Posts by Damek123

Well, it doesn't have to be python. I said that because I was thinking that was the easiest way. What I want to do is to try to read the serial number from a cylinder and convert it to a string. Is that possible in IR vision? Do You maybe have some examples? Do You have advice about what functions do I need to use? Do I need to use Karel? Any advice on what's the easiest way to do that?

I will use a standard Fanuc industrial camera, nothing special. I just want some guidelines on how to start.

Thanks!

Greetings,

I would like to analyze pictures taken by a camera on my Fanuc robot. I want to make that a loop process. So every picture that the camera takes needs to be sent to a python app and then the app should work with the picture and when it's done robot needs to take another picture and repeat the process. Any advice? I was thinking of some kind of TCP/IP communication via Karel? Since I didn't work with IR vision before can you give me some advice? Where to start (some example, manual, what functions in Karel do I need to use, etc.)?

Thank You!

Quote from jmd2777

Its possible that its just the graphics lagging in Roboguide.

Yeah, I think so too. I will test it soon on a real robot.

Thanks!

Here is the full code. The idea is that the Karel program works in the background and on the Python app demands changes DO and get register values. I tested locally and everything works. The problem is only that when I run simultaneously Karel and TP program (a simple program that moves the robot through few points) the robot in Roboguide starts lagging and moving in big steps. I tried with a few delays but that didn't help. Any other ideas?

Thank you!

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

PROGRAM kc_test

%STACKSIZE = 4000

%NOLOCKGROUP

%NOPAUSE=ERROR+COMMAND+TPENABLE

%ENVIRONMENT uif

%ENVIRONMENT sysdef

%ENVIRONMENT kclop

%ENVIRONMENT bynam

%ENVIRONMENT fdev

%ENVIRONMENT flbt

%ENVIRONMENT REGOPE

%INCLUDE klevccdf

%INCLUDE klevkeys

%INCLUDE klevkmsk

VAR

file_var : FILE

tmp_int : INTEGER

tmp_str : STRING[128]

status : INTEGER

entry : INTEGER

loop1 : BOOLEAN

broj_kom : INTEGER

status_2 : INTEGER

broj_kom_str : STRING[128]

r_val : REAL

rflag : BOOLEAN

BEGIN

MSG_DISCO('C1:',status)

label::

DELAY 100

SET_FILE_ATR(file_var, ATR_IA)

SET_VAR(entry, '*SYSTEM*','$HOSTC_CFG[1].$SERVER_PORT',8000,status)

WRITE(' VAR status = ',status,CR)

MSG_CONNECT('C1:',status)

WRITE(' Connect status = ',status,CR)

loop1 = TRUE

IF status = 0 THEN

WHILE loop1 = TRUE DO

DELAY 100

WRITE('Opening file...',CR)

OPEN FILE file_var('rw','C1:')

status = IO_STATUS(file_var)

IF status = 0 THEN

WRITE('Waiting to read from server...')

DELAY 100

READ file_var(tmp_str::2)

WRITE('Read: ',tmp_str::2,CR)

DELAY 100

IF tmp_str = 'P1' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[5] = ON

DELAY 500

ENDIF

IF tmp_str = 'P2' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[6] = ON

ENDIF

IF tmp_str = 'P3' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[7] = ON

ENDIF

IF tmp_str = 'P6' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[8] = ON

ENDIF

IF tmp_str = 'P9' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[9] = ON

ENDIF

IF tmp_str = '12' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[10] = ON

ENDIF

IF tmp_str = 'S6' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[11] = ON

ENDIF

IF tmp_str = 'S9' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[12] = ON

ENDIF

IF tmp_str = '13' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[13] = ON

ENDIF

IF tmp_str = '14' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[14] = ON

ENDIF

IF tmp_str = 'F6' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[15] = ON

ENDIF

IF tmp_str = '15' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[16] = ON

ENDIF

IF tmp_str = 'F9' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[17] = ON

ENDIF

IF tmp_str = 'CO' THEN

FOR tmp_int = 1 TO 18 DO

DOUT[tmp_int] = OFF

ENDFOR

DOUT[1] = ON

DOUT[2] = ON

ENDIF

IF tmp_str = '99' THEN

DOUT[4] = ON

CLOSE FILE file_var

MSG_DISCO('C1:',status)

GOTO label

ENDIF

IF tmp_str = 'BR' THEN

GET_REG(1, rflag, broj_kom, r_val, status_2)

CNV_INT_STR(broj_kom, 0, 0, broj_kom_str)

WRITE file_var(broj_kom_str)

