Hello kwakisaki,
i had found the program calls with parameters, but it is really remarkable that you cannot create functions with return values.
I thought I missed something again. But it will work without functions.
Thank you
Torsten
Hello kwakisaki,
i had found the program calls with parameters, but it is really remarkable that you cannot create functions with return values.
I thought I missed something again. But it will work without functions.
Thank you
Torsten
Hello,
little beginner problem. I have written the following code to get the current position of the conveyor (JT7) and jump, depending of the position to a label. I'm still waiting for my K-Resot license, but i hope this works.
HERE ca_currpos
DECOMPOSE ca_cnvpos[1] = ca_currpos
IF ca_cnvpos[7] < 500 GOTO idelpos
The question is now. Can one do anything to make this more elegant and compact?
like this
IF GET_CONV_POS(7) < 500 GOTO idelpos
I could not figure out how to write custom functions with return value. Is that not possible?
thanks
Torsten
Thank you kwakisaki,
that sounds good to me. Very flexible options.
thanks again
Torsten
PS: Have requested the K-Roset from Kawasaki. The more you study the robot, the more questions arise that cannot be answered with the manuals.
Hi kwakisaki,
thanks. That helps really a lot. If you have the manuals only and no robot for testing, some of the fundamentals are difficult to understand.
And one can mix this languages on one controller? So, a complex AS-Program can call sub programs, located in a PG/Block program? Or is this all separated?
thx
Torsten
Ok, found it,
in the documentation, somewhere in the middle.
If one choose .AS the program and all data in the controller memory is stored with the file. That is default. If one chooses .PG, only the Programs (all, or a single? That is not explained)
Hi,
I'm just starting to learn Kawasaki programming. (According to ABB/Fanuc/Dürr/b+m) It is about handling applications and painting applications. I probably missed an important sentence somewhere in the manuals, because I'm confused by the file types .AS and .PG and programming methods and the completely different commands for painting robots. Hope, some one can help to sort this.
- Block Step
Havn't seen a file of this type. Is the Extension .pg? Is it documented anywhere?
9 LINEAR SPEED3 ACCU0 TIMER2 TOOL1 WORK2 CLAMP1(OFF)2(ON) OX=15 WX=1010 #[-26.746,5.6725,-108.14,1.1434,-66.459,26.753] ;
- AS Programs
Sometimes saved as .as, sometimes as .pg. Why?
- PG Programs for paint robots
Saved as. PG and .AS with comands that are not documented in the AS-Language manual.
.PROGRAM pg800()@18/06/21 14:56#0
LMOVE XYZ1 0000,-382.5,2444.7,679.8,92.53,91.52,-90.49,1562.1
LMOVE XYZ1 0000,466.2,2455.4,679.8,92.53,91.52,-90.49,1562.1
LMOVE XYZ1 0000,473.3,2484.2,1699.6,92.53,91.52,-90.49,1562.1
LMOVE XYZ1 0000,-186.1,2475.9,1692.8,92.53,91.52,-90.49,1562.1
.END
thanks,
Torsten