FANUC Robotics SYSTEM R-30iA and R-30iB Controller. KAREL Reference Manual

MARRC75KR07091E Rev D

11. SOCKET MESSAGING

11.3

CONFIGURING THE SOCKET MESSAGING OPTION

11.3.1

Overview

In order to use Socket Messaging, you need to configure the following network hardware and

software parameters:

• On the server,

— The port you want to use for socket messaging

• On the client,

— The IP address or name of your server

— The port on the server that you want to use for socket messaging.

Use Procedure 11-1 to set up a Socket Messaging Server Tag. Use Procedure 11-2 to set up a Socket

Messaging Client Tag.

Note The server port at which the server listens on should match the port the client tries to connect on.

11.3.2

Setting up a Server Tag

You need configure the server tags you want to use for socket messaging. Use Procedure 11-1 to

set up your server tags.

Note If the server tags you want to use are being used by a network protocol other than TCP/IP, you

need to undefine the tags before they can be used for socket messaging. After making sure the tag you

want to use is not critical to another component of your network, you must undefine the tag.

Procedure 11-1

Setting up a Server Tag

Conditions

• The tag you want to set up is not configured to be used by another device on your network.

Steps

1. Cold start the controller.

a. On the teach pendant, press and hold the SHIFT and RESET keys. Or, on the operator

panel, press and hold RESET.

b. While still pressing SHIFT and RESET on the teach pendant (or RESET on the operator

panel), turn on the power disconnect circuit breaker.

c. Release all of the keys.

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2. On the teach pendant, press MENUS.

3. Select SETUP.

4. Press F1, [TYPE].

5. Select Host Comm.

6. Press F4, [SHOW].

7. Choose Servers.

8. Move the cursor to the tag you want set up for Socket Messaging, and press F3, DETAIL.

You will see screen similar to the following.

SETUP Tags

Tag S3:

Comment:

****************

Protocol Name:

********

Current State:

UNDEFINED

Startup State:

Server IP/Hostname:*****************

Remote Path/Share: *****************

Port:

*****

Inactivity Timeout:

15 min

Username:

anonymous

Password

**********

9. Move the cursor to Protocol name, and press F4, [CHOICE].

10. Select SM.

11. Move the cursor to Startup State, and press F4, [CHOICE].

12. Select START.

13. Press F2, [ACTION].

14. Select DEFINE.

15. Press F2, [ACTION].

16. Select START.

17. Set the system variable:

a. Press MENUS.

b. Select NEXT.

c. Select SYSTEM, and press F1, [TYPE].

d. Select Variables.

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e. Move the cursor to $HOSTS_CFG, and Press ENTER.

f. Move the cursor to the structure corresponding to the tag selected in Step 8 . For example,

if you are setting up tag S3, move the cursor structure element [3], as shown in the

following screen.

SYSTEM Variables

$HOSTS_CFG

[1]

HOST_CFG_T

[2]

HOST_CFG_T

[3]

HOST_CFG_T

[4]

HOST_CFG_T

[5]

HOST_CFG_T

[6]

HOST_CFG_T

[7]

HOST_CFG_T

[8]

HOST_CFG_T

g. Press ENTER. You will see a screen similar to the following.

SYSTEM Variables

$HOSTS_CFG[3]

$COMMENT

*uninit*

$PROTOCOL

’SM’

$PORT

*uninit*

$OPER

$STATE

$MODE

*uninit*

$REMOTE

*uninit*

$REPERRS

FALSE

$TIMEOUT

$PATH

*uninit*

$STRT_PATH

*uninit*

$STRT_REMOTE

*uninit*

$USERNAME

*uninit*

$PWRD_TIMOUT

$SERVER_PORT

h. Move the cursor to $SERVER_PORT. Type in the name of the TCP/IP port you want to

use for socket messaging. The server tag is now ready to use from a KAREL program.

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11.3.3

Setting up a Client Tag

You need configure the client tags you want to use for socket messaging. Use Procedure 11-2 to set up

your server tags. You can also use Procedure 11-2 to undefine tags.

Note If the client tags you want to use are being used by a network protocol other than TCP/IP, you

need to undefine the tags before they can be used for socket messaging.

Procedure 11-2

Setting up a ClientTag

Conditions

• The tag you want to set up is not configured to be used by another device on your network.

Steps

1. Cold start the controller.

a. On the teach pendant, press and hold the SHIFT and RESET keys. Or, on the operator

panel, press and hold RESET.

b. While still pressing SHIFT and RESET on the teach pendant (or RESET on the operator

panel), turn on the power disconnect circuit breaker.

c. Release all of the keys.

