Posts by Kawazaki02

thanks to all. solved the problem via KAREL

Quote from white_raven

If you have checked all positional data, and the coordinates set by the application process are not to blame, then I would guess it is a software compatibility issue. Inserting a user alarm probably interrupts the software process allowing the robot to continue normally. Was this scansonic equipment recommended by FANUC or was it something your company decided to use. FANUC usually recommends the equipment that is most compatible with their software, and can provide tech assistance with diagnosing these kinds of issues. Have you tried recording P[8] as a position register and using that in place of the point? It might not help, but there is a possibility that using a position register could interrupt the end of the application process enough to prevent a crash because those applications do not typically modify register values. Jog the robot to P[8], go into your position registers and find one that is not used, record the position to that register, then in the program curser over to the 8 and use the function key for choice, select PR, then type the number of the PR that you used. Make sure it is still set to a linear motion, and that the speed of the motion is still the same, then try to run the program without the user alarm. I hope this helps. If nothing else, you could try to rewrite the program, and use that in its place if for some reason your data is being corrupted. I wish I could be more help, but without being able to put my hands on the pendant to check the application data, it's difficult to diagnose.

Okay, I'll try at work tomorrow.
I will write about success

Quote from white_raven

That's very strange. So basically the robot scans and welds fine, but when leaving the last weld point and moving to a safe point away from the product the robot decides to go a different direction? It appears as though the next motion is a linear motion and should go directly to that point. Its hard to know what is going on without getting my hands on it, but I would still assume an issue with the scanning application because the problem doesn't arise unless it is implemented, correct? I would double and triple check the scansonic application to ensure it is not sending the robot faulty positional data at the end of its scan cycle. Also, is it possible to bypass the scansonic, and create old fashioned welding instructions to do the job, or is there too much variance from cycle to cycle? Also, if that is not an option, I would check the coordinate data for point 7 and point 8 after a crash before the robot is manually moved off of the product to see if the last coordinates are where they should be.

checked everything. this problem has been in our enterprise for a very long time.

but still the question remains, why, after scanning, if you cause an error, the robot moves on as if nothing had happened.

Quote from white_raven

OK, have you calibrated the scanning head? It might be that the calibration is off. I have only set up 1 laser guided welding application and I know that on that system, if the calibration was off then it would cause the robot to weld in the wrong location. What might be happening is that the sensor was bumped, or has moved slightly since the last time it was calibrated. This would cause the robot to scan properly, but when the application sets the coordinates, it is off enough to cause a collision. Sorry, im not very familiar with the scansonic application, but I do have experience with irvision and other laser welding applications, so im not sure exactly how it sets its coordinates.

all instrument and laser adjustments were made correctly, the software shows that the robot is correctly plotting the coordinates.
but it is precisely after the weld end that it jerks randomly quickly when moving to another point. Sometimes it hits not the product, but vice versa from the product. those. there is some kind of collision area after scanning.
however, neither fanuc nor the representatives of the laser sensor could help solve this problem

Quote from white_raven

So you are saying that the robot will collide without an alarm, but if you insert a user alarm it doesn't? Have you tried jogging the robot from point 7 to point 8 to see if there is an obstruction between points? Also it appears that you have remarked out the weave circle but left the weave end in place. Have you tried remarking both out to see if that helps resolve the issue?

yes, I tried to come to each point separately and sequentially in step without scanning, there are no problems, there are no obstacles between the robot's points.

the problem appears exactly at the end of the scanning track, while the length of the scanning path is not important, the problem is always when moving from the end of the scanning point (during scanning) to the indentation point (the robot moves to a safe distance from the product)

Hello everyone. I cannot solve the problem.
after scanning (Scansonic), the robot makes an involuntary impact on the product.
If you cause an error after scanning, then no impact occurs.
I tried to solve it with KAREL, but I couldn't find a command that could reset a custom error in automatic mode.

