Posts by FLrobotics

Hi,

i try to run a TP program with my karel code. Therefore I use the procedure RUN_TASK and it works from time to time.

RUN_TASK(tmp_str,0,FALSE,TRUE,1,status)

So it's theoratically possible to move the robot by running a task.

But often it doesn't work. Then I got a Run_TASK Status like: 3007 or 6003 and I don't really know how to fix it

I use a LR Mate 200iD/7L with a R-30iB Mate cabinet Controller btw.

I also tried to catch the task state with the function GET_TSK_INFO

GET_TSK_INFO(tmp_str,0, TSK_STATUS,value_int, value_str, status)

If anything is alright, I got the value_int = 0, but if not i got value_int = 2, what means PG_ABORTED

That's why I wanna know how to restart an aborted task? When i CONT_TASK it fails cause the task is aborted not paused.

Does anybody knows how i can do this?

And does anybody got an error code manual from Fanuc, where i can check all the status values, which i get in so much Karel procedures?
I know this side: http://linuxsand.info/fanuc/

But therefore i still need to find out the first letters..

Thanks a lot to any help!

Herman, yeah your way worked!

dha i tried, and yes it works too,when you pass it as $UTOOL/$UFRAME or $MNUFRAME[1,1]/$MNUTOOL[1,1]. but i wasn't sure because the status from the CHECK_EPOS Position was never 0(reachable)

I fixed it by adding the optional (obviously not so optional) paramter group_no. Now the status returns a correct value.

That seems to make sense, i will try it when i am back on my workplace and reply if it worked

Hi dear robot-forum community!

I have again some problems with the lovely KAREL language. I have a LR Mate 200iD/7L with a R-30iB Mate cabinet Controller and I build a socket communication between my PC and the robot. So i can set a position register with the value i send from the PC. Before moving to this position I would like to check if this position is even reachable. Therefore I try to use the built-in CHECK_EPOS procedure. In the Karel manual is the following syntax for this procedure:

Syntax :CHECK_EPOS (eposn, uframe, utool, status <, group_no>)

Input/Output Parameters :

[in] eposn :XYZWPREXT

[in] uframe :POSITION

[in] utool :POSITION

[out] status :INTEGER

[in] group_no:INTEGER

%ENVIRONMENT Group :PBCORE

Details

:•eposnis the XYZWPREXT position to be checked.

•uframespecifies the uframe position to use witheposn.

•utoolspecifies the utool position to use witheposn.

•statusexplains the status of the check. If the position is reachable, the status will be 0.

•group_no is optional, but if specified will be the group number foreposn. If not specified thedefault group of the program is used.

My problem is that i don't get the values for the parameters uframe and utool. Is there a way to set a user defined variable in the data type position to the Tool Number 1 (e.g.) and the frame to the world frame/ user frame whatever?

I already tried to set a Position variable for the uframe like this:

WORLD:POSITION

WORLD.location.x=0

WORLD.location.y=0

WORLD.location.z=0

but then i can't set the Orientation or even set the tool. Does anybody knows a way to just set my variable to the tool or frame with the number (1,2,3,4,....)??
Thanks a lot for any help!

Thanks a lot for your help!

I solved my problem:

I haven't give the control of the motion group. Therefore I had to use the UNLOCK_GROUP procedure (and the %TPMOTION directive, but not sure if this is necessary) to do this.

That's a bit weird, because I have the %NOLOCKGROUP directive at the beginning and I actually tried this before. But now it works

I don't know

My Karel Program can't run a motion program. Either if it's running or aborted ... i think so

Okay, thanks for your help. Maybe i'll find a solution.

Yea I need to do it with Karel cause I want to controll the robot with a Windows PC, because I have to integrate the robot control into an existing software. So therefore i build up a socket messaging connection and send some data between them to start programms, edit Position registers or get the current position

Yes I am pretty sure. I cold started the controller before running the code and i tried it with abort all, several times

When i set the group mask to * there is no point or touchup , so i am not able to put a motion inside of it

and when there is motion in the program i can't set the group mask to *

Yes i checked the alarm history, there isn't more than:

INTP-105 Run request failed

Quote from TitusLepic

From your program list, select your program and hit "detail" (F2). If F2 is "create," hit the next button and it will be detail. Set the group mask to be all asterisks.

Thank you! That worked

But it only works, if there is no motion in the program. And this program needs the permission to move the robot by setting the Group mask to a number (1-..)??

%NOLOCKGROUP ist at the top of the KAREL code. Do i need other procedures do run a task in a motion group?

Thanks for your fast reply!

I didn't set any motion groups, so i think they should be in default.

When I go throug MENU-Utilities-Group Exchg i got the following screen:

I am not sure what i am supposed to do there

Hi,

i am trying to run a TP program with the built-in procedure RUN_TASK (Karel). I can call a TP Program with the CALL_PROG procedure but i want to have the possibility to abort the program by starting (RUN_TASK with higher priority) a Aborting Program. So i want to run it simultaneously in a task.

I always get the error: INTP-105 Run request failed. How can i fix it? Do I have to play around with the motion groups? I am not so much into the motion group topic..

I have btw a : LR Mate 200iD/7L with a R-30iB Mate cabinet Controller

I tried different variations in my parameters (RUN_TASK('TESTJOB',0,FALSE,TRUE,1,status) etc.)

and i tried to Lock and Unlock the motion group with the built in procedure LOCK_GROUP and UNLOCK_GROUP(1,status)

nothing worked

Does anybody has an idea what i am doing wrong?

RUN_TASK('TESTJOB',0,FALSE,FALSE,1,status)

The problem ist solved! and it was a stupid mistake..

The Pc file doesn't appear in the list with the name of the file. It appears with the name of the program given in the code,,

Thanks for your help

There is no error. It refreshs the program list but my PC file doesn't appear

Hi,

i am trying to build a socket Messaging between a LR Mate 200iD/7L with a R-30iB Mate cabinet Controller and the Windows 10 PC. Therefore i try to build a Socket Messaging with a Karel Program.

I created a new kl.file in roboguide and compilated it to a pc.file. Then i wanted to load it onto the robot (right click - load) but nothing happens.

The Karel Option is activated in Roboguide and the variable $KAREL_ENB is set on 1. I can see other PC files but can't load my own.

When i start the KCL command window there comes the following error:

KCL is not available on the active robot controller. Please confirm that a PORT is assigned to KCL/CRT.

What am i doing wrong?

I am grateful for any help