2. On the teach pendant, press MENUS.

3. Select SETUP.

4. Press F1, [TYPE].

5. Select Host Comm.

6. Press F4, [SHOW].

7. Choose Clients.

8. Move the cursor to the tag you want set up for Socket Messaging, and press F3, DETAIL.

You will see screen similar to the following.

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SETUP Tags

Tag C3:

Comment:

****************

Protocol Name:

********

Current State:

UNDEFINED

Startup State:

Server IP/Hostname:****************

Remote Path/Share: ****************

Port:

*****

Inactivity Timeout:

15 min

Username:

anonymous

Password

**********

Move the cursor to the Protocol Name item, and press F4, [CHOICE].

10. Select SM.

11.

Move the cursor to the Startup State item, press F4, [CHOICE], and choose DEFINE.

12.

Move the cursor to the Server IP/Hostname item, and press ENTER.

13. Type in hostname or IP address the of the remote host server you want to use for socket

messaging.

Note If you are not using DNS, you must add the remote host and its IP address into the host

entry table.

14. Press F2, [ACTION], and select DEFINE.

15. Set the system variable:

a. Press MENUS.

b. Select NEXT.

c. Select SYSTEM, and press F1, [TYPE].

d. Select Variables.

e. Move the cursor to $HOSTC_CFG, and press ENTER.

f. Move the cursor to the structure corresponding to the tag selected in Step 8 . For

example, if you are setting up tag C3, move the cursor structure element [3], as shown

in the following screen.

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SYSTEM Variables

$HOSTC_CFG

[1]

HOST_CFG_T

[2]

HOST_CFG_T

[3]

HOST_CFG_T

[4]

HOST_CFG_T

[5]

HOST_CFG_T

[6]

HOST_CFG_T

[7]

HOST_CFG_T

[8]

HOST_CFG_T

g. Press ENTER. You will see a screen similar to the following.

SYSTEM Variables

$HOSTC_CFG[3]

$COMMENT

*uninit*

$PROTOCOL

’SM’

$PORT

*uninit*

$OPER

$STATE

$MODE

*uninit*

$REMOTE

*uninit*

$REPERRS

FALSE

$TIMEOUT

$PATH

*uninit*

$STRT_PATH

*uninit*

$STRT_REMOTE

*uninit*

$USERNAME

*uninit*

$PWRD_TIMOUT

$SERVER_PORT

h. Move the cursor to $SERVER_PORT. Type in the name of the TCP/IP server port you want

to use for socket messaging. The client tag is now ready to use from a KAREL program.

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11.4

SOCKET MESSAGING AND KAREL

11.4.1

Overview

Socket messaging is an integrated component of KAREL. When you use socket messaging functions

and utilities from a KAREL program, the syntax is similar to other file read and write operations,

except that you need to establish a network connection when you use socket messaging functions

and utilities.

The following KAREL socket messaging functions and utilities enable the server to establish a

connection with a remote host on your network. There are several KAREL program samples in this

section that provide examples of how these functions and utilities can be used with KAREL file

read and write functions and utilities to write a complete Socket Messaging KAREL client or a

server program or application. The Environment flbt statement is required to use any of the listed

builtins (%ENVIRONMENT flbt).

11.4.2

MSG_CONN( string, integer )

MSG_CONN needs to be called before any tag can be used for socket messaging.

The first parameter of this command contains the tag name ("S1:" for example) and the second

parameter is an integer that will contain the status of the operation. If you are using this command to

connect to a server tag, this command will return a status value only after a remote client device has

established a connection with this server tag.

If you are using this command to connect to a client tag, this command will return a status value only

if the remote server is attempting to accept the connection. If the connection was successful, the

command will return a value indicating a successful connection was made. If the connection was not

successful, the command will return a value indicating that a connection error has occurred.

During a socket messaging session, you must use MSG_DISCO to close the socket connection with a

client or server tag before any subsequent attempts to connect to the same client or server tag can be

made using MSG_CONN.

11.4.3

MSG_DISCO( string, integer )

MSG_DISCO is used to close socket messaging connections. If a connection is lost, perhaps because

a READ or WRITE error occurred when the remote server terminated a socket messaging connection,

you will need to use MSG_DISCO to close the connection to the remote server. In this case,

MSG_DISCO must be used to close the connection at the client side before MSG_CONN can be used

to establish another connection to the remote server.

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The first parameter of this command contains the tag name (e.g. "S1:") and the second parameter is an

integer value that indicates the status of closing the connection on the client side.

11.4.4

MSG_PING( string, integer )

MSG_PING is a utility command used to check network connections with a remote host, so that you

can determine if it is currently connected to the network. The MSG_PING command sends ping

packets to the remote host and waits for a reply. (Ping packets are chunks of data that are transferred

between hosts on a network. ) If there is no reply from the remote host, this usually means that you

will not be able to use other network protocols like FTP, TELNET, or Socket Messaging to connect to

that host. If you have attempted without success to use Socket Messaging to connect to a remote host,

the MSG-PING utility is a good place to start in trying to diagnose the problem.

