Posts by rob76

You are right.

But TPP and Karel are using their own motin planner. Karel can not manipulate the TPP Motion planner and vice versa.

So it makes no sense that weaving is some fancy Karel routine.

Also, weaving works with motion options like coord and multi Group Motion.

All this is impossible to do in Karel.

Btw, Karel Motion planner development was stopped in 1991 with the RJ Controller Generation.
So for me it makes no sense to still use Karel Motion after 26 years of no developing.
The documentation for it was already deleted years ago in the Karel Reference Manuals.

Fanuc already deleted parts of Karel Motion.
For example relase notes of V7.30 (R30iA)

Quote

TPP Motion has many features that have been added and enhanced on the R-30iA for TPP motion. These
enhancements and features are not available with KAREL Motion. FANUC strongly encourages existing
KAREL Motion users to switch to TPP Motion. KAREL PATH motion is no longer supported. That is, the
MOVE ALONG instruction is no longer supported. An error will occur if an attempt is made to move along a
KAREL path. All KAREL MOVE instructions except MOVE ALONG are still supported in V7.30P (with the
same functionalities and limitations as before), however additional KAREL Motion instructions may be phased
out in future releases.

Display More

It is only a matter of time when Karel Motion will die completly.

I took a look inside the Systemsoftware, Weaving Option (J504) installs more than 40 different systemfiles.

There is nothing like "weaving.pc" inside.

The Software Option "J504 Weaving" is not just a simple Karel prg.

So...
1. Nowhere, does not exist.
2. No.

BTW, Fanuc stopped the development of Karel Motion in the 90´s.

Why do you want to use karel for that?

Try to use the "package cell" Option in the File Menu.

Never had an issue with that. It will generate a compressed file of your workcell.

Set $MNDSP_POSCF=1

Then you should get back the @ Symbol.

Never found the single frame points inside the systemvariables.

But you can use Karel for that.

In Karel there is a "Frame" build in function. This will calculate a Frame with 3 or 4 Points.

You can use this to create your userframes without the Setup menu from the Robot.

FRAME Built-In Function
Purpose: Returns a frame with a POSITION data type representing the transformation to the
coordinate frame specified by three (or four) POSITION arguments.
Syntax : FRAME(pos1, pos2, pos3 <,pos4>)
Function Return Type :Position
Input/Output Parameters :
[in]pos1 :POSITION
[in]pos2 :POSITION
[in]pos3 :POSITION
[in]pos4 :POSITION
%ENVIRONMENT Group :SYSTEM
Details:
• The returned value is computed as follows:
— pos1 is assumed to be the origin unless a pos4 argument is supplied. See Figure A–2 .
— Ifpos4 is supplied, the origin is shifted to pos4 , and the new coordinate frame retains the
same orientation in space as the first coordinate frame. See Figure A–2 .
— The x-axis is parallel to a line from pos1 to pos2 .
— The xy-plane is defined to be that plane containing pos1 , pos2 , and pos3 , with pos3 in the
positive half of the plane.
— The y-axis is perpendicular to the x-axis and in the xy-plane.
— The z-axis is through pos1 and perpendicular to the xy-plane. The positive direction is
determined by the right hand rule.
— The configuration of the result is set to that of pos1 , or pos4 if it is supplied.
• pos1 and pos2 arguments must be at least 10 millimeters apart and pos3 must be at least 10
millimeters away from the line connecting pos1 and pos2 .

Quote from blatter_string

This is what you've been told, but is actually not true. Similar to decompilers for other programming languages, there are decompilers for karel.

Not something Fanuc wants you to know, but they exist.

Hi blatter_string,

if you think there are decompilers for Karel then name only one of them...

For me this sounds like speculation.

I have some friends at FANUC Europe and even they have no possibility to decompile Karel.

Maybe the OS/Karel developers at FANUC have some tools but if so ....they will never ever leave their lab.

You can also build a Karel form or a HTML page to get user Input.

Nope

I´am pretty sure $SCR_GRP[1].$M_POS_ENB must be set to TRUE to get the Position variables working.

I don´t understand your Problem

Just use 2 diffrent payloads, you can activate them anytime in a TP with

PAYLOAD[x]

No need to manipulate systemvariables for that.

Look on your RoboGuide Installation medium.

There should be a Folder "frvrc770" run the Setup in this Folder and you got it.

If there is no Folder with "770" then your RoboGuide Version is too old.

On the Robot Server go to "Error/Diagnostic files (text) available on MD:" -> "DCSDIFF.DG"