Posts by xtruder

Iam on an old RJ3IB controller with KAREL and Socket messaging (SKMG) installed and not R648 - User Socket Messaging.

To set up the client and test connection i modified $HOSTC_CFG[1] to:
$PROTOCOL 'SM'
$PORT '8001'
$REMOTE '172.16.1.30' (connected PC)
$SERVER PORT '8000'

PROGRAM SOCKET
%STACKSIZE = 4000
%NOLOCKGROUP
%NOPAUSE=ERROR+COMMAND+TPENABLE
%ENVIRONMENT uif
%ENVIRONMENT sysdef
%ENVIRONMENT kclop
%ENVIRONMENT bynam
%ENVIRONMENT fdev
%ENVIRONMENT flbt
%INCLUDE klevccdf
%INCLUDE klevkeys
%INCLUDE klevkmsk


VAR
	file_var : FILE
	tmp_int	 : INTEGER
	tmp_str  : STRING[128]
	status	 : INTEGER
	entry	 : INTEGER
	loop1	 : BOOLEAN

BEGIN
	SET_FILE_ATR(file_var, ATR_IA)
	SET_VAR(entry, '*SYSTEM*', '$HOSTC_CFG[1].$SERVER_PORT',8000,status)
	WRITE(' VAR status = ',status,CR)
	-- Connect the tag
	WRITE('Connecting...',CR)
	MSG_CONNECT('C1:',status)
	WRITE(' Connect status = ',status,CR)
	loop1 = TRUE
END SOCKET

Yet i get stuck on:

VAR status = 0
Connecting ...

Socket messaging is also referred as R636 but mine is SKMG. Do i strictly need R648 to accomplish the above?

Thanks for replies!
The GO approach seems straight forward, thanks. But do i really need the GO's, as i can just record key positions in R1?

R[1]=10
J PR[11:weld] 100% FINE

Hello.

I have a program which welds, trims and stacks the product all in one loop. Recovering by backtracking is due to complexity not an option,

I would like to create "recovery program" which is a simplified copy of the production loop, minus the production steps, DO's, Di's etc.. Basically, "recovery program" should start where production loop had stopped and end up back at home like it normally would.

For that, in recovery program, i need to jump in it at correct line based on current (approximate) robot position. But how to accomplish that? Using DCS zones is not an option for me.

Thanks in advance.

In our old Rj3IB system we currently use position switches connected as digital inputs for product detection.

Now we want to add an analog distance sensor directly to the robot to output the actual position values into register. Just adding analog input module to the robot would accomplish this or we need additional hardware?

Quote from Sergei Troizky

When your program does not find product in pickup position, do not proceed to pickup. Instead, increment the picked product counter and jump back to pickup position decision, then re-execute pickup.

If i understand correctly doing this will bring robot every time back to starting (seek) position before doing next pick attempt? Could it be done in one continuous move to not hurt the cycle time?

Yes, iam seeking for the product, i just need product number further down the process.

I'd like to know how to do it, my tp programming knowledge is limited.

I want to start the cell with any number of products on the pallet, with no additional operator input, and start the count from whatever is on the pallet.

1. All products are the same thickness, so comparing current robot position to the grid of 20 supposed positions could work on paper.

2. Program in 20 pick potions and go through them until sensor is made.

Iam picking products off the pallet with the sensor using skip condition.

Ideal start situation is a full pallet with 20 products, so i could start the product count from the start.

If the pallet is not full at the start, what are my options to count the products?

Iam looking for something simple, preferably not involving karel.

Quote from massula

What Roboguide version You are using? And what FRVRC?

It seems to be controller issue. Robots are 6.30 and building program using FRVRC 6.30 gives those errors. If i build the same LS file in later controller version 7, or 8 it builds just fine.
I also tried other versions of v6 controllers and both 6.30 and 6.31 cant build this code, unless i remove "SPEED1" name from the line.

L PR[18:POS1] R[30:SPEED1] mm/sec FINE    ;

Tnx for replies, it does indeed improve the workflow.
However, i noticed i cant build or ftp upload certain programs, the ones that contain named registers, like this:

L PR[18:POS1] R[30:SPEED1]mm/sec FINE    ;

And it gives me this error:

Undefined instruction                                                 
Build Failed: Error translating program: Code: 0x160002: [SPRUNCMDF]

If i remove speed register name and leave position name everything builds and uploads just fine

L PR[18:POS1] R[30]mm/sec FINE    ;

Iam new to roboguide and trying to find out how to review and edit existing TP programs properly.

I see that i can only edit programs in virtual teach pendant, is that correct? I have programs with lots of jump labels and call instructions and its a real pain to go through them in virtual pendant. So far i am viewing and editing them in LS format.
Is there a part of roboguide that allows me a better program overview that iam missing?