The first parameter of this command contains the name of the remote host to ping. If you are not

using DNS on your network, the host name and IP address of the remote host will have to exist in

the Host Entry table.

11.4.5

Exchanging Data during a Socket Messaging Connection

After you have successfully established a socket messaging connection, you can use KAREL

commands to exchange data between connected devices. KAREL has several commands that can be

used for data exchange operations:

• OPEN FILE

• WRITE

• READ

• BYTES_AHEAD

Refer to the KAREL Reference Manual for details.

11.5

NETWORK PERFORMANCE

11.5.1

Overview

Performance of socket messaging on your network will vary depending upon the number of devices

connected to the network, the number of applications being run on the controller, the network cabling

configuration, and number of hops that the message will have to make to reach its destination device.

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Note Hops is a term that indicates the number of routers between the source host and destination

host. In general, the fewer the number of hops the data makes from router to router, the faster the

data is transmitted between the source and destination hosts. Data transfer is fastest between hosts

on the same network.

11.5.2

Guidelines for a Good Implementation

Use the following guidelines when implementing a solution for any application using socket

messaging.

• You must not transfer small data separately, instead gather the data and transfer as a larger

packet. This applies to both read and write.

• You must understand that the rate of data does not flood the remote side.

• You must understand that there are other nodes on the Ethernet network so performance cannot

be guaranteed.

• You must understand that other applications on robot also use TCP/IP and performance can be

affected.

11.6

PROGRAMMING EXAMPLES

11.6.1

This section contains programming examples for a KAREL socket messaging client, and a KAREL

socket messaging server. There is also a UNIX-based ANSI C example for a loopback client

application, which assumes that you have access to a UNIX-compatible ANSI C compiler, and a basic

knowledge of programming in the ANSI C language.

Note The KAREL examples assume the appropriate tags (C2 for client and S3 for Server) have been

setup for socket messaging using Procedure 11-1 and Procedure 11-2 .

11.6.2

A KAREL Client Application

A KAREL Client Application provides code for a basic KAREL client application that can be used to

establish a socket messaging connection to a remote host, which could be the KAREL server socket

messaging application shown in KAREL Server Application .

A KAREL Client Application

This material is the joint property of Fanuc Robotics Corporation and

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FANUC LTD Japan, and must be returned to either Fanuc Robotics

Corporation or FANUC LTD Japan immediately upon request. This material

and

the information illustrated or contained herein may not be

reproduced, copied, used, or transmitted in whole or in part in any way

without the prior written consent of both Fanuc Robotics and FANUC

2000

Fanuc Robotics Corporation

FANUC LTD Japan

Karel is a registered trademark of

Fanuc Robotics Corporation

Program: loopcl.kl - Program for TCP Messaging

Description:

This program serves as an example on how to use TCP messaging

and write a client Karel program.

Authors: Fanuc Robotics Corporation

3900 West Hamlin

Rochester Hills, MI 48309

Modification history:

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

PROGRAM loopcl

%STACKSIZE = 4000

%NOLOCKGROUP

%NOPAUSE=ERROR+COMMAND+TPENABLE

%ENVIRONMENT uif

%ENVIRONMENT sysdef

%ENVIRONMENT memo

%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]

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status

: INTEGER

entry

: INTEGER

loop1

: BOOLEAN

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

BEGIN

SET_FILE_ATR(file_var, ATR_IA)

SET_VAR(entry, ’*SYSTEM*’,’$HOSTC_CFG[2].$SERVER_PORT’,59002,status)

-- Connect the tag

WRITE(’Connecting..’,cr)

MSG_CONNECT(’C2:’,status)

WRITE(’ Connect Status = ’,status,cr)

loop1 = TRUE

status = 0 THEN

WHILE loop1 = TRUE DO

WRITE(’Opening File..’,cr)

OPEN FILE file_var(’rw’,’C2:’)

status = IO_STATUS(file_var)

IF status = 0 THEN

FOR tmp_int = 1 TO 100 DO

tmp_str = ’0123456789012345’

WRITE file_var(tmp_str::10)

WRITE(’Wrote 126 Bytes’,cr)

IF status <> 0 THEN

WRITE(’Loop Test Fails’,cr)

loop1 = FALSE

tmp_int = 100

ELSE

WRITE(’Read 126 Bytes’,cr)

READ file_var(tmp_str::10)

status = IO_STATUS(file_var)

WRITE(’Read Status ’,status,cr)

ENDIF

ENDFOR

WRITE(’Closed File’,cr)

CLOSE FILE file_var

ELSE

WRITE(’Error Opening File’,cr)

loop1 = FALSE

ENDIF

ENDWHILE

WRITE(’Disconnecting..’,cr)

MSG_DISCO(’C2:’,status)

WRITE(’Done.’,cr)

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ENDIF

END loopcl

11.6.3

A KAREL Server Application

KAREL Server Application provide code for a basic KAREL server application that can be used to

host a socket messaging connection made by a remote client, which could be the KAREL client socket

messaging application shown in A KAREL Client Application .

