Posts by skalactik

If the time delay method is fine for the application then go for it as it surely requires less work.

However i'm only trying to find an alternative solution, purely for the sake of it.

So to keep on building on top of HawkME remarks :

Quote

Tricking it is not necessary. Just disable the brake timer and it will never go idle. That wouldn't help with an actual servo off event.

I was starting with the assumption that the brakes were disabled.

Quote from HawkME

A servo off event happens when there is an estop, fence stop, collision, or program end, etc

Of course this will not prevent the servo from powering off in the event of an estop, errors and such, that is much certain since these mechanism exist precisely for that purpose. However my understanding of the application is only to prevent them from being off between motions.

Thus that is where having something to keep the robot busy comes in, no need to stop the program then. Just go back and forth between following the streamed path and the "do not let the robot stop" routine.

How about tricking the robot into never stop moving in the first place ? Doing very small motion back and forth would prevent the robot from moving into a "servo off event" while looking like the robot is not actually moving ?

Can you use a placeholder in stead of the String register ? For example an unused System variable ?

So it would look something like this :

$System_Variable = SR[5]

SR[1] = $System_variable

Hello people,

I've been trying to connect a KOWA SC130EF2 camera to a R30iB Mate plus controller.

Everything seems to be plugged correctly, yet every time i try to get the video feed i get a "CVIS-722 - The camera specified cannot be found".

Since I'm not used to this camera and controller model, i might have forgotten something but i cannot seems to find what.

Can anyone help me with that please ?

Thank you

Drop me a PM or contact me at romain.ferrier@art-fi.eu

If i recall, Karel function for Socket messaging support specifiers for decimal and hexadecimal number.

Unless you are in control mode, then you "magically" have an option to be able to restart the controller from the TP with the R30iB Mate controller. This as bothered me in years, knowing that it is probably possible to restart the R0iB Mate controller from SW in every case ...

yes, this is correct.

Yes it is possible to do what you are looking for.
The best option to choose will come down to what you are more familiar with i guess.

As a rule FANUC advise against using movement commands directly from Karel if possible.

Thus you have two possibility :
1- Disregard FANUC concerns and use the command MOVE TO in Karel using a JOINTPOS type variable to directly express coordinate of each axis in joint
OR
2- Call a simple TPE program with one motion instruction ex. J PR[1] 100% FINE from Karel using CALL_PROG command, set PR[1] as joint representation and input joint coordinate of each axis from Karel using SET_JPOS_REG command before calling the program.

I forgot to mention it but if you need help on this, the Handling tool operator manual as a whole chapter on it.

For the XML file, you need to create one and import it from the Password menu. I attached one as an example (remove the .doc extension to use it).
You will need to find the sp_id and scrn_id of the menu you are looking for though.

Maybe use loops to read each character of the string until any ",' shows up then split the string.

The FILE_LIST routine is what you are looking for :

Quote

FILE_LIST Built-In Procedure
Purpose: Generates a list of files with the specified name and type on the specified device.
Syntax: FILE_LIST(file_spec, n_skip, format, ary_nam, n_files, status)
Input/Output Parameters :
[in] file_spec :STRING
[in] n_skip :INTEGER
[in] format :INTEGER
[out] ary_nam :ARRAY of STRING
[out] n_files :INTEGER
[out] status :INTEGER
%ENVIRONMENT Group :BYNAM
Details:
• file_spec specifies the device, name, and type of the list of files to be found. file_spec can be
specified using the wildcard (*) character.
• n_skip is used when more files exist than the declared length of ary_nam . Set n_skip to 0 the
first time you use FILE_LIST. If ary_nam is completely filled with variable names, copy the
array to another ARRAY of STRINGs and execute the FILE_LIST again with n_skip equal to
n_files . The second call to FILE_LIST will skip the files found in the first pass and only locate
the remaining files.
• format specifies the format of the file name and file type. The following values are valid
for format :
1 file_name only, no blanks 2 file_type only, no blanks3 file_name.file_type , no blanks4
filename.ext size date time The total length is 40 characters.
Thefile_name starts with character 1.
Thefile_type (extension) starts with character 10.
Thesize starts with character 21.
Thedate starts with character 26.
Thetime starts with character 36.
Date and time are only returned if the device supports time stamping; otherwise just the
filename.ext size is stored.
• ary_nam is an ARRAY of STRINGs to store the file names. If the string length of ary_nam is not
large enough to store the formatted information, an error will be returned.
• n_files is the number of files stored in ary_name .
• status explains the status of the attempted operation. If not equal to 0, then an error occurred.

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$MNUFRAME store the value of the User Frames. For example $MNUFRAME[1,1] store the value of UFRAME[1] (group 1), $MNUFRAME[1,2] = UF[2] and so on ...
$MNUFRAMENUM store the value of the selected user frame. For example $MNUFRAMENUM = 3 mean UF[3] is currently selected.

$MNUFRAME[1,$MNUFRAMENUM] will store the value of the currently selected UFRAME.

Why not check if any error affect the robot with a CONDITION ERROR[*] statement instead ?

Also you already have the answer : if the get_tsk_infos return an error (STATUS) then the task doesn't exist.

Yes, that is what i would do.
Though i would use the SPI from the light curtain as the stop signal and the CPC as the disabling input.

In that case, you need to go to MENU - STATUS - Version ID and go to the SOFTWARE tab.

I know some libraries exist for programming/using FANUC robot with labview and probably other languages.
However, all libraries evolve around the same principle :
A "client" interface is created in the programming language of choice in an host computer. A "server" interface (usually in KAREL) is executed on the robot controller.
Then both communicate using either Serial, TCP/IP or other data exchange protocols.

You can check the complete list under the properties of the robot controller.
Just right click on the controller in the cell browser and select "Properties".