During the transition from point 7 to point 8 without user error, a hit occurs.
If you call a custom error after scanning, and then reset and continue, then no impact occurs.

Maybe some of you have already encountered a similar problem.

if anyone needs a program on this topic, keep it and use it. program on KAREL. is designed to shift points by specified coordinates by the value of the argument, the argument is taken from the program call. (if you have questions about the program, write here, I will try to answer).

Thanks to everyone who helped figure it out.

PROGRAM TEST_KAR_12

%ENVIRONMENT REGOPE
%NOLOCKGROUP
%ALPHABETIZE
%COMMENT = 'ALL_POS_ARG'
%ENVIRONMENT TPE
%ENVIRONMENT BYNAM
%INCLUDE klevtpe

CONST
    MAX_AXS = 9    
    
VAR
    to_prog: STRING[30]
    open_id: INTEGER
    status: INTEGER
    indx_pos: INTEGER
    num_axs : INTEGER
    group_no: INTEGER
    posn_type: INTEGER
    org_xyz : XYZWPREXT
    new_xyz : XYZWPREXT
    num_pos : INTEGER
    r_val: REAL
    i_val: INTEGER
    r_flg :BOOLEAN
    pos_num: INTEGER
    
    param_no : INTEGER
    data_type : INTEGER
    int_value : INTEGER
    real_value : REAL
    sens_name   : STRING[40]
    
    
    
BEGIN
    
    GET_TPE_PRM (1,2,int_value,real_value,sens_name,STATUS)
    
        to_prog = 'TEST_TP_1'
         
     OPEN_TPE (to_prog, TPE_RWACC, TPE_RDREJ, open_id, status)
         group_no = 1
         
     AVL_POS_NUM (open_id, pos_num, status)
             num_pos = pos_num    
             
     FOR indx_pos = 1 TO num_pos-1 DO    
         
    GET_POS_TYP (open_id, indx_pos, group_no, posn_type, num_axs, status)
        WRITE('get_pos_typ status', status,CR)
        
        SELECT posn_type OF    
            CASE (pt_rxyzwpr):
        
      org_xyz = GET_POS_TPE (open_id,  indx_pos, status)
             new_xyz = org_xyz
             new_xyz.x = org_xyz.x + int_value
             new_xyz.y = org_xyz.y + 0
            new_xyz.z = org_xyz.z + 0
            new_xyz.w = org_xyz.w + 0
            new_xyz.p = org_xyz.p + 0
            new_xyz.r = org_xyz.r + 0
            new_xyz.ext1 = org_xyz.ext1 + 0
            new_xyz.ext2 = org_xyz.ext2 + 0
            new_xyz.ext3 = org_xyz.ext3 - int_value
            
    SET_EPOS_TPE (open_id, indx_pos, new_xyz, status)
    
        ENDSELECT
        
     ENDFOR
     
    CLOSE_TPE (open_id, status)
    
END TEST_KAR_12

Quote from Nation

GET_TPE_PRM is the command to parse passed in arguments from a TP call.

Example of its use from some code of mine in my conversion thread:

Thank you very much. everything worked out. really not without dancing with a tambourine

Hi guys. can you tell me which operator to use to get the value of the argument shown in the picture?

Thank you for your comment. I'm just learning to program in KAREL so far, so don't judge too three. I'll try to loop the program, unsubscribe about the results =)

I just need a little support from knowledgeable people to learn from experienced )

Quote from Nation

Delete your .pc and the .vr file it leaves behind from the controller, then recompile. The file will complie, but fail to load because there is a difference in declared varibles in the .vr file.

tried it, didn't help ))

Hello everyone, I wrote the code. compiles. but when executing the program, it will throw an error. if you remove 47 and 75, then the program is executed well, without errors.