KAREL Server Application

This material is the joint property of Fanuc Robotics Corporation and

FANUC LTD Japan, and must be returned to either Fanuc Robotics

Corporation or FANUC LTD Japan immediately upon request. This material

and the information illustrated or contained herein may not be

reproduced, copied, used, or transmitted in whole or in part in any way

without the prior written consent of both Fanuc Robotics and FANUC.

Fanuc Robotics Corporation

FANUC LTD Japan

Karel is a registered trademark of

Fanuc Robotics Corporation

Program: tcpserv3.kl - Program for TCP Messaging

Description:

This program serves as an example on how to use TCP messaging and write

a server Karel program.

Authors: Fanuc Robotics Corporation

3900 West Hamlin

Rochester Hills, MI 48309

Modification history:

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

PROGRAM tcpserv3

%STACKSIZE = 4000

%NOLOCKGROUP

%NOPAUSE=ERROR+COMMAND+TPENABLE

%ENVIRONMENT uif

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%ENVIRONMENT sysdef

%ENVIRONMENT memo

%ENVIRONMENT kclop

%ENVIRONMENT bynam

%ENVIRONMENT fdev

%ENVIRONMENT flbt

%INCLUDE klevccdf

%INCLUDE klevkeys

%INCLUDE klevkmsk

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

VAR

file_var : FILE

tmp_int

: INTEGER

tmp_int1 : INTEGER

tmp_str

: STRING[128]

tmp_str1 : STRING[128]

status

: INTEGER

entry

: INTEGER

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

BEGIN

SET_FILE_ATR(file_var, ATR_IA)

-- set the server port before doing a connect

SET_VAR(entry, ’*SYSTEM*’,’$HOSTS_CFG[3].$SERVER_PORT’,59002,status)

WRITE(’Connecting..’,cr)

MSG_CONNECT(’S3:’,status)

WRITE(’ Connect Status = ’,status,cr)

IF status = 0 THEN

-- Open S3:

WRITE (’Opening’,cr)

FOR tmp_int1 = 1 TO 20 DO

OPEN FILE file_var (’rw’,’S3:’)

status = IO_STATUS(file_var)

WRITE (status,cr)

IF status = 0 THEN

-- write an integer

FOR tmp_int = 1 TO 1000 DO

WRITE(’Reading’,cr)

-- Read 10 bytes

BYTES_AHEAD(file_var, entry, status)

WRITE(entry, status, cr)

READ file_var (tmp_str::10)

status = IO_STATUS(file_var)

WRITE (status, cr)

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-- Write 10 bytes

WRITE (tmp_str::10, cr)

status = IO_STATUS(file_var)

WRITE (status, cr)

ENDFOR

CLOSE FILE file_var

ENDIF

ENDFOR

WRITE(’Disconnecting..’,cr)

MSG_DISCO(’S3:’,status)

WRITE(’Done.’,cr)

ENDIF

END tcpserv3

11.6.4

ANSI C Loopback Client Example

ANSI C UNIX-Based Loopback Client Example provides an example of a UNIX-based loopback

client that can be used to establish a connection with a remote host.

ANSI C UNIX-Based Loopback Client Example

/* BSD Standard Socket Programming Example - UNIX */

#include <stdio.h>

#include <sys/types.h>

#include <sys/socket.h>

#include <netinet/in.h>

#include <arpa/inet.h>

#define SERV_TCP_PORT 59002

#define SERV_HOST_ADDR "199.5.148.56"

#define MAXLINE 512

int written(int fd, char *ptr, int nbytes);

int readline(int fd, char *ptr, int maxlen);

void str_cli(int sockfd);

char *pname;

int main(int argc, char *argv[])

{

int sockfd;

struct sockaddr_in serv_addr;

pname = argv[0];

bzero((char *) &serv_addr, sizeof(serv_addr));

serv_addr.sin_family = AF_INET;

serv_addr.sin_addr.s_addr = inet_addr(SERV_HOST_ADDR);

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serv_addr.sin_port = htons(SERV_TCP_PORT);

if((sockfd = socket(AF_INET, SOCK_STREAM,0)) < 0){

printf("Client: Can’t Open Stream Socket\n");

