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

MARRC75KR07091E Rev D

A. KAREL LANGUAGE ALPHABETICAL DESCRIPTION

DISCTRL_PLMN Built-In Procedure

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

TPEXAMEG.TX

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

$subwin_menu

"Option 1"

"Option 2"

"Option 3"

"Option 4"

"Option 5"

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

TPPLMN.KL

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

PROGRAM tpplmn

%ENVIRONMENT uif

VAR

def_item: INTEGER

term_char: INTEGER

status: INTEGER

BEGIN

def_item = 1

DISCTRL_PLMN(’EXAM’, 0, 3, def_item, term_char,

status)

IF term_char = ky_enter THEN

WRITE (CR, def_item, ’ was selected’)

ENDIF

END tpplmn

A.5.24

DISCTRL_SBMN Built-In Procedure

Purpose: Creates and controls cursor movement and selection in a sub-window menu

Syntax : DISCTRL_SBMN(dict_name, element_no, def_item, term_char, status)

Input/Output Parameters :

[in] dict_name :STRING

[in] element_no :INTEGER

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[in,out] def_item :INTEGER

[out] term_char :INTEGER

[out] status :INTEGER

%ENVIRONMENT Group : UIF

Details:

•

The menu data in the dictionary consists of a list of enumerated values that are displayed

and selected from the ’subm’ subwindow on the Teach Pendant device. There can be up to 5

subwindow pages, for a maximum of 35 values. Each value is a string of up to 16 characters. If 4

or less enumerated values are used, then each string can be up to 40 characters.

A sequence of consecutive dictionary elements, starting with element_no , define the values. Each

value must be put in a separate element, and must not end with &new_line. The characters are

assigned the numeric values 1..35 in sequence. The last dictionary element must be "".

•

dict_name specifies the name of the dictionary that contains the menu data.

•

element_no is the element number of the first menu item within the dictionary.

•

def_item is the item that should be highlighted when the menu is entered. 1 specifies the first

item. On return, def_item is the item that was currently highlighted when the termination

character was pressed.

•

term_char receives a code indicating the character that terminated the menu. The codes for key

terminating conditions are defined in the include file FROM:KLEVKEYS.KL. Keys normally

returned are pre-defined constants as follows:

ky_enter — A menu item was selected

ky_prev — A menu item was not selected

ky_new_menu — A new menu was selected

ky_f1

ky_f2

ky_f3

ky_f4

ky_f5

•

status explains the status of the attempted operation. If not equal to 0, then an error occurred.

Example: In this example, dictionary file TPEXAMEG.TX is loaded as ’EXAM’ on the controller.

TPSBMN.KL calls DISCTRL_SBMN to display and process the subwindow menu.

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A. KAREL LANGUAGE ALPHABETICAL DESCRIPTION

DISCTRL_SBMN Built-In Procedure

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

TPEXAMEG.TX

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

$subwin_menu

"Red"

"Blue"

"Green"

"Yellow"

"Brown"

"Pink"

"Mauve"

"Black"

"Lime"

"Lemon"

"Beige"

"Blue"

"Green"

"Yellow"

"Brown"

"\a"

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

TPSBMN.KL

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

PROGRAM tpsbmn

%ENVIRONMENT uif

VAR

def_item: INTEGER

term_char: INTEGER

status: INTEGER

BEGIN

def_item = 1

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DISCTRL_SBMN(’EXAM’, 0, def_item, term_char, status)

IF term_char = ky_enter THEN

WRITE (CR, def_item, ’ was selected’)

ENDIF

END tpsbmn

A.5.25

DISCTRL_TBL Built-In Procedure

Purpose: Displays and controls a table on the teach pendant

Syntax : DISCTRL_TBL(dict_name, ele_number, num_rows, num_columns, col_data, inact_array,

change_array, def_item, term_char, term_mask, value_array, attach_wind, status)

Input/Output Parameters :

[in] dict_name :STRING

[in] ele_number :INTEGER

[in] num_rows :INTEGER

[in] num_columns :INTEGER

[in] col_data :ARRAY OF COL_DESC_T

[in] inact_array :ARRAY OF BOOLEAN

[out] change_array :ARRAY OF BOOLEAN

[in,out] def_item :INTEGER

[out] term_char :INTEGER

[in] term_mask :INTEGER

[in] value_array :ARRAY OF STRING

[in] attach_wind :BOOLEAN

[out] status :INTEGER

%ENVIRONMENT Group : UIF

Details:

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A. KAREL LANGUAGE ALPHABETICAL DESCRIPTION

•

DISCTRL_TBL is similar to the INIT_TBL and ACT_TBL Built-In routines and should be used

if no special processing needs to be done with each keystroke.

•

dict_name is the four-character name of the dictionary containing the table header.

•

ele_number is the element number of the table header.

•

num_rows is the number of rows in the table.

•

num_columns is the number of columns in the table.

•

col_data is an array of column descriptor structures, one for each column in the table. For a

complete description, refer to the INIT_TBL Built-In routine in this appendix.

•

inact_array is an array of booleans that corresponds to each column in the table.

— You can set each boolean to TRUE which will make that column inactive. This means the

you cannot move the cursor to this column.

— The array size can be less than or greater than the number of items in the table.

— If inact_array is not used, then an array size of 1 can be used, and the array does not need to

be initialized.

•

change_array is a two dimensional array of BOOLEANs that corresponds to formatted data

items in the table.

— If the corresponding value is set, then the boolean will be set to TRUE, otherwise it is set to

FALSE. You do not need to initialize the array.

— The array size can be less than or greater than the number of data items in the table.

— If change_array is not used, then an array size of 1 can be used.

•

def_item is the row containing the item you want to be highlighted when the table is entered.

On return, def_item is the row containing the item that was currently highlighted when the

termination character was pressed.

•

term_char receives a code indicating the character or other condition that terminated the table.

The codes for key terminating conditions are defined in the include file FROM:KLEVKEYS.KL.

Keys normally returned are pre-defined constants as follows:

ky_undef — No termination character was pressed

ky_select — A selectable item as selected

ky_new_menu — A new menu was selected

ky_f1 — Function key 1 was selected

ky_f2 — Function key 2 was selected

ky_f3 — Function key 3 was selected

ky_f4 — Function key 4 was selected

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ky_f5 — Function key 5 was selected

ky_f6 — Function key 6 was selected

ky_f7 — Function key 7 was selected

ky_f8 — Function key 8 was selected

ky_f9 — Function key 9 was selected

ky_f10 — Function key 10 was selected

•

term_mask is a bit-wise mask indicating conditions that will terminate the request. This should be

an OR of the constants defined in the include file FROM:KLEVKMSK.KL.

kc_display — Displayable keys

kc_func_key — Function keys

kc_keypad — Key-pad and Edit keys

kc_enter_key — Enter and Return keys

kc_delete — Delete and Backspace keys

kc_lr_arw — Left and Right Arrow keys

kc_ud_arw — Up and Down Arrow keys

kc_other — Other keys (such as Prev)

•

value_array is an array of variable names that corresponds to each column of data item in the

table. Each variable name can be specified as ’[prog_name]var_name’.

— [prog_name] specifies the name of the program that contains the specified variable. If

[prog_name] is not specified, then the current program being executed is used.

— var_name must refer to a static, global program variable.

— var_name can contain node numbers, field names, and/or subscripts.

•

attach_wind should be set to 1 if the table manager window needs to be attached to the display

device. If it is already attached, this parameter can be set to 0.

•

status explains the status of the attempted operation. If not equal to 0, then an error occurred.

Example: Refer to the INIT_TBL Built-In routine for an example of setting up the dictionary text and

initializing the parameters.

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A. KAREL LANGUAGE ALPHABETICAL DESCRIPTION

A.5.26

DISMOUNT_DEV Built-In Procedure

Purpose: Dismounts the specified device.

Syntax : DISMOUNT_DEV (device, status)

Input/Output Parameters :

[in] device :STRING

[out] status :INTEGER

%ENVIRONMENT Group :FDEV

Details:

• device specifies the device to be dismounted.

• status explains the status of the attempted operation. If not equal to 0, then an error occurred.

See Also: MOUNT_DEV, FORMAT_DEV Built-In Procedures

Example: Refer to Section B.9 , "Using the File and Device Built-ins" (FILE_EX.KL), for a detailed

program example.

A.5.27

DISP_DAT_T Data Type

Purpose: Defines data type for use in DISCTRL_LIST Built-In

Syntax :

disp_dat_t = STRUCTURE

win_start : ARRAY [4] OF SHORT

win_end : ARRAY [4] OF SHORT

curr_win : SHORT

cursor_row : SHORT

lins_per_pg : SHORT

curs_st_col : ARRAY [10] OF SHORT

curs_en_col : ARRAY [10] OF SHORT

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curr_field : SHORT

last_field : SHORT

curr_it_num : SHORT

sob_it_num : SHORT

eob_it_num : SHORT

last_it_num : SHORT

menu_id : SHORT

ENDSTRUCTURE

Details:

•

disp_dat_t can be used to display a list in four different windows. The list can contain up to 10

fields. Left and right arrows move between fields. Up and down arrows move within a field.

•

win_start is the starting row for each window.

•

win_end is the ending row for each window.

•

curr_win defines the window to display. The count begins at zero (0 will display the first window).

•

cursor_row is the current cursor row.

•

lins_per_pg is the number of lines per page for paging up and down.

•

curs_st_col is the cursor starting column for each field. The range is 0-39 for the teach pendant.

•

curs_en_col is the cursor ending column for each field. The range is 0-39 for the teach pendant.

•

curr_field is the current field in which the cursor is located. The count begins at zero (0 will set

the cursor to the first field).

•

last_field is the last field in the list.

•

curr_it_num is the item number the cursor is on.

•

sob_it_num is the item number of the first item in the array.

•

eob_it_num is the item number of the last item in the array.

•

last_it_num is the item number of the last item in the list.

•

menu_id is the current menu identifier. Not implemented. May be left uninitialized.

Example: Refer to Section B.12 , "Displaying a List From a Dictionary File" (DCLIST_EX.KL), for

a detailed program example.

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A. KAREL LANGUAGE ALPHABETICAL DESCRIPTION

A.5.28

DOSFILE_INF Built-In Procedure

Purpose: Returns information for a device as a string in the value parameter.

Syntax : DOSFILE_INF(device, item, value_str, status)

Input/Output Parameters:

[in] device :STRING

[in] item :INTEGER

[out] value_str :STRING

[out] status :INTEGER

%ENVIRONMENT Group :PBCORE

Details:

• DOSFILE_INF is only available on R-30iB Controller

• device can be UD1:

• item is the constant of the data to be returned:

— DF_MANUFNAME (Manufacture’s name)

— DF_PRODNAME (Product name)

— DF_SERIALNO (Serial number)

— DF_PRODID (Product ID number as assigned by USB authority)

— DF_VENDID (Vendor ID number as assigned by USB authority)

• value_str is the string where the data is returned.

• status explains the status of an attempted operation. If not equal to 0, then an error occurred.

Example: The following example gets information about the UD1 device.

DOSFILE_INF Built-In Procedure

program dfinfo

%NOLOCKGROUP

var

value: string[60]

status: integer

begin

value = ’’

DOSFILE_INF(’UD1:’, DF_MANUFNAME, value, status)

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write (cr, ’1: ’, status, ’, ’, value, cr)

value = ’’

DOSFILE_INF(’UD1:’, DF_PRODNAME, value, status)

write (cr, ’2: ’, status, ’, ’, value, cr)

value = ’’

DOSFILE_INF(’UD1:’, DF_SERIALNO, value, status)

write (cr, ’3: ’, status, ’, ’, value, cr)

delay (2000)

value = ’’

DOSFILE_INF(’UD1:’, DF_PRODID, value, status)

write (cr, ’4: ’, status, ’, ’, value, cr)

value = ’’

DOSFILE_INF(’UD1:’, DF_VENDID, value, status)

write (cr, ’5: ’, status, ’, ’, value, cr)

end dfinfo

A.6

- E - KAREL LANGUAGE DESCRIPTION

A.6.1

ENABLE CONDITION Action

Purpose: Enables the specified condition handler

Syntax : ENABLE CONDITION [cond_hand_no]

where:

cond_hand_no :an INTEGER expression

Details:

• ENABLE CONDITION has no effect when

— The condition handler is not defined

— The condition handler is defined but is already enabled

• cond_hand_no must be in the range of 1-1000. Otherwise, the program will be aborted with an

error.

• When a condition handler is enabled, its conditions are tested each time the condition handler is

scanned. If the conditions are satisfied, the corresponding actions are performed and the condition

handler is deactivated. Issue an ENABLE CONDITION statement or action to reactivate it.

• Use the DISABLE CONDITION statement or action to deactivate a condition handler that has

been enabled.

• Condition handlers are known only to the task which defines them. One task cannot enable

another tasks condition.

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See Also: DISABLE CONDITION Action, Chapter 6 CONDITION HANDLERS

Example: Refer to Section B.1 , "Setting Up Digital Output Ports for Monitoring" (DOUT_EX.KL)

for a detailed program example.

A.6.2

ENABLE CONDITION Statement

Purpose: Enables the specified condition handler

Syntax : ENABLE CONDITION [cond_hand_no]

where:

cond_hand_no :an INTEGER expression

Details:

• ENABLE CONDITION has no effect when

— The condition handler is not defined

— The condition handler is defined but is already enabled

• cond_hand_no must be in the range of 1-1000. Otherwise, the program will be aborted with an

error.

• When a condition handler is enabled, its conditions are tested each time the condition handler is

scanned. If the conditions are satisfied, the corresponding actions are performed and the condition

handler is deactivated. Issue an ENABLE CONDITION statement or action to reactivate it.

• Use the DISABLE CONDITION statement or action to deactivate a condition handler that has

been enabled.

• Condition handlers are known only to the task which defines them. One task cannot enable

another tasks condition.

See Also: DISABLE CONDITION Statement, Chapter 6 CONDITION HANDLERS , Appendix E ,

‘‘Syntax Diagrams,’’ for additional syntax information

Example: Refer to the following sections for detailed program examples.

Section B.6 , "Path Variables and Condition Handlers Program" (PTH_MOV.KL)

Section B.1 , "Setting Up Digital Output Ports for Monitoring" (DOUT_EX.KL)

A.6.3

%ENVIRONMENT Translator Directive

Purpose: Loads environment file.

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Syntax : %ENVIRONMENT path_name

•

Used by the off-line translator to specify that the binary file, path_name.ev, should be loaded.

Environment files contain definitions for predefined constants, ports, types, system variables, and

built-ins.

•

All .EV files are loaded upon installation of the controller software. Therefore, the controller’s

translator will ignore %ENVIRONMENT statements since it already has the .EV files loaded.

•

path_name can be one of the following:

— BYNAM

— CTDEF (allows program access to CRT/KB system variables)

— ERRS

— FDEV

— FLBT

— IOSETUP

— KCLOP

— MEMO

— MIR

— MOTN

— MULTI

— PATHOP

— PBCORE

— PBQMGR

— REGOPE

— STRNG

— SYSDEF (allows program access to most system variables)

— SYSTEM

— TIM

— TPE

— TRANS

— UIF

— VECTR

•

If no %ENVIRONMENT statements are specified in your KAREL program, the off-line

translator will load all the .EV files specified in TRMNEG.TX. The translator must be able to find

these files in the current directory or in one of the PATH directories.

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• If at least one %ENVIRONMENT statement is specified, the off-line translator will only load the

files you specify in your KAREL program. Specifying your own %ENVIRONMENT statements

will reduce the amount of memory required to translate and will be faster, especially if you do not

require system variables since SYSDEF.EV is the largest file.

• SYSTEM.EV and PBCORE.EV are automatically loaded by the translator and should not be

specified in your KAREL program. The off-line translator will print the message "Continuing

without system defined symbols" if it cannot find SYSTEM.EV. Do not ignore this message.

Make sure the SYSTEM.EV file is loaded.

Example: Refer to the following sections for detailed program examples:

Section B.3 ,"Saving Data to the Default Device" (SAVE_VR.KL)

Section B.6 , "Path Variables and Condition Handlers Program" (PTH_MOVE.KL)

Section B.14 , "Applying Offsets to a Copied Teach Pendant Program" (CPY_TP.KL)

A.6.4

ERR_DATA Built-In Procedure

Purpose: Reads the requested error from the error history and returns the error

Syntax : ERR_DATA(seq_num, error_code, error_string, cause_code, cause_string, time_int,

severity, prog_nam)

Input/Output Parameters :

[in,out] seq_num :INTEGER

[out] error_code :INTEGER

[out] error_string :STRING

[out] cause_code :INTEGER

[out] cause_string :STRING

[out] time_int :INTEGER

[out] severity :INTEGER

[out] prog_nam :STRING

%ENVIRONMENT Group :ERRS

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•

seq_num is the sequence number of the previous error requested. seq_num should be set to 0 if

the oldest error in the history is desired. seq_num should be set to MAXINT if the most recent

error is desired.

•

seq_num is set to the sequence number of the error that is returned.

— If the initial value of seq_num is greater than the sequence number of the newest error in the

log, seq_num is returned as zero and no other data is returned.

— If the initial value of seq_num is less than the sequence number of the oldest error in the

log, the oldest error is returned.

•

error_code returns the error code and error_string returns the error message. error_string must

be at least 40 characters long or the program will abort with an error.

•

cause_code returns the reason code if it exists and cause_string returns the message. cause_string

must be at least 40 characters long or the program will abort with an error.

•

error_code and cause_code are in the following format:

ffccc (decimal)

where ff represents the facility code of the error.

ccc represents the error code within the specified facility.

Refer to Chapter 6, "Condition Handlers," for the error facility codes.

•

time_int returns the time that error_code was posted. The time is in encoded format, and

CNV_TIME_STR Built-In should be used to get the date-and-time string.

•

severity returns one of the following error_codes: 0 :WARNING1 :PAUSE2 :ABORT

•

If the error occurs in the execution of a program, prog_nam specifies the name of the program in

which the error occurred.

•

If the error is posted by POST_ERR, or if the error is not associated with a particular program

(e.g., E-STOP), prog_nam is returned as ‘ "" ’.

•

Calling ERR_DATA immediately after POST_ERR may not return the error just posted since

POST_ERR returns before the error is actually in the error log.

See Also: ACT_SCREEN Built-In Procedure

Example: Refer to the following sections for detailed program examples:

Section B.4 , "Standard Routines" (ROUT_EX.KL)

Section B.5 , "Using Register Built-ins" (REG_EX.KL)

Section B.12 , "Dictionary Files" (DCLISTEG.UTX)

Section B.13 , "Using the DISCTRL_ALPHA Built-in" (DCALP_EX.KL)

Section B.1 , "Setting Up Digital Output Ports for Monitoring" (DOUT_EX.KL)

A.7.5

FORMAT_DEV Built-In Procedure

Purpose: Deletes any existing information and records a directory and other internal information on

the specified device.

Syntax : FORMAT_DEV(device, volume_name, nowait_sw, status)

Input/Output Parameters :

[in] device :STRING

[in] volume_name :STRING

[in] nowait_sw :BOOLEAN

[out] status :INTEGER

%ENVIRONMENT Group :FDEV

Details:

• device specifies the device to initialize.

• volume_name acts as a label for a particular unit of storage media. volume_name can be a

maximum of 11 characters and will be truncated to 11 characters if more are specified.

• If nowait_sw is TRUE, execution of the program continues while the command is executing. If

it is FALSE, the program stops, including condition handlers, until the operation is complete.

If you have time critical condition handlers in the program, put them in another program that

executes as a separate task.

Note nowait_sw is not available in this release and should be set to FALSE.

• status explains the status of the attempted operation. If not equal to 0, then an error occurred.

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See Also: MOUNT_DEV, DISMOUNT_DEV Built-In Procedures

Example: Refer to Section B.9 , "Using the File and Device Built-ins" (FILE_EX.KL), for a detailed

program example.

A.7.6

FRAME Built-In Function

Purpose: Returns a frame with a POSITION data type representing the transformation to the

coordinate frame specified by three (or four) POSITION arguments.

Syntax : FRAME(pos1, pos2, pos3 <,pos4>)

Function Return Type :Position

Input/Output Parameters :

[in]pos1 :POSITION

[in]pos2 :POSITION

[in]pos3 :POSITION

[in]pos4 :POSITION

%ENVIRONMENT Group :SYSTEM

Details:

• The returned value is computed as follows:

— pos1 is assumed to be the origin unless a pos4 argument is supplied. See Figure A-2 .

— If pos4 is supplied, the origin is shifted to pos4 , and the new coordinate frame retains the

same orientation in space as the first coordinate frame. See Figure A-2 .

— The x-axis is parallel to a line from pos1 to pos2 .

— The xy-plane is defined to be that plane containing pos1 , pos2 , and pos3 , with pos3 in the

positive half of the plane.

— The y-axis is perpendicular to the x-axis and in the xy-plane.

— The z-axis is through pos1 and perpendicular to the xy-plane. The positive direction is

determined by the right hand rule.

— The configuration of the result is set to that of pos1 , or pos4 if it is supplied.

• pos1 and pos2 arguments must be at least 10 millimeters apart and pos3 must be at least 10

millimeters away from the line connecting pos1 and pos2 .

If either condition is not met, the program is paused with an error.

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Figure A-2. FRAME Built-In Function

Example: The following example allows the operator to set a frame to a pallet so that a palletizing

routine will be able to move the TCP along the x, y, z direction in the pallet’s coordinate frame.

FRAME Built-In Function

WRITE(’Teach corner_1, corner_2, corner_3’,CR)

RELEASE --Allows operator to turn on teach pendant

--and teach positions

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ATTACH

--Returns motion control to program

$UFRAME = FRAME (corner_1, corner_2, corner_3)

A.7.7

FROM Clause

Purpose: Indicates a variable or routine that is external to the program, allowing data and/or routines

to be shared among programs

Syntax : FROM prog_name

where:

prog_name : any KAREL program identifier

Details:

• The FROM clause can be part of a type, variable, or routine declaration.

• The type, variable, or routine belongs to the program specified by prog_name .

• In a FROM clause, prog_name can be the name of any program, including the program in which

the type, variable, or routine is declared.

• If the FROM clause is used in a routine declaration and is called during program execution, the

body of the declaration must appear in the specified program and that program must be loaded.

• The FROM clause cannot be used when declaring variables in the declaration section of a routine.

Example: Refer to the following sections for detailed program examples:

Section B.6 , "Path Variables and Condition Handlers Program" (PTH_MOVE.KL)

Section B.7 , "Listing Files and Programs and Manipulating Strings" (LIST_EX.KL)

Section B.10 , "Using Dynamic Display Built-ins