Posts by PnsStarter

hi ath,

you can't run( ..but you can load from mc,ud1) prog from a device like MC oder UD1.

When you load from e.g MC, it's loaded into memory AND then it's (also) accessable at your MD-device. (as far as I know)

So in Karel you need at least two programs:

1. program that loads another one from a device

2. and your 'main' program

Hi Meccano,

Your robot needs a new configuration.

In Europe, Fanuc must create/install this.

The OS must be reinstalled with the corresponding configuration (*.dt-files).

Best regards

Hi RD24,

Registers are "dynamic" Types.

Convert type first.

you can "trunc" R[2] like this:

R[2] = R[11] / R[12]

R[2] = R[2] DIV 1

FOR R[1] = R[2] TO R[3]

<lines of program>

ENDFOR

Best regards

It has been a long time since I used 'check_epos'.

I just did a small test in RG.

And 'STATUS' of 'check_epos' is '0' even after a configuration change.

--> I can't recreate the problem unfortunately....

Hi mdk187,

sorry I don't know the variable.

But the implementation of "Zero % Override" is a bit hacky (like Fine and vFine):

You can only set 0% from the Teachpendant!!

You can't put 0 from a register or from plc!!

best regards

Hi ChrisFS,

I think the behavior, and the error messages are correct.

Quote

OPEN FILE LOG_FILE('AP', fn)fstatus = IO_STATUS(LOG_FILE)

fstatus is always zero whether USB plugged in or not

That the status is zero is ok, only when writing there is an error.

We want to append text to the file, in 'AP' mode it doesn't matter if the file exists or not.

And the second error is also correct.

as you have written: 2014 -->FILE-014 File not found

E.g. Windows would tell you in this case also "File not found"... and not "USB stick not inserted"

---

You can evaluate the error when you write to the file and then set a status variable that tells you or the program that no USB drive is present.

---

Alternatively you can use (from Karel manual)

DOSFILE_INF('UD1:', DF_MANUFNAME, value, status)

DF_MANUFNAME' vendor name

value -->manufacturer name but not of interest here.

check "status" ...

---

But I strongly advise not to write a background program to monitor if the USB stick is inserted...

best regards

On the robots I have worked on, it was so that when setting an FTP password from the tp, this also had to be used by the client.

Quote

..to use TPP brings me back at buy RobotGuide

I am sure that you do not need the ASCII upload function on RJ3iB.

So you should be able to upload '.pe' or '*.ls' programs to the controller without problems.

With '$ASCII_SAVE=1' you can save the programs from the controller as a text file.

(Or make Backup via FTP).

So you don't need Roboguide!

Hi SXJ1988,

when using/creating a simulation program to pick (array of) parts it is possible to set an asterisk.

This way roboguide uses the "nearest" part found for pick simulation.

Use RG to place randomly parts at your machine/fixture

best regards

PnsStarter

Hi,

I had trouble with motion commands like this:

1:J P[1] R[10]% FINE ACC R[11]    ;

I had success removing the register statements and using (direct) values instead:

1:J P[1] 100% FINE ACC 105    ;

Quote from Duranthas

How are you guys getting the higher revs? I literally just checked and ZC is what it's showing in the portal.

..european download portal .. ZE arrived a couple of days ago.

As TitusLepic wrote

Serialize Robot is the "easiest way do go.

Right click the robot arm icon not the controller icon

I always go this way. And if errors occur i use the "classic" way hermann wrote.

Hi joH,

has the robot an extendet axis?

you are writing a value to an extended Register:

SET_EPOS_REG(6,cur_pos,status1)

-- maybe--SET_POS_REG(6,cur_pos,status1)

debug your program and do error handling..

--SEV_ABORT = 2
IF (status1<> 0) THEN
  POST_ERR(status1, '', 0, SEV_ABORT);
ENDIF

best regards

Hi,

...

. In fact, the only difference between

using /KAREL/ and /KARELCMD/ is that /KAREL/ will store the URL in the history and /KARELCMD/ will not.

...