PROGRAM TEST_KAR_10

%NOLOCKGROUP
%ENVIRONMENT REGOPE
%ALPHABETIZE
%COMMENT = 'ALL_POS_ARG'
%ENVIRONMENT TPE
%ENVIRONMENT BYNAM
%INCLUDE klevtpe

CONST

    MAX_AXS = 9    

VAR

    to_prog: STRING[25]
    open_id: INTEGER
    status: INTEGER
    
    indx_pos: INTEGER

    num_axs : INTEGER
    group_no: INTEGER
    posn_type: INTEGER
    org_xyz : XYZWPREXT
    new_xyz : XYZWPREXT

    num_pos : INTEGER

    r_val: REAL
    i_val: INTEGER
    r_flg :BOOLEAN

BEGIN

         to_prog = 'TEST_TP_1'

     OPEN_TPE (to_prog, TPE_RWACC, TPE_RDREJ, open_id, status)

             group_no = 1
             
    GET_POS_TYP (open_id, indx_pos, group_no, posn_type, num_axs, status)

        WRITE('get_pos_typ status', status,CR)
         
    FOR indx_pos = 1 TO num_pos-1 DO

        WRITE ('indx_pos', indx_pos, CR, CR)

        SELECT posn_type OF

            CASE (pt_rxyzwpr):

            GET_REG (101,r_flg, i_val, r_val, status)

        WRITE ('Got REAL value from R[101]',CR)
            
      org_xyz = GET_POS_TPE (open_id,  indx_pos, status)
             new_xyz = org_xyz
             new_xyz.x = org_xyz.x + i_val
             new_xyz.y = org_xyz.y + 0
            new_xyz.z = org_xyz.z + 0
            new_xyz.w = org_xyz.w + 0
            new_xyz.p = org_xyz.p + 0
            new_xyz.r = org_xyz.r + 0
            new_xyz.ext1 = org_xyz.ext1 + 0
            new_xyz.ext2 = org_xyz.ext2 + 0
            new_xyz.ext3 = org_xyz.ext3 - i_val

    SET_EPOS_TPE (open_id, indx_pos, new_xyz, status)

        ENDSELECT
        
    ENDFOR

    CLOSE_TPE (open_id, status)
    
END TEST_KAR_10

Quote from hermann

The program has many issues, and in the first version it does'nt make real sense. Who wrote that?

It compiles, but it has runtime errors and doesn't run till end.

Here is a working one (only tested with one extended axis), BUT: there seems to be an issue in the KAREL system of fanuc. At least in my test equipment the value of extended axis 1 that comes from the funtion GET_POS_TPE has nothing to do with the real value.

You can see the outputs of the WRITE statements on the User screen (MENU - 9 USER).

And one more remark: Try to write programs on your own, read the karel manuals, learn to debug programs. jm2c.

I'm out now.

Display More

thanks, everything worked

Does anyone have an example of a Karel program for shifting additional axes on FANUC robots?

Or consult on this issue.

Quote from hermann

Are you kidding us?

You only had to mark the code in my post and copy it to your .kl file and it would have been worked. That's the reason why code has to be inserted into a code-tag.

Here is the proof, (I have a newer compiler, may be that's the problem, but I don't think so):

thanks, I also compiled, but the additional axes did not move

Quote from R47

hi kawazaki02,

i think you Need to add %ENVIRONMENT REGOPE on your Code.

did not work. I don't know what to do anymore

PROGRAM TEST_KAREL

%ENVIRONMENT TPE

%ENVIRONMENT BYNAM

%ENVIRONMENT REGOPE

CONST

MAX_AXS = 9

JNT_POS = 9

XYZ_POS = 2

VAR

to_prog: STRING[25]

open_id: INTEGER

status: INTEGER

position_no: INTEGER

jp_org : ARRAY [9] OF REAL

jp_new : ARRAY [9] OF REAL

prg_select: INTEGER

arr_size : INTEGER

indx : INTEGER

indx_pos: INTEGER

num_pos : INTEGER

indx_axs: INTEGER

num_axs : INTEGER

pos_typ : INTEGER

group_no: INTEGER

org_jpos : JOINTPOS

new_jpos : JOINTPOS

posn_type: INTEGER

org_xyz : XYZWPREXT

new_xyz : XYZWPREXT

org_xyz_ext : XYZWPREXT

new_xyz_ext : XYZWPREXT

BEGIN

to_prog = 'TEST_TP_1'

