you can map rack 82 to the UO/UI

just change the UOP rack,slot,start for both UI/UO.

I have checked this manual as well, but it is clearly written if we are changing the measurement point then only we have problem


Check this system variable

Hi All,
we have setup servo gun carried robot and pedastal gun operation robots in our line, now we have done all the teaching also.
Now we noticed that once i do the tip change, tip wear values are showing greater than 1 mm or 2mm without even i'm dressing those.
Can i enter those values to the tip base data to take current tip wear data to 0 mm? does it change the teaching points?

Hello All,
i have recently created a palletizing program with the help for PR and Registers. i have attached the program copy for your reference hope you may need this.
Application program.
1: CALL PALLET_START ;
2:J PR[12:PICK] 10% FINE Offset,PR[13:PICK Z OFFSET] ;
3:J PR[12:PICK] 10% FINE ;
4: CALL GRIP ;
5:J PR[12:PICK] 10% FINE Offset,PR[13:PICK Z OFFSET] ;
6: CALL PALLET_END ;
Pallet start program
1: UFRAME_NUM=0 ;
2: UTOOL_NUM=1 ;
3: PR[5:PR[2]PR[1]]=PR[2:LastROW 1Col 1LY]PR[1:1ROW 1COL 1LAY] ;
4: PR[6:PR[3]PR[1]]=PR[3:1ROW LasCol 1LY]PR[1:1ROW 1COL 1LAY] ;
5: PR[7:PR[4]PR[1]]=PR[4:1Row 1Col TopLY]PR[1:1ROW 1COL 1LAY] ;
6: ;
7: R[20:21,X]=(PR[5,1:PR[2]PR[1]]) ;
8: R[21:21,Y]=(PR[5,2:PR[2]PR[1]]) ;
9: R[22:31,X]=(PR[6,1:PR[3]PR[1]]) ;
10: R[23:31,Y]=(PR[6,2:PR[3]PR[1]]) ;
11: R[24:Z DIFF]=PR[7,3:PR[4]PR[1]] ;
12: ;
13: IF (R[1:ROWS]=1 AND R[2:COLUMS]=1 AND R[3:LAYER]=1),JMP LBL[100] ;
14: ;
15: IF R[1:ROWS]>1,JMP LBL[25] ;
16: IF (R[1:ROWS]=1),R[25:X PITCH IN ROW]=(R[20:21,X]) ;
17: IF (R[1:ROWS]=1),R[26:Y PITCH IN ROW]=(R[21:21,Y]) ;
18: ;
19: JMP LBL[26] ;
20: LBL[25] ;
21: R[25:X PITCH IN ROW]=((R[20:21,X])/(R[1:ROWS]1)) ;
22: R[26:Y PITCH IN ROW]=((R[21:21,Y])/(R[1:ROWS]1)) ;
23: ;
24: LBL[26] ;
25: IF R[2:COLUMS]>1,JMP LBL[27] ;
26: IF (R[2:COLUMS]=1),R[27:X PITCH IN COL]=(R[22:31,X]) ;
27: IF (R[1:ROWS]=1),R[28:Y PITCH IN COL]=(R[23:31,Y]) ;
28: ;
29: JMP LBL[28] ;
30: LBL[27] ;
31: ;
32: ;
33: R[27:X PITCH IN COL]=((R[22:31,X])/(R[2:COLUMS]1)) ;
34: R[28:Y PITCH IN COL]=((R[23:31,Y])/(R[2:COLUMS]1)) ;
35: ;
36: ;
37: LBL[28] ;
38: IF R[3:LAYER]>1,JMP LBL[30] ;
39: ;
40: IF (R[3:LAYER]=1),R[29:Z PITCH]=(0) ;
41: ;
42: JMP LBL[29] ;
43: LBL[30] ;
44: R[29:Z PITCH]=((R[24:Z DIFF])/(R[3:LAYER]1)) ;
45: LBL[29] ;
46: ;
47: LBL[100] ;
48: PR[12:PICK]=PR[1:1ROW 1COL 1LAY] ;
49: IF (R[1:ROWS]=1 AND R[2:COLUMS]=1 AND R[3:LAYER]=1),JMP LBL[3] ;
50: PR[8,1:ROW PITCH]=R[25:X PITCH IN ROW] ;
51: PR[8,2:ROW PITCH]=R[26:Y PITCH IN ROW] ;
52: PR[9,1:COL PITCH]=R[27:X PITCH IN COL] ;
53: PR[9,2:COL PITCH]=R[28:Y PITCH IN COL] ;