Quote

Quote from Ethan3721

Hi guys,

after update to Fanuc Roboguide 9 Rev. ZD, can't find the "FIND AND REPLACE" FUNCTION in "Teach" option.

I believe, at my computer it was there.

And with RG Rev.ZE it is available.

like neighbour and hawkme wrote:

older controllers:

ECHO via Internet explorer and activeX control -->http://robot_ip/FRH/CGTP/ECHO.HTM

at R-30ibP controllers:

ECHO via any modern browser -->http://robot_ip/FRH/jCGTP/ECHO.HTM

Hi,

without the source it is"problematic".

Did the progam work (sometimes)?

Maybe there is a problem with a file:

Are you opening/using files?

Or,are you communicating via sockets or pipes etc?

the karel built ins are:

IO_STATUS

CLR_IO_STAT

[in] file_id :FILE

status: IO_STATUS(file_id)

will return an integer different from "0" if an errror exists

CLR_IO_STAT(file_id)

will clear the errror

--> FCTN-->ABORT All | will clear the error too

best regards

PnsStarter

Quote from hoitzing

Is there any way to automate applying the DCS params via KAREL or some other workaround?

I think it is so desired that the confirmation and restart is done manually...Safety....

(However in Roboguide it works somehow..)

Quote

Karel has special Constants:

MAXINT +2147483647

MININT -2147483648

I have done some research on these issues.

- Behavior of Karel/Karel variables

- Behavior of TP programs or registers

Error inside Karel manual:

----

2.1.6 Predefined Identifiers

...

MAXINT INTEGER +2147483647

MININT INTEGER-2147483648

...However,the predefined identifier MININT is an exception to this rule. This identifier must always be used in place of its value, -2147483648. The value or number itself can not be used...

----

The above statement is wrong.

The value -2147483648 (MININT) can be used normally and is displayed correctly.

It turns out that the value of MAXINT is always 2147483646.

However, if the value is stored after the two's complement, it should be 2147483647.

In Karel, however, the maximum integer value is 2147483646. If the bits are set to the "regular value of MAXINT, i.e. 2147483647, and then assigned to a Karel integer variable, the value is uninitialized.

So not all (regular)values are possible.

In TP, however, it behaves differently with the registers.

Calculating and setting with MaxINTEGER works. Also the overflow behaves as expected.

Only the display on TP and in the web interface is not "nice".

Here are some comparisons TP / Karel

Karel:

--

value = MININT; --> value -2147483648

value = -2147483648; --> value -2147483648

--

value = MAXINT; --> value +2147483646

value = 2147483646; --> value +2147483646

IF value = MAXINT ... --> true

value = 2147483647 ; --> value *****

value = MAXINT +1 ; --> value *****

value = 2147483646 +1 ; --> value *****

IF UNINIT(value)... --> true

-- no more calculation possible, only query if UNINIT works

--> recognition is possible, but "calculating" becomes "messy"

TP

R[1] = -2147483648; --> R[1] -2147483648

R[1] = -2147483647-1; --> R[1] -2147483648

R[1] = 2147483646; --> R[1] 2147483646

R[1] = 2147483646+1; --> R[1] ******* (2147483647)

R[1] = R[1] +1 ; --> R[1] -2147483648

-- Calculation and overflow works as expected

-- The display is ***** not nice

When a program with ascii upload is played to the controller with the following code:

: R[1] = 2147483647;

it will be displayed like this:

: R[1] = ******; --> When the LS prog is downloaded it contains the stars and cannot be uploaded anymore. It is like with uninitialized positions in TP programs.

I hope I could help a little further and/or bring light into the darkness.

best regards

PnsStarter

Quote

I don't know why, but in my mind, the value of an IO would remain the same from the start of a task scan until the end of that same scan.

All programs share the CPU time.

The programs can and are interrupted in between. At which point this happens in the program cannot be predicted.

Quote

Overall everything works fine except sometimes, where it seems that there is a gap between KAREL variables and GI.

((Why is this a problem?))

At the time you read the input, it had a certain value. And this value is correct at this time.

If you have to keep the value "synchronous" with the PLC, you have to program a handshake.