}

printf("Client: Connecting...\n");

if(connect(sockfd,(struct sockaddr *) &serv_addr, sizeof(serv_addr))<0){

printf("Client: Can’t Connect to the server\n");

}

else{

str_cli(sockfd);

}

exit(0);

}

void str_cli (int sockfd)

{

int n, i;

char sendline[MAXLINE], recvline[MAXLINE + 1];

while(1)

{

memset (sendline, 2, 128);

if(written(sockfd, sendline, 126)!=126){

printf("strcli:written error on sock\n");

}

i = readline(sockfd, recvline, 126);

}

int readline(int fd, char *ptr, int maxlen)

{

int n, rc;

char c;

for(n = 0; n < maxlen; n++){

if((rc = read(fd, &c, 1)) == 1){

*ptr++ = c;

if(c==’\n’){

break;

}

else if(rc== 0) {

if(n== 0) {

return (0);

}

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12. SYSTEM VARIABLES

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System variables are variables that are declared as part of the KAREL system software. They have

permanently defined variable names that begin with a dollar sign ($). Many system variables are

structure variables , in which case each field also begins with a dollar sign ($). Many are robot

specific, meaning their values depend on the type of robot that is attached to the system.

System variables have the following characteristics:

• They have predefined data types that can be any one of the valid KAREL data types.

• The initial values of the system variables are either internal default values or variables stored in

the default system variable file, SYSDEF.SV.

• When loading and saving system variables from the FILE screen or KCL, the system variable

file name defaults to SYSVARS.SV.

• Access rights govern whether or not you can examine or change system variables.

• Modified system variables can be saved to reflect the current status of the system.

See Also: Chapter 2 LANGUAGE ELEMENTS for more information on the data types available

in KAREL

12.1

ACCESS RIGHTS

The following rules apply to system variables:

• If a system variable allows a KAREL program to read its value, you can use that value in the

same context as you use program variable values or constant values in KAREL programs.

For example, these system variables can be used on the right hand side of an assignment statement

or as a test condition in a control statement.

• If a system variable allows a KAREL program to write its value, you can use that system variable

in any context where you assign values to variables in KAREL programs.

The symbols for the program access rights are listed in Table 12-1 . These symbols are given for each

of the system variables in the FANUC Robotics SYSTEM Software Reference Manual .

Table 12-1. Access Rights for System Variables

Access

Meaning

No access

Read only

Read and write

Field protection; if it is a structure variable, one of the first three access rights will apply.

12-2

Chapter 13

KAREL COMMAND LANGUAGE (KCL)

Contents

Chapter 13

KAREL COMMAND LANGUAGE (KCL)

13-1

13.1

COMMAND FORMAT

13-2

13.1.1

Default Program

13-2

13.1.2

Variables and Data Types

13-3

13.2

PROGRAM CONTROL COMMANDS

13-3

13.3

ENTERING COMMANDS

13-3

13.3.1

Abbreviations

13-4

13.3.2

Error Messages

13-4

13.3.3

Subdirectories

13-4

13.4

COMMAND PROCEDURES

13-4

13.4.1

Command Procedure Format

13-5

13.4.2

Creating Command Procedures

13-6

13.4.3

Error Processing

13-6

13.4.4

Executing Command Procedures

13-6

13-1

13. KAREL COMMAND LANGUAGE (KCL)

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The KAREL command language (KCL) environment contains a group of commands that can be used

to direct the KAREL system. KCL commands allow you to develop and execute programs, work with

files, get information about the system, and perform many other daily operations.

The KCL environment can be displayed on the CRT/KB by pressing MENUS (F10) and selecting

KCL from the menu.

In addition to entering commands directly at the KCL prompt, KCL commands can be executed

from command files.

13.1

COMMAND FORMAT

A command entry consists of the command keyword and any arguments or parameters that are

associated with that command. Some commands also require identifiers specifying the object of the

command.

• KCL command keywords are action words such as LOAD, EDIT, and RUN. Command

arguments, or parameters, help to define on what object the keyword is supposed to act.

• Many KCL commands have default arguments associated with them. For these commands, you

need to enter only the keyword and the system will supply the default arguments.

• KCL supports the use of an asterisk (*) as a wildcard, which allows you to specify a group of

objects as a command argument for the following KCL commands:

— COPY

— DELETE FILE

— DIRECTORY

• KCL identifiers follow the same rules as the identifiers in the KAREL programming language.

• All of the data types supported by the KAREL programming language are supported in KCL.

Therefore, you can create and set variables in KCL.

See Also: Chapter 2 LANGUAGE ELEMENTS , and Chapter 9 FILE SYSTEM ,

13.1.1

Default Program

Setting a program name as a default for program name arguments and file name arguments allows you

to issue a KCL command without typing the name.