CLOSE FILE file_var

ENDIF

IF tmp_str = 'RS' THEN

SET_REAL_REG(1,0, status_2)

DELAY 50

GET_REG(1, rflag, broj_kom, r_val, status_2)

CNV_INT_STR(broj_kom, 0, 0, broj_kom_str)

WRITE file_var(broj_kom_str)

CLOSE FILE file_var

ENDIF

CLOSE FILE file_var

ELSE

GOTO label

ENDIF

ENDWHILE

ENDIF

DELAY 200

GOTO label

END kc_test

PROGRAM kc

%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

s : STRING[25]

BEGIN

MSG_DISCO('C1:',status)

label::

DELAY 100

SET_FILE_ATR(file_var, ATR_IA)

SET_VAR(entry, '*SYSTEM*','$HOSTC_CFG[1].$SERVER_PORT',8000,status)

WRITE(' VAR status = ',status,CR)

MSG_CONNECT('C1:',status)

WRITE(' Connect status = ',status,CR)

DELAY 100

IF status = 0 THEN

WRITE(' spojeno',status,CR)

MSG_DISCO('C1:',status)

DELAY 100

WRITE(' Odspojeno',status,CR)

ENDIF

DELAY 100

GOTO label

END kc

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

Yes, I tried with a few delays but I still get the same behavior.

Thank You, I didn't know that. However, I tried to add some delays into the code but it still doesn't work correctly.

Every time when my loop is iterating in Karel the robot moves with lag. If I put a delay to 3000 for example, the lag occurs every 3 s. Any advice on how to solve that? (I am doing everything in Roboguide for now so I don't know if a real robot will behave in the same way).

I managed to establish a connection and run a simple program in Karel and in TP in parallel.

But I have a problem with Roboguide. It keeps crashing every time I manage to establish a connection. Also when I run Karel script parallel with a simple TP program (movements between two points) everything starts lagging and robot movements are very slow and in big steps.

What am I doing wrong? I attached Karel program and TP program.

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

PROGRAM kc

%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

label::

SET_FILE_ATR(file_var, ATR_IA)

SET_VAR(entry, '*SYSTEM*','$HOSTC_CFG[1].$SERVER_PORT',8000,status)

WRITE(' VAR status = ',status,CR)

MSG_CONNECT('C1:',status)

WRITE(' Connect status = ',status,CR)

IF status = 1 THEN

GOTO label_2

ENDIF

GOTO label

label_2::

MSG_PING('C1:',status)

IF status = 0 THEN

MSG_DISCO('C1:',status)

WRITE('Disconnect status=',status,CR)

GOTO label

ENDIF

GOTO label_2

END kc

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

tp program:

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

RUN kc

LBL[1]

J PR[1] FINE 100%

J PR[2] FINE 100%

JLBL[1]

I managed to establish a connection. My next question is how to run the Karel program for connecting to the server and collecting data in the background? I don't want to call it from TP. I want to run it every time I start the controller. Is this possible?

I tried to follow this topic :

TCP Karel Client not connecting to server

I did everything exactly the same but I am still not able to connect to my server.

What am I doing wrong? Do I need to adjust the client tag setup or something if I want to use Roboguide instead of a real robot?

Thank You!

Thank You. I am currently trying to establish a connection between the Fanuc robot in Roboguide and my Python app.

Is this even possible? I want the robot to be a client and the app needs to act as a server. Is it possible to simulate that kind of connection in Roboguide? Or it needs to be done on a real robot?

Thank You!

Quote from SkyeFire

Have you tested this using a "raw" browser command first? Typically, for a RoboGuide virtual robot, you should be able to point a browser directly to "http://localhost/KAREL/prvi?object=DOUT", and see that the string variable Object becomes "DOUT". Any errors in the KRL will be shown on the virtual pendant, so make sure you have it active.

For testing this way, it would also help if you set up a return string to the browser, as shown in the Internet Options manual.

That was the problem. I fixed it and it worked.

Thank You!

Greetings,

I want to make Python app that would communicate with Fanuc robot via TCP/IP. The goal is to select a program to run on TP.

I believe that I need to use Karel to read data from Python app. Is it possible to get some small piece of code as an example of how to do that?

I am totally new in Karel so it would be very helpful just to try some simple example of reading data and calling program in Karel via TCP/IP.

Thank You!

Greetings I need help.

I am doing a custom Html page to control Fanuc robot I/O. I am doing this with help of Karel.

Here are the programs. HTML program for sending data and Karel program for receiving data.

I don't know why they won't work. Please help me. I picked KAREL 632 during configuration of my cell and Karel is unlocked in TP.

