I have a problem with RG (software in robot 6.30) - I'm able to create a KL file, but can't compile it - there's no possibility to choose "Built" field.
Posts by neighbour1
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I need to compile a karel prog to R-J3iB controller.
Is it possible to do it with RG or at that time there was only OLPC to do it?
Thanks a lot for help.
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Some addtitional questions at the beginning:
1. What type of device do you use for making backup?
2. What settings do you have in Port init screen?
3. Which port do you use for making backup?
4. What kind of cable do you use to communicate with PC?
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No problem
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Close the controller door, check E-STOP circuit - if any ESTOP button pressed, etc.
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neighbour1
How do yo do that ? because right now I can change the uf and ut (shift+coord) at any time and if the PLC is reading it, it would react different
I always do it like:
$MNUFRAME_NUM = 2
$MNUTOOL_NUM = 1
and then run it in BG (fast if needed) and then you block also when pressing SHIFT + COORD
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UPDATE again
Bad news
I used simulation.
I created a box under UF2 then I select on pendant UF4 . Using the same tool and it works
The bad news
If I changed the tool, lets say tool 0 (0.0.0.0.0,0) but I still have the physical tool mounted. I will crash the dial because the space check function was reading tool 0 but I actually had a tool 1 on the robot
Why don't you just block your UF and UT number (from the program and also SHIFT + COORD), for instance you block it for always using UF2 and UT1, then you always have the same conditions?
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Do you have the button on TP? Previous versions of TP don't have it at all, and active group was changed via FCTN menu or SHIFT + COORD.
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No. I don't think the FOR TP instruction came out until version 8.3.
Right.
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There wasn't any at the time.
Just use IFs instead as Hawk said.
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Hi neighbour1,
as far i know, its not possible to run a macro with TP = ON. If you need TP = ON try it wit UK or MF.
R47 you were right, I just looked to the manual and when TP is ON there's only the posibility to start macro using: UK, SU or MF.
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I think your only option is to run that Karel program at startup and have a continuous loop, just like a BG logic program, but with a time delay so it doesn't bog down the cpu.
Heh... I thought about it, but this is just what I wanted to avoid to use
But maybe there's no other way...
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It seems like there would be a command to call a UALM, but I guess theres not.
What about using POST_ERR command and sending the UALM code INTP-213?
The facility code for INTP is 12. So it would be something like:
POST_ERR(12213,'cause_code', 0,1)
But I don't know exactly what you would use for the other parameters.
Hmmm... nice idea, I'll try to do it , and we'll see
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Call a TP program with an argument for the UALM number. The TP program would have 1 line of code.
:. UALM[AR[1]];
Generally it's easy, right, but not in this case.
What I want to do: I want to monitor a space (3D using Space fctn.), then when robot enters the space (in manual mode = TP ON) I want to run the karel prog (using other task, not interrupting the main TP program, which could be PAUSED), make some calculations, and then basing on the result post UALM or not.
That's why I wanted to call it from karel, not from standard TP program with AR.
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I'd like to run karel prog, but I want it to be started using DI of F, as a macro (defined in Macro command sreen).
Everything is fine since my DI comes - system forces me to turn off the TP, but I want to run it with TP = ON (manual mode).
Maybe it's a problem with motion groups? In my karel prog I do have %NOLOCKGROUP but do I need something else?
Could you please suggest me something how to solve it?
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Is there any way to "call" user alarm using Karel?
In the standard TPE line there's a command eg. UALM[1].
How to do it using Karel?
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Does anyone know if there's a function which calculates minumum and maximum value from the specified list of variables usung Karel?
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I would like to run payload identification, but I have fairly large effector and very small cell. It can be executed only in AUTO, but I want to test it in T1 first with limited speed, since I don't know what kind of motions I can expect. Is that possible?
Or you can just write a single program with two points exactly the same as in payload ident and run it.
To the payload identification be sure you don't use the "ESTIMATION BY 3 MOTIONS", because robot moves a little bit differently
And one more important thing - don't use "mass unknown" - just write the proper mass and then run identification - otherwise it doesn't work properly.
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One of the TP button is "pressed" all the time (= blocked) and that's why robot boots in this mode. I don;t remember exactly which was the button...
Desassemble the TP and try to figure it out, sometimes it helps just to press it and it releases.
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Nation is right - grease on the brake disc. Right now only motor exchange or motor disassemble and cleaning the brake disc.