The KCL default program can be set by doing one of the following:

• Using the SET DEFAULT KCL command

• Selecting a program name at the SELECT menu on the CRT/KB

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13. KAREL COMMAND LANGUAGE (KCL)

13.1.2

Variables and Data Types

The KCL> CREATE VARIABLE command allows you to declare variables. The KCL> SET

VARIABLE command permits you to assign values to declared variables. Assigned values can

be INTEGER, REAL, BOOLEAN, and STRING data types. Values can be assigned to particular

ARRAY elements or specified PATH nodes. VECTOR variables are assigned as three REAL values,

and POSITION variables are assigned as six REAL values.

See Also: CREATE VARIABLE and SET VARIABLE KCL commands in Appendix C , “KCL

Command Alphabetical Description”

13.2

PROGRAM CONTROL COMMANDS

KCL commands can be used to run programs. In some cases, these programs may cause motion such

as when a teach pendant program is run or when a KAREL program that calls a teach pendant program

is run. The device from which the KCL command is issued must have motion control in order to do

this. Refer to the $RMT_MASTER description in the FANUC Robotics Software Reference Manual

for more information about assigning motion control to a remote device.

Program control commands:

• Can immediately cause robot and/or auxiliary axis motion, or have the potential to cause motion

• Can be executed only if a number of conditions are met

The following commands are program control commands:

• CONTINUE

• RUN

Warning

Be sure that the robot work envelope is clear of personnel before

issuing a program control command or starting a robot that

automatically executes a program at power up. Otherwise, you could

injure personnel or damage equipment.

13.3

ENTERING COMMANDS

You can enter KCL commands only from the CRT/KB.

To enter KCL commands:

13-3

13. KAREL COMMAND LANGUAGE (KCL)

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1. Press MENUS (F10) at the CRT/KB.

2. Select KCL.

3. Enter commands at the KCL prompt.

By entering the first keyword of a KCL command that requires more than one keyword, and by

pressing ENTER, a list of all additional KCL keywords will be displayed.

For example, entering DELETE at the KCL prompt will display the following list of possible

commands: “FILE, NODE, or VARIABLE.”

Note The up arrow key can be used to recall any of the last ten commands entered.

13.3.1

Abbreviations

Any KCL command can be abbreviated as long as the abbreviations are unique in KCL. For example,

TRAN is unique to TRANSLATE and ED , to EDIT.

13.3.2

Error Messages

If you enter a KCL command incorrectly, KCL displays the appropriate error message and returns

the KCL> prompt, allowing you to reenter the command. An up arrow (^) indicates the offending

character or the beginning of the offending word.

13.3.3

Subdirectories

Subdirectories are available on the memory card device. Subdirectories allow both memory cards and

Flash disk cards to be formatted on any MS-DOS file system. You can perform all KCL file related

commands on subdirectories. You can nest subdirectories up to many levels. However, FANUC

Robotics does not recommend nesting subdirectories greater than eight levels.

13.4

COMMAND PROCEDURES

Command procedures are a sequence of KCL commands that are stored in a command file (.CF file

type) and can be executed automatically in sequence.

• Command procedures allow you to use a sequence of KCL commands without typing them

over and over.

• Command procedures are executed using the RUNCF command.

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13. KAREL COMMAND LANGUAGE (KCL)

13.4.1

Command Procedure Format

All KCL commands except RUNCF can be used inside a command procedure. For commands that

require confirmation, you can enter either the command and confirmation on one line or KCL will

prompt for the confirmation on the input line. Confirmation in a Command Procedure displays

CLEAR ALL as the KCL command and YES as the confirmation.

Confirmation in a Command Procedure

Enter command and confirmation on one line:

CLEAR ALL YES

Nesting Command Procedures

Use the following guidelines when nesting command procedures:

• Command procedures can be nested by using %INCLUDE filename inside a command procedure.

• Nesting of command procedures is restricted to four levels.

If nesting of more than four command procedures is attempted, KCL will detect the error and take

the appropriate action based on the system variable $STOP_ON_ERR. Refer to Section 13.4.3

for more information on $STOP_ON_ERR.

See Also: Section 13.4.3 , “Error Processing”

Continuation Character

The KCL continuation character, ampersand (&), allows you to continue a command entry across

more than one line in a command procedure.

You can break up KCL commands between keywords or between special characters.

For example, use the ampersand (&) to continue a command across two lines:

CREATE VAR [TESTING_PROG.]PICK_UP_PNT &

:POSITION

Comments

Comment lines can be used to document command procedures. The following rules apply to using

comments in command procedures:

• Precede comments with two consecutive hyphens ( -- ).

