Posts by nerd484

    I have imported a tool model into roboguide, now i want to export that model so i can load it into the physical system and view that model on the touch pendant in 4d graphics. I have read the 4-d customization procedure (section 3.13 of the Handling tool manual) which says to export the tooling4d.xml and worcell4d.xml files from roboguide. But when i do this from the virtual pendant and open the exported files, there is no data. My guess is that i need to get the models from the roboguide cell into the virtual teach pendant, then i can export the graphics files. How do i get the tooling models in roboguide into the virtual pendant? Currently, i have a tool model imported into roboguide and mounted. I can see the model in the roboguide simulation, but when i open the virtual pendant and navigate to 4-graphics the i only see a blank robot model...

    Any insight is appreciated.

    I would do the three point method however, i cant actually reach the point that will become the new zero position. The intended zero position is outside the reach of the robot. So i could use the three point method to get the frame in the correction orientation, but the xyz position would still need to be adjusted.

    How can I calculate the xyz components of a user frame given the user frame rotation offsets such that the resultant use frame position is zero. Basically trying to create a new origin point. See the attached image. I got the user frame xyz offsets by trial and error, but I want to be able to calculate them. I got the wpr offsets by measuring the mounted angle of the robot.

    Whats the difference between the two subject files? Looks like when i only load the file, the data for my various frames will update accordingly. What is the framevar.vr file for? Curious about this, as i usually create the frames on roboguide then will transfer the configuration to a real unit. I'm just trying to understand which files i need for sure so i don't miss anything during the transfer.

    Is there a way to prevent a user from accessing a TP program? I know FANUC has an option that allows password protection; but, it doesn't seem to allow me to specify an access level where a user cannot even open a TP program. The lowest accessibility the password option offers is operator. With that a user can still open all TP programs; but, only as read only. How to i prevent any and all access to a program?

    Anyone have any tricks to replicate jogging the robot from within KAREL? I have tried obtaining the limits for an axis then just doing a joint position move to that limit upon start of the jog request, then stopping the motion once the jog request is removed. However, the J2 and J3 axes don't like this method as they will most always fault out on position not reachable due to the j2/j3 interaction. Any thoughts for working around this issue or another approach?

    I'm trying to find where in the system variables is the value stored for the 'Use No-Display Sub-Program'. I can access this by going through the menu; Menu->Next->System->Config, Option 57. Any idea where i can find this option in the system variables list?

    I guess the question i am getting at is, when the robot sees and e-stop, the robot controller does not prevent the robot i/o (ee connector) from toggling. So to keep the gripper safe while in an e-stop condition, the only way i can see to prevent the gripper actuation is to use an interposing safety contact between gripper and the ee connector. But i can't believe this is the way that other provide a safety barrier for the gripper...

    Depending on how you have your programs setup, you can use the KAREL abort_task command. Since you can't control motion via karel directly, you need to use a tp program. If you call this tp program via the start_task command it will run in 'parallel' (not technically parallel but close enough for this topic). Then your KAREL program will keep looping, and when you want to abort motion simple abort the task that was previously started.

    Is there a system variable i can use to prevent the toggling of Robot I/O when an e-stop is active? When i say robot I/O i am referring to the EE port. I'm asking this because I am wondering how to 'lock' a gripper in a safe manner to prevent unintended operation while the e-stop is active.

    which parts are not order? I know i did the binary and prompt commands, but that shouldn't make a difference.

    To your second point about not seeing that the request was completed, that is my question... why is it not completing or failing? it just freezes up at when i do a file request. Do i need to specify the working directory in the robot?

    I know i am connected as i can ping the robot; if i type the status command while in ftp, it says that i am connected. Just for kicks i tried getting filezilla setup, and it works! what a surprise! i still want to try and figure out why i is not working via windows cmd line though... again, i am just using the default ftp settings that are configured when the option is first installed.


    how do i access the individual joint angles for a jointpos data type in karel? I know for an xyzwpr datat type i can do xyzwpr.x to access the the x component but i can find a way to do the same for jointpos. thanks for the help.

    is there a way to check if a task exists?

    I have a karel program that calls a Run_Task on a teach pendant program to execute a move on a position register. Sometimes that position may hit an axis limit and error out. If that happens the teach pendant program pauses, and will prevent subsequent calls for run_task from complete since the first instance is still 'executing' but at a paused status. To get around this, i check to see an error has occured. If an error has occured i check to see if the task has been paused using the Get_tsk_info function. If the task is pasused then i abort it, so that the subsequent calls will work. The caveat with this is that, if i have yet to request a motion command, and i receive an error the get_tsk_info will be invoked; but, since i haven't created the task yet, i will receive another error stating that it cannot find the specified task. So, is there a way to check if a task exists before calling get_tsk_info?? Thanks!

    I am trying to set my karel frame along with an xyzwpr variable (kuframe) to be equal to the user frame 1 of my teach pendant (tp).

    In my karel program i have something like the following:

    Begin rCurPos
    $UFRAME = $MNUFRAME[1,1]
    kuframe = $UFRAME

    But when i goto view the karel vars within the data section on the tp, kuframe is simply equal to zero, where as i would expect it to be equal to whatever is in my tp user frame 1. Are there any system variables i need to modify to read/write frame data between karel and the tp? It seems that my karel user frame is not being updated from the tp system frame, which is why my kuframe has all zeros.. Thoughts?! ???

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