Posts by MIRobotGuy

you can wait for the signal to be on, then wait for it to be off for a timeout value. If the timeout value is exceeded it could be considered as a good signal. If not, you might consider the signal a ghost signal.

Hello,

I am trying to write a program to get the name of the last robtarget or jointtarget that the robot was commanded to move to.

I was wondering if GetSysData could be used for this purpose? or if there is another way?

Thank You,

MiRobotGuy

Hello Lemster68,

I am testing this as the foreground program, but eventually it will be ran in the background. I am actually I am not testing this on a real robot, but simulating it in RobotStudio, could this be the issue?

Right now, im just trying to capture the error and store it in a number for testing.

Thanks,

Hello,

I am trying to create a routine that will act as an intteruppt to send the error code to the plc when any fault occures on the robot.

Using this forum, I have created this logic, but this is not working. Does anyone have any corrections, or another way to do this?

Thank you,

MiRobotGuy

PROC main()

!setup for error trapping

CONNECT err_interrupt WITH trap_err;

IError COMMON_ERR,TYPE_ERR,err_interrupt;

!

BeginLbl:

!

nCycleCount:=nCycleCount+1;

!

rDoSomething;

!

WaitTime 1.0;

IF bZ_Reloop=TRUE THEN

GOTO BeginLbl;

ENDIF

IDelete err_interrupt;

ENDPROC

TRAP trap_err

!Trap to get fault data + fault history

GetTrapData err_data;

ReadErrData err_data,err_domain,err_number,err_type;

!send error code

SetGO GO_RbtErrCode,err_number;

ENDTRAP

Thanks!

Hello Lemester68,

Do you have an example of a "MyMove" routine?

Thank You,

MiRobotGuy

Hello,

I am working on a rapid monitoring module and I am trying to determine which robtarget (or motion instruction) was last commanded by the robot. Is there some data in the robot to get this information directly? or is there an instruction such as "GetDataVal" with a switch that can pull this information?

Many Thanks,

MiRobotGuy

Your Index finger has an X in it.

As in indeX finger.

Hello,

Does anybody know where to find how much processing memory it takes to run a background task? and/or what is the limit for running background or foreground processes? Kinda like the limit on DCS boxes?

I am working on a fault data logging karel utility to load into an existing robot. I want to make sure there is very little impact to the existing process.

Thanks,

Hello,

I am working on a Fanuc robot that is using EthernetIO and socket messaging.

I saw the system variable $HOSTC_CFG[1].$USE_VIS_PRT, and I was wondering if anyone knew if I could use this setting to be able to send TCP/IP messages through the ethernet port for the IR vision system?

My target robot does not use IR Vision, but still has the ethernet port.

Thanks,

MiRobotGuy

This will work. I have used this in the past.

PROGRAM TPP_ARG
%COMMENT = 'TPP Arg to Karel'

VAR
  arg : INTEGER

  -- Dummy Variables for Karel Built-Ins
  Dummy_Int : INTEGER
  Dummy_Rel : REAL
  Dummy_Str : STRING[10]
  STATUS : INTEGER

--------------------------------------------------------------------------
---                          Main Program                              ---
--------------------------------------------------------------------------
BEGIN
-- Use the Get-Parameter Built-In to read the TPP Arguement
--          |-- Parameter Number (Arguement Number)
--          |  |-- Data Type (1-INTEGER, 2-REAL, 3-STRING)
--          |  |   |-- value of the parameter if the data_type is INTEGER
--          |  |   |       |-- value of the parameter if the data_type is REAL
--          |  |   |       |          |-- value of the parameter if the data_type is STRING
--          V  V   V       V          V        V-- return status
GET_TPE_PRM(1, 1, arg, Dummy_Rel, Dummy_Str, STATUS)

-- Display Arguement Value on the Teach Pendant
WRITE('value of arguement:', arg, CR)

--------------------------------------------------------------------------
END TPP_ARG

I don't know if there is a variable to adjust this, but I would compare the termination types in the motion instructions.

If the motion instruction has a CNT it will read-ahead.

There is a standard macro called GET_HOME. This will copy the data from the first reference position, to the first position register. When you re-teach the new home position, also re-teach the reference position.

To answer your question, YES. You can modify the .ls file of the program offline. However, to load the code back into the robot, you need 1 of 2 things.

1. If your robot has the ASCII upload option, you can load the .ls file directly to your robot.

2. If your robot does not have the ASCII upload option, you must compile your code and load the .tp file to the robot.

I believe there is an option to setup 2 Digital IO bits on the robot so that the PLC or HMI can controll the override of the robot.

Menu -> Setup -> Override Select.

Just a thought,

Thank you for the response PDL, but there is no heartbeat signal configured on this system...

Hello,

Does anyone know if there is a system variable or an event that happens when the robot controller is fully booted up. I'm trying to delay the execution of a background task that is triggered on power up, but I need the logic to wait until the controller has completely finished booting up.

Thanks,

Interesting...

I'm willing to bet this was a tool that found the .kl file on a computer, rather than a tool that un-compiled a karel program.

Quote from Lemster68

So if you were to drive to the origin, with a tool, read the coords in user, if it is 0,0,0, then it was very likely the one used to teach the uframe.

This is the way I have always done it.

MiRobotGuy

Hello,

I am trying to figure out if both Socket Messaging and Ethernet IP IO can be used on the same port simultaneously?

Does any body have any experience with this?

Thanks,
MiRobotGuy