• Comments can be placed on a line by themselves or at the end of a command line.

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13. KAREL COMMAND LANGUAGE (KCL)

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13.4.2

Creating Command Procedures

A command procedure can be created by typing in the list of commands into a command file and

saving the file. This can be done using the full screen editor.

See Also: EDIT KCL commands, Appendix C , “KCL Command Alphabetical Description”

13.4.3

Error Processing

If the system detects a KCL error while a command procedure is being executed, the system handles

the error in one of two ways, depending on the value of the system variable $STOP_ON_ERR:

• If $STOP_ON_ERR is TRUE when a KCL error is detected, the command procedure terminates

and the KCL> prompt returns.

• If $STOP_ON_ERR is FALSE, the system ignores KCL errors and the command procedure

runs to completion.

13.4.4

Executing Command Procedures

Each command in a command procedure is displayed as it is executed unless the SET VERIFY OFF

command is used. Each command is preceded with the line number from the command file. However,

if the file is not on the RD: device, the entire command file is read into memory before execution and

line numbers will be omitted from the display.

Command procedures can be executed using the KCL RUNCF command.

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Chapter 14

INPUT/OUTPUT SYSTEM

Contents

Chapter 14

INPUT/OUTPUT SYSTEM

14-1

14.1

USER-DEFINED SIGNALS

14-2

14.1.1

DIN and DOUT Signals

14-2

14.1.2

GIN and GOUT Signals

14-3

14.1.3

AIN and AOUT Signals

14-3

14.1.4

Hand Signals

14-5

14.2

SYSTEM-DEFINED SIGNALS

14-5

14.2.1

Robot Digital Input and Output Signals (RDI/RDO)

14-6

14.2.2

Operator Panel Input and Output Signals (OPIN/OPOUT)

14-6

14.2.3

Teach Pendant Input and Output Signals (TPIN/TPOUT)

14-17

14.3

Serial Input/Output

14-22

14.3.1

Serial Input/Output

14-22

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14. INPUT/OUTPUT SYSTEM

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The Input/Output (I/O) system provides user access with KAREL to user-defined I/O signals,

system-defined I/O signals and communication ports. The user-defined I/O signals are controlled in a

KAREL program and allow you to communicate with peripheral devices and the robot end-of-arm

tooling. System-defined I/O signals are those that are designated by the KAREL system for specific

purposes. Standard and optional communications port configurations also exist.

The number of user-defined I/O signals is dependent on the controller hardware and on the types and

number of modules selected.

14.1

USER-DEFINED SIGNALS

User-defined signals are those input and output signals whose meaning is defined by a KAREL

program. You have access to user-defined signals through the following predefined port arrays:

• DIN (digital input) and DOUT (digital output)

• GIN (group input) and GOUT (group output)

• AIN (analog input) and AOUT (analog output)

In addition to the port arrays, you have access to robot hand control signals through KAREL OPEN

and CLOSE HAND statements.

14.1.1

DIN and DOUT Signals

The DIN and DOUT signals provide access to data on a single input or output line in a KAREL

program.

The program treats the data as a BOOLEAN data type. The value is either ON (active) or OFF

(inactive). You can define the polarity of the signal as either active-high (ON when voltage is applied)

or active-low (ON when voltage is not applied).

Input signals are accessed in a KAREL program by the name DIN[n], where ‘‘n’’ is the signal number.

Evaluating DIN signals causes the system to perform read operations of the input port. Assigning a

value to a DIN signal is an invalid operation unless the DIN signal has been simulated. These can

never be set in a KAREL program, unless the DIN signal has been simulated.

Evaluating DOUT signals causes the system to return the currently output value from the specified

output signal. Assigning a value to a DOUT signal causes the system to set the output signal to

ON or OFF.

To turn on a DOUT:

DOUT[n] = TRUE or

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14. INPUT/OUTPUT SYSTEM

DOUT[n] = ON

To turn off a DOUT:

DOUT[n] = FALSE or

DOUT[n] = OFF

You assign digital signals to the ports on I/O devices using teach pendant I/O menus or the KAREL

built-in routine SET_PORT_ASG.

14.1.2

GIN and GOUT Signals

The GIN and GOUT signals provide access to DINs and DOUTs as a group of input or output signals

in a KAREL program. A group can have a size of 1 to 16 bits, with each bit corresponding to an input

or output signal. You define the group size and the DINs or DOUTs associated with a specific group.

The first (lowest numbered) port is the least significant bit of the group value.

The program treats the data as an INTEGER data type. The unused bits are interpreted as zeros.

Input signals are accessed in KAREL programs by the name GIN[n], where“n” is the group number.