OPEN_TPE (to_prog, TPE_RWACC, TPE_RDREJ, open_id, status)

group_no = 1

position_no = 3

GET_POS_TYP (open_id, indx_pos, group_no, posn_type, num_axs, status)

WRITE ('get_pos_typ status', status,CR)

SELECT pos_typ OF

CASE (JNT_POS):

SET_JPOS_TPE (open_id, indx_pos, new_jpos, status)

WRITE ('indx_pos', indx_pos, 'new_jpos',CR, new_jpos,CR)

ENDSELECT

org_jpos = GET_JPOS_TPE (open_id, indx_pos, status)

org_xyz = GET_POS_TPE (open_id , indx_pos, status)

new_xyz.x = org_xyz.x +10

new_xyz.y = org_xyz.y +0

new_xyz.z = org_xyz.z +0

new_xyz.w = org_xyz.w +0

new_xyz.p = org_xyz.p +0

new_xyz.r = org_xyz.r +0

new_xyz_ext1 = org_xyz_ext1 + 10

SET_POS_TPE (open_id, position_no, new_xyz, status)

CLOSE_TPE (open_id, status)

END TEST_KAREL

----------------------------------------------------------------------

Translating D:\NikolaevAS\Desktop\untitled18.kl

KTRANS Version V8.30 (Build 30 11/12/2019)

Copyright (C) FANUC America Corporation, 1985 through 2016.

All Rights Reserved.

D:\NikolaevAS\Desktop\untitled18.kl(77)

77 new_xyz_ext1 = org_xyz_ext1 + 10

^ ERROR

Id must be defined before this use. Id: ORG_XYZ_EXT1

D:\NikolaevAS\Desktop\untitled18.kl(79)

79 SET_POS_TPE (open_id, position_no, new_xyz, status)

^ WARNING

Argument will be passed by value. Id: NEW_XYZ

===============Translation not successful===============

Build Failed: Error translating program: Code: 0xFFFFFFFF:

----------------------------------------------------------------------

Quote from DaveP

try replacing the underscores with periods in your new code that Hermann suggested using. His code uses a . instead of a _ in the variable name for the extended axis. new_xyz.ext1 = org_xyz.ext1 + 10

tried it. The result is the same

PROGRAM TEST_KAREL

%ENVIRONMENT TPE

%ENVIRONMENT BYNAM

CONST

MAX_AXS = 9

JNT_POS = 9

XYZ_POS = 2

VAR

to_prog: STRING[25]

open_id: INTEGER

status: INTEGER

position_no: INTEGER

jp_org : ARRAY [9] OF REAL

jp_new : ARRAY [9] OF REAL

prg_select: INTEGER

arr_size : INTEGER

indx : INTEGER

indx_pos: INTEGER

num_pos : INTEGER

indx_axs: INTEGER

num_axs : INTEGER

pos_typ : INTEGER

group_no: INTEGER

org_jpos : JOINTPOS

new_jpos : JOINTPOS

posn_type: INTEGER

org_xyz : XYZWPREXT

new_xyz : XYZWPREXT

BEGIN

to_prog = 'TEST_TP_1'

OPEN_TPE (to_prog, TPE_RWACC, TPE_RDREJ, open_id, status)

group_no = 1

position_no = 3

GET_POS_TYP (open_id, indx_pos, group_no, posn_type, num_axs, status)

WRITE ('get_pos_typ status', status,CR)

SELECT pos_typ OF

CASE (JNT_POS):

SET_JPOS_TPE (open_id, indx_pos, new_jpos, status)