54: PR[10,3:LAYER PITCH]=R[29:Z PITCH] ;
55: ;
56: ;
57: PR[8,1:ROW PITCH]=((PR[8,1:ROW PITCH])*(R[10:CURR ROW]1)) ;
58: PR[8,2:ROW PITCH]=((PR[8,2:ROW PITCH])*(R[10:CURR ROW]1)) ;
59: PR[9,1:COL PITCH]=((PR[9,1:COL PITCH])*(R[11:CURR COL]1)) ;
60: PR[9,2:COL PITCH]=((PR[9,2:COL PITCH])*(R[11:CURR COL]1)) ;
61: PR[10,3:LAYER PITCH]=((PR[10,3:LAYER PITCH])*(R[12:CURR LAY]1)) ;
62: ;
63: PR[11:TOTAL OFFSET]=PR[8:ROW PITCH]+PR[9:COL PITCH]+PR[10:LAYER PITCH] ;
64: PR[12:PICK]=PR[12:PICK]+PR[11:TOTAL OFFSET] ;
pallet end program
1: ;
2: R[10:CURR ROW]=R[10:CURR ROW]+1 ;
3: IF R[10:CURR ROW]>R[1:ROWS],JMP LBL[1] ;
4: JMP LBL[110] ;
5: LBL[1] ;
6: R[10:CURR ROW]=1 ;
7: R[11:CURR COL]=R[11:CURR COL]+1 ;
8: IF R[11:CURR COL]>R[2:COLUMS],JMP LBL[101] ;
9: JMP LBL[110] ;
10: LBL[101] ;
11: R[10:CURR ROW]=1 ;
12: R[11:CURR COL]=1 ;
13: IF (R[99:0=PAL 1=DEPAL]=0),R[12:CURR LAY]=(R[12:CURR LAY]+1) ;
14: IF (R[99:0=PAL 1=DEPAL]=1),R[12:CURR LAY]=(R[12:CURR LAY]1) ;
15: IF (R[99:0=PAL 1=DEPAL]=0),JMP LBL[80] ;
16: IF (R[99:0=PAL 1=DEPAL]=1),JMP LBL[81] ;
17: ;
18: LBL[80] ;
19: IF R[12:CURR LAY]>R[3:LAYER],JMP LBL[99] ;
20: JMP LBL[110] ;
21: LBL[81] ;
22: IF R[12:CURR LAY]<=0,JMP LBL[99] ;
23: ;
24: ;
25: ;
26: JMP LBL[110] ;
27: LBL[99] ;
28: R[10:CURR ROW]=1 ;
29: R[11:CURR COL]=1 ;
30: IF (R[99:0=PAL 1=DEPAL]=0),R[12:CURR LAY]=(1) ;
31: IF (R[99:0=PAL 1=DEPAL]=1),R[12:CURR LAY]=(R[3:LAYER]) ;
32: LBL[110] ;
Pallet VAR program
1: LBL[10] ;
2: R[1:ROWS]=3 ;
3: R[2:COLUMS]=4 ;
4: R[3:LAYER]=2 ;
5: R[99:0=PAL 1=DEPAL]=1 ;
6: IF R[1:ROWS]<1,JMP LBL[1] ;
7: IF R[2:COLUMS]<1,JMP LBL[2] ;
8: IF R[3:LAYER]<1,JMP LBL[3] ;
9: ;
10: JMP LBL[99] ;
11: LBL[1] ;
12: UALM[1] ;
13: JMP LBL[10] ;
14: LBL[2] ;
15: UALM[2] ;
16: JMP LBL[10] ;
17: LBL[3] ;
18: UALM[3] ;
19: JMP LBL[10] ;
20: LBL[99] ;
21: R[10:CURR ROW]=1 ;
22: R[11:CURR COL]=1 ;
23: IF (R[99:0=PAL 1=DEPAL]=0),R[12:CURR LAY]=(1) ;
24: IF (R[99:0=PAL 1=DEPAL]=1),R[12:CURR LAY]=(R[3:LAYER]) ;
Pallet Init program
1: R[1:ROWS]=0 ;
2: R[2:COLUMS]=0 ;
3: R[3:LAYER]=0 ;
4: R[10:CURR ROW]=0 ;
5: R[11:CURR COL]=0 ;
6: R[12:CURR LAY]=0 ;
7: R[20:21,X]=0 ;
8: R[21:21,Y]=0 ;
9: R[22:31,X]=0 ;
10: R[23:31,Y]=0 ;
11: R[24:Z DIFF]=0 ;
12: R[25:X PITCH IN ROW]=0 ;
13: R[26:Y PITCH IN ROW]=0 ;
14: R[27:X PITCH IN COL]=0 ;
15: R[28:Y PITCH IN COL]=0 ;
16: R[29:Z PITCH]=0 ;
17: PR[99,1]=0 ;
18: PR[99,2]=0 ;
19: PR[99,3]=0 ;
20: PR[99,4]=0 ;
21: PR[99,5]=0 ;
22: PR[99,6]=0 ;
23: PR[5:PR[2]PR[1]]=PR[99] ;
24: PR[6:PR[3]PR[1]]=PR[99] ;
25: PR[7:PR[4]PR[1]]=PR[99] ;
26: PR[8:ROW PITCH]=PR[99] ;
27: PR[9:COL PITCH]=PR[99] ;
28: PR[10:LAYER PITCH]=PR[99] ;
29: PR[11:TOTAL OFFSET]=PR[99] ;
30: PR[12:PICK]=PR[99] ;
31: PR[13:PICK Z OFFSET]=PR[99] ;
Vipin