Posts by CPh

  • Roboguide TP shortcuts turn off

    Hi,


    I am using roboguide version 9 (rev G).

    I have just created a new cell and now when I click on the TP icon "PC keyboard shortcuts for TP keypad keys" and then on the windows to run step-by-step my TP program, the icon automatically deactivates.. Do you know if there is an option somewhere to avoid this behavior ? I have made several cells before and it's the first time I see this..

  • Karel compilation error

    Hello,


    I get the following message during the compilation of my Karel program: "Code size exceeded maximum. Break program into separately translated units."
    Have you ever seen this message?
    How should I do to be able to compile my code?

  • Creating password file

    Thanks, I had to give the access via the XML file these users.. I don't really understand why the default setting has changed for these users levels.. anyway it works now :smiling_face:

  • Creating password file

    I am not able to make a RES_CH1 in Alarm Log menu with the User level 1 and 2 (PROGRAM and SETUP respectively) anymore..
    It is just allowed with the INSTALL user level.


    I added the following lines in the xml file but I still get the following messages: PWD-067 Edit operation not allowed and PWD-069 Operation password protected


    What should I do to make user 1 and 2 able to make a RES_CH1?


  • Creating password file

    Thanks for the answers!


    About the TP keys, I looked for a system variable which could block some but I have not found anything yet.. There should be a way to lock these keys :\

  • Creating password file

    Hello,


    I read the manual (R-30iB_basic_operator_manual_[B-83284EN_05]) and I still need more info about the password function.


    1. Is there a risk of overwriting the defaut config (INSTALL-PROGRAM-SETUP-OPERATOR) when importing an xml file or will it only have an impact on levels 3-7?
    2. Is there a document where all the menus are listed? (I found a usefull link on this topic but I will appreciate if an official document from FANUC exists).
    3. Is there a way to block some keys on the TP? For example STEP, HOLD.
    4. For a specific level mode, I want to give the access only to: 4D position display and Alarm menu. Do I need to define access to all menus in the xml file (0 to all except these two) or is there a simpler way to do? I suppose that I shoud not block the access to menu-setup-password since I don't know how to switch to another user mode if I do so.

  • System variable for active payload ?

    Great it works! Thank you for your help!
    What is the difference between plst_parnum and udpnum? I don't find it in the doc..


    I send a text command to the robot from my computer, the text command is read by KAREL
    For example the command: R[1] = 10, R[2] = 29, run SETTOOL will set R[1] and R[2] to resp. 10 and 1 and then will call the TP program SETTOOL


    In SETTOOL I did:

    Code
    PAYLOAD[R[1]]
UTOOL_NUM=R[2]


    But it did not work... in fact it generates error INTP-263 for the payload and INTP-303 for the utool.


    But, with the same text command it works perfectly with:

    Code
    $PLST_PARNUM[1]=R[1]
$MNUTOOLNUM[1]=R[2]


    I don't understand why.. do you have an idea why the behavior is different?

  • System variable for active payload ?

    Hello,


    I am looking for the system variable for active payload.. I can't find anything in the documentation..


    I found $plst_updnum[1] and $plst_parnum[1] but they are write protected so I can't change the value with these variables.. I am looking for a writable variable, can you help me please?

  • Karel - get error and continue

    Hello,


    In a Karel program I want to catch an error, reset it and treat it.


    I tried with a condition handler

    CONDITION [ 1 ] :
    WHEN ERROR[*] DO
    UNPAUSE
    get_Err
    ENDCONDITION
    ENABLE CONDITION [ 1 ]


    then in my routine get_Err I tried to get the most recent error message
    ERR_DATA (MAXINT , iErrCode , sErr , iCause , sCause , iTime , iSeverity , sPrName )


    My first problem is sErr does not correspond to the expected error..
    The TP show the error "MOTN-017", so I expected to get sErr = "MOTN-017" but I get "R E S E T" which is in the alarm history but not the most recent at that time.
    I tried to set another value in seq_num (0, 1, 10 ) but ERR_DATA always shows "R E S E T"...


    Do you know how to do it right?


    Second problem.


    I want to reset the task and continue after having corrected the error.
    So I my routine, I wrote "RESET(reset_ok)" but I don't know what I have to write after that. If I press the "run" button in roboguide the program continues, I am looking for a Karel command which have the same effect. Could you help me?

  • Karel routine

    Hello,


    I am using a simple routine to change xyz coordinates of a point. It is declared as: ROUTINE set_point ( point : XYZWPREXT ; vec : VECTOR ; factor : REAL ) : XYZWPREXT
    I call the routine several times in my program (in a loop)


    I can compile my program, the program runs well but I observed that I don't get the same result if I use the routine or if don't and instead I write the routine code inside my program... Do you know what could cause this behavior?


    [update]


    Oh I got it!
    Ok, it's due to method used to pass arguments to parameters! (as reference or as value)
    In one case the routine changes the argument in the other not.

  • Increasing tool number in roboguide

    Hello,


    I have increased the tool number on the teach pendant (ctrl start, etc.), it works but the number of tools in roboguide has not changed, do you know how to do it?


    [update]
    Finally it worked after I rebooted the cell..

  • Get current position in UFRAME

    Thank you for your help!


    I get the same coordinates with the CURPOS function and with this code..
    Before editing your message you wrote something about the utool, now you deleted this line, was it not necessary?

  • Get current position in UFRAME

    Hello,


    In a Karel program, I want to get the current TCP position in UFRAME.
    I can't simply use the function CURPOS(i,j) since it gives the TCP cartesian position and the coordinates are not the same as in UFRAME..


    Can you help me please?

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