Posts by zhaoxiang chen

  • compensating for dynamically changing parts.

    Quote from lexx905

    Hello.
    I did it with the option DPM and Karel.
    I gathered a small remote - 4 button. They allow you to run-time (welding) to adjust the trajectory of the axes X and Z.

    Alexey

    Hello Alexey,

    it is exciting to know that you have achieved the adjustment of welding path in real time,

    currently, i am trying to manually(press buttons on teach pendant) adjust the welding path during welding by using Karel, however, it seems that the current motion has to be stopped before move to the new adjusted position,

    could you kindly share some details of you Karel code and how do you setup the DPM?

    kind regards,

    Chen

  • force and moment during power-off stop

    hello robot experts,

    I have a question regarding force/moment generated during power-off stop.

    the table I found in the operator manual gives the max force/moment for the max payload and max speed(6000mm/s) case. if my working speed is 60mm/s, is the force/moment 100 times smaller as well? if not, what is the relationship between robot speed and force/moment ?

    best regards,

    Chen

  • 2D array data in Karel

    Quote from pdl

    Use the translator directive %CMOSVARS

    If %CMOSVARS is specified in the program, then all static variables by default will be created in permanent memory.

    If %CMOSVARS is not specified, then all static variables by default will be created in temporary memory.

    i used %CMOSVARS in program, but once i restart roboguide, the calculated variables are removed. the data karel variables are reset. do you know what is the reason for that?

  • 2D array data in Karel

    Quote from pdl

    What is the data you're collecting and what is it used for? How often will this data change?

    pdl,

    i am trying to collect calculation result in KAREL program, so that the file can be export with USB. and the calculation is one time job only, not a realtime job which need to write and read hundred of thousands times.

    regards,

    Chen

  • 2D array data in Karel

    Quote from pdl

    Use the translator directive %CMOSVARS

    If %CMOSVARS is specified in the program, then all static variables by default will be created in permanent memory.

    If %CMOSVARS is not specified, then all static variables by default will be created in temporary memory.

    hi pdl,

    thanks for your reply,

    for creating a .DT file in Karel, i make file path as MC: xxx.dt, it works well in roboguide, but have not tried in real controller, do you have any experience or suggestion about choosing the memory device?

    regards,

    Chen

  • 2D array data in Karel

    Quote from jmd2777

    Chen,

    The variable is permanent. You may have noticed that after deleting a KAREL program named kar_prog from the robot, there is still a file named kar_prog.vr. That .vr file stores the KAREL variables. If you delete the .vr file, then the KAREL variable values will be lost.

    2 things that may help:

    1. The KAREL command GET_VAR can access variables from other KAREL programs. For example, you could have 2 KAREL programs: A) create_2d_array and B) get_2d_array_value. You could call get_2d_array_value from your TP program. It would use GET_VAR to access the 2D array in create_2d and then copy the value to a register.

    2. There is a convenient way to check the value of your KAREL variables from the Teach Pendant. Go to Select screen, select a KAREL program and press Enter key. Press Data button->Type->KAREL Vars. You will be able to see the KAREL variables for the currently selected program.

    thank you for your help, that is really helpful.

  • 2D array data in Karel

    Quote from jmd2777

    Chen,

    I don't know how to access a Karel variable in a TP program. One alternative is to have the Karel program read the registers storing i and j. Then the Karel program could copy the value from the 2D array into a register.

    So in your TP program you would set i and j register value. Then call the Karel program, or if the Karel program is always running you could turn on a FLAG that indicates you want to get a new value and the Karel program would see the FLAG and retrieve the value from the 2D array and store it in a register.

    JM,

    i agree with your strategy, but still have one concern that:

    once the 2D array[i,j] is created in KAREL program, is it saved permanently ? or it is only existing when karel program is running?

  • 2D array data in Karel

    Quote from jmd2777

    To declare the array:

    two_d_array: ARRAY[3,3] OF INTEGER--2D Array

    To access elements in the array:

    two_d_array[3,2]=13

    hi jmd2777,

    thank you for your reply.

    once the 2D array is created by Karel, is it possible to read the values with for-loops in TP program?

    for instance, using two registers represent i and j in for-loops in TP program, and in each loop a specific value corresponding to the index can be read from the array.

    regards,

    Chen

  • 2D array data in Karel

    Hi guys,

    currently, I am looking for a proper way to define and use 2D array in KAREL program.

    the general concept is that,

    array[i,j]:

    10

    11 5

    7 13 14,

    and 13 will be read and use when i=3 and j=2,

    is there anyone happen to know how to program this?

    best regards,

    Chen

  • laser sensor with ethernet communication

    Quote from Nation

    You need to provide more information. Which laser? Can you ping it from the robot? Could you post the Karel code? Are your ports setup correctly? Does the laser support a more common industrial protocol, so you don't have to roll your own?

    hi Nation,

    thanks for your reply.

    i used FUJI CAM laser sensor, and the ping from robot was successful. the Karel code also works well with the sensor, which means that my TCP/IP and client tag setting should be correct.

    however, the problem is actually mroe about using sensor on[] function in TP program. i assumed that sensor on command has same functionality as call Karel code to turn on the sensor. With the successful setting of TCP/IP and client tag, it seems that the connection of laser sensor and controller is created successfully, but the sensor on[] function still not work properly. do you happen to know the reason for that? is there any other setting missing for using those sensor on/off, search and track command in TP program ?

    regards,

    Chen

  • laser sensor with ethernet communication

    hey, guys,

    i got a problem about laser sensor connection using ethernet. following the manual, i set up TCP/IP and client tag in host comm, and call a karel program to turn on/off the sesnor which is working well. however, when i try to use sensor on[1] command in TP program, the sensor does not response. is there anything need to be defined additionally?

    best regards,

    Chen

  • system variables for userframe position

    Quote from HawkME

    You are right, mch_pos is relative to current Tool frame, but only in world frame. The SV_info varible looks interesting but not available on v8 or older.

    If you know mch_pos and current user frame values then perhaps you could do the matrix transformation to calculate the position.

    the tricky part in my case is that my user frame is relate to positioner, when positioner rotates, the user frame also changes. in that sense, I need to record user frame all the time for converting world coordination into user coordination.

  • system variables for userframe position

    Quote from Sergei Troizky

    $SV_INFO[1].$CART_POS ARRAY[6] OF REAL is the actual position in the World coordinates.

    $SV_INFO[1].$CART_POS_UF ARRAY[6] OF REAL is the actual position in the active User Frame.

    User Frame #0 is the same as World.

    hi Troizky,

    thanks for your reply.

    the general purpose is to record the coordination of current position in user frame during the robot movement with data monitor. data monitor is an option that able to record register, real, axis and I/O. System variables can use as real for recording in data monitor. thus, i am looking for a system variable only.

    your suggestion is applied in KAREL program i assume, but if checking my system variables in teach pendant, i cannot find $cart_pos_ufarray unfortunetly.

    regards,

    Chen

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