The HTML page is saved in MC folder in My workcells.

KAREL

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

PROGRAM prvi -- svaki program mora zapoceti s "PROGRAM" nakon cega slijedi ime programa

%NOLOCKGROUP -- grupe moraju biti otkljucane da bi program radio

VAR -- sve varijable koje se koriste u programu moraju se definirati

object : STRING[12]

operate : STRING[12]

INDEX : STRING[12]

value : STRING[12]

uobject : STRING[12] -- duple varijable koje ce se koristiti za prebacijavje teksta u velika slova

uoperate: STRING[12]

uindex : STRING[12]

uvalue : STRING[12]

value_i : INTEGER -- ostale varijable

value_r : REAL

index_i: INTEGER

status : INTEGER

i : INTEGER

return_code : INTEGER

ROUTINE toupper(p_char: INTEGER): STRING -- prebacivanje ulaza u velika slova

BEGIN

IF (p_char > 96) AND (p_char < 123) THEN

p_char = p_char - 32

ENDIF

RETURN (CHR(p_char))

END toupper

BEGIN

IF UNINIT(object) THEN object = ''; ENDIF -- provjera neinicializiranih varijabli prije korištenja

IF UNINIT(operate) THEN operate = ''; ENDIF

IF UNINIT(INDEX) THEN INDEX = ''; ENDIF

IF UNINIT(value) THEN value = ''; ENDIF

uobject = ''

FOR i = 1 TO STR_LEN(object) DO

uobject = uobject + toupper(ORD(object, i))

ENDFOR

uoperate = ''

FOR i = 1 TO STR_LEN(operate) DO

uoperate = uoperate + toupper(ORD(operate, i))

ENDFOR

uindex = ''

FOR i = 1 TO STR_LEN(INDEX) DO

uindex = uindex + toupper(ORD(INDEX, i))

ENDFOR

uvalue = ''

FOR i = 1 TO STR_LEN(value) DO

uvalue = uvalue + toupper(ORD(value, i))

ENDFOR

IF (uobject = 'DOUT') THEN

IF (uoperate = 'SET') THEN

CNV_STR_INT(uindex, index_i)

IF (uvalue = 'ON') THEN

DOUT[index_i] = ON

ENDIF

IF (uvalue = 'OFF') THEN

DOUT[index_i] = OFF

ENDIF

ENDIF

ENDIF

IF (uobject = 'NUMREG') THEN

CNV_STR_INT(uindex, index_i)

IF (uoperate = 'SETINT') THEN

CNV_STR_INT(uvalue, value_i)

SET_INT_REG(index_i, value_i, status)

ENDIF

IF (uoperate = 'SETREAL') THEN

CNV_STR_REAL(uvalue, value_r)

SET_REAL_REG(index_i, value_r, status)

ENDIF

ENDIF

return_code = 204 -- povratak NO RESPONSE koda - potrebno

END prvi -- svaki program mora završiti s "END" nakon cega slijedi ime programa

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

HTML PROGRAM

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

<!DOCTYPE html>

<html lang="hr-HR">

<head>

<meta charset=UTF-8>

<div align="mid">

<title>FANUC WEB WIZARD - Paletizacija</title> </div>

</head>

<body bgcolor="#4169E1">

<h2>

<font color="#FFFFFF">

</fontcolor>Primjeri mogućeg sadržaja:

</h2>

<table>

<tr>

<h3>1. Postavljanje digitalnih izlaza:</h3>

<td>

<form action="C:\Users\kovad\OneDrive\Dokumenti\My Workcells\Projekt_IRM\Robot_1\MC\prvi" method="GET"> <!--link na karel program-->

<div align="left">

<input type="hidden" name="object" value="DOUT">

<input type="hidden" name="operate" value="set">

<input type="hidden" name="index" value="1"> <!--broj izlaza koji se mijenja-->

<input type="hidden" name="value" value="ON">

<input type="submit" value="Upali DOUT[1]">

</div>

</form>

</td>

<td>

<form action="C:\Users\kovad\OneDrive\Dokumenti\My Workcells\Projekt_IRM\Robot_1\MC\prvi" method="GET"> <!--link na karel program-->

<div align="left">

<input type="hidden" name="object" value="DOUT">

<input type="hidden" name="operate" value="set">

<input type="hidden" name="index" value="1"> <!--broj izlaza koji se mijenja-->

<input type="hidden" name="value" value="OFF">

<input type="submit" value="Ugasi DOUT[1]">

</div>

</form>

</td>

</tr>

</table>

<table>

<tr>