Evaluating GIN signals causes the system to perform read operations of the input ports. Assigning a

value to a GIN signal is an invalid operation unless the GIN signal has been simulated. These can

never be set in a KAREL program, unless the GIN signal has been simulated.

Setting GOUT signals causes the system to return the currently output value from the specified output

port. Assigning a value to a GOUT signal causes the system to perform an output operation.

To control a group output, the integer value equivalent to the desired binary output is used. For

example the command GOUT[n] = 25 will have the following binary result “0000000000011001”

where 1 = output on and 0 = output off, least significant bit (LSB) being the first bit on the right.

You assign group signals using teach pendant I/O menus or the KAREL built-in routine

SET_PORT_ASG.

14.1.3

AIN and AOUT Signals

The AIN and AOUT signals provide access to analog electrical signals in a KAREL program. For

input signals, the analog data is digitized by the system and passed to the KAREL program as a

16 bit binary number, of which 14 bits, 12 bits, or 8 bits are significant depending on the analog

module. The program treats the data as an INTEGER data type. For output signals, an analog voltage

corresponding to a programmed INTEGER value is output.

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14. INPUT/OUTPUT SYSTEM

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Input signals are accessed in KAREL programs by the name AIN[n], where“n” is the signal number.

Evaluating AIN signals causes the system to perform read operations of the input port. Setting an AIN

signal at the Teach Pendant is an invalid operation unless the AIN signal has been simulated. These

can never be set in a KAREL program, unless the AIN signal has been simulated.

The value displayed on the TP or read by a program from an analog input port are dependent on the

voltage supplied to the port and the number of bits of significant data supplied by the analog-to-digital

conversion. For positive input voltages, the values read will be in the range from 0 to 2**(N-1) -1,

where N is the number of bits of significant data. For 12 bit devices (most FANUC modules), this

is 2**11-1, or 2047.

For negative input voltages, the value will be in the range 2**N - 1 to 2**(N-1) as the voltage varies

from the smallest detectable negative voltage to the largest negative voltage handled by the device.

For 12 bit devices, this is from 4095 to 2048.

An example of the KAREL logic for converting this input to a real value representing the voltage,

where the device is a 12 bit device which handles a range from +10v to -10v would be as follows:

Figure 14-1. KAREL Logic for Converting Input to a Real Value Representing the Voltage

V: REAL

AINP: INTEGER

AINP = AIN[1]

IF (AINP <= 2047) THEN

V = AINP * 10.0 /2047.0

ELSE

V = (AINP - 4096) * 10.0 / 2047

ENDIF

In TPP, the following logic would be used:

R[1] = AI[1]

IF (R[1] > 2047) JMP LBL[1]

R[2] = R[1] * 10

R[2] = R[2] / 2047

JMP LBL[2]

LBL[1]:

R[2] = R[1] - 4096

R[2] = R[2] * 10

R[2] = R[2] / 2047

LBL[2]

R[2] has the desired voltage.

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14. INPUT/OUTPUT SYSTEM

Evaluating AOUT signals causes the system to return the currently output value from the specified

output signal. Assigning a value to an AOUT signal causes the system to perform an output operation.

An AOUT can be turned on in a KAREL program with AOUT[n] = (an integer value). The result

will be the output voltage on the AOUT signal line[n] of the integer value specified. For example,

AOUT[1] = 1000 will output a +5 V signal on Analog Output line 1 (using an output module with 12

significant bits).

You assign analog signals using teach pendant I/O menus or the KAREL built-in routine

SET_PORT_ASG.

14.1.4

Hand Signals

You have access to a special set of robot hand control signals used to control end-of-arm tooling

through the KAREL language HAND statements, rather than through port arrays. HAND signals

provide a KAREL program with access to two output signals that work in a coordinated manner to

control the tool. The signals are designated as the open line and the close line. The system can

support up to two HAND signals.

HAND[1] uses the same physical outputs as RDO[1] and RDO[2].

HAND[2] uses the same physical outputs as RDO[3] and RDO[4].

The following KAREL language statements are provided for controlling the signal, where “n” is the

signal number.

OPEN HAND n activates open line, and deactivates close line

CLOSE HAND n deactivates open line, and activates close line

RELAX HAND n deactivates both lines

14.2

SYSTEM-DEFINED SIGNALS

System-defined I/O signals are signals designated by the controller software for a specific purpose.

Except for certain UOP signals, system-defined I/O cannot be reassigned.

You have access to system-defined I/O signals through the following port arrays:

• Robot digital input (RDI) and robot digital output (RDO)

• Operator panel input (OPIN) and operator panel output (OPOUT)

• Teach pendant input (TPIN) and teach pendant output (TPOUT)

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FANUC Robotics SYSTEM R-30iA and R-30iB Controller. KAREL Reference Manual - page 9