WRITE ('indx_pos', indx_pos, 'new_jpos',CR, new_jpos,CR)

ENDSELECT

org_jpos = GET_JPOS_TPE (open_id, indx_pos, status)

org_xyz = GET_POS_TPE (open_id , indx_pos, status)

new_xyz.x = org_xyz.x +10

new_xyz.y = org_xyz.y +0

new_xyz.z = org_xyz.z +0

new_xyz.w = org_xyz.w +0

new_xyz.p = org_xyz.p +0

new_xyz.r = org_xyz.r +0

new_xyz_ext1 = org_xyz_ext1 + 10

new_xyz_ext2 = org_xyz_ext2 + 10

new_xyz_ext3 = org_xyz_ext3 + 10

SET_POS_TPE (open_id, position_no, new_xyz, status)

CLOSE_TPE (open_id, status)

END TEST_KAREL

Build error

Translating D:\NikolaevAS\Desktop\untitled18.kl

KTRANS Version V8.30 (Build 30 11/12/2019)

Copyright (C) FANUC America Corporation, 1985 through 2016.

All Rights Reserved.

D:\NikolaevAS\Desktop\untitled18.kl(72)

72 new_xyz_ext1 = org_xyz_ext1 + 10

^ ERROR

Id must be defined before this use. Id: ORG_XYZ_EXT1

D:\NikolaevAS\Desktop\untitled18.kl(73)

73 new_xyz_ext2 = org_xyz_ext2 + 10

^ ERROR

Id must be defined before this use. Id: ORG_XYZ_EXT2

D:\NikolaevAS\Desktop\untitled18.kl(74)

74 new_xyz_ext3 = org_xyz_ext3 + 10

^ ERROR

Id must be defined before this use. Id: ORG_XYZ_EXT3

D:\NikolaevAS\Desktop\untitled18.kl(76)

76 SET_POS_TPE (open_id, position_no, new_xyz, status)

^ WARNING

Argument will be passed by value. Id: NEW_XYZ

===============Translation not successful===============

Build Failed: Error translating program: Code: 0xFFFFFFFF:

Quote from hermann

Кто написал программу на картинке?

Должна быть возможность использовать

Code

new_xyz.ext1 = org_xyz.ext1 + 10

И, кстати, не стоит размещать картинку программного кода. Всегда размещайте код в каком-либо представлении ASCII. Здесь никто не хочет набирать уже существующий код, глядя на картинку.

tried it according to yours, as you need to indicate that this code is for extended axes

Hello. need help. I want to move the extended axes of the robot. Has anyone encountered this problem before?

shown in code for 6 axes

PROGRAM TEST_KAREL

%ENVIRONMENT TPE

%ENVIRONMENT BYNAM

CONST

MAX_AXS = 9

JNT_POS = 9

XYZ_POS = 2

VAR

to_prog: STRING[27]

open_id: INTEGER

status: INTEGER

position_no: INTEGER

new_xyz: XYZWPREXT

org_xyz: XYZWPREXT

num_axs: INTEGER

BEGIN

to_prog = 'TEST_TP_1'

OPEN_TPE (to_prog, TPE_RWACC, TPE_RDREJ, open_id, status)

position_no = 3

org_xyz = GET_POS_TPE (open_id, position_no, posn_typ, num_axs, status)

FOR indx_axs= 1 TO num_axs DO

jp_new [indx_axs] = jp_org[indx_axs] + jp_off [indx_axs]

new_xyz.x = org_xyz.x +10

new_xyz.y = org_xyz.y + 10

new_xyz.z = org_xyz.z + 10

new_xyz.w = org_xyz.w + 10

new_xyz.p = org_xyz.p + 10

new_xyz.r = org_xyz.r + 10

SET_POS_TPE (open_id, position_no, new_xyz, status)

CLOSE_TPE (open_id, status)

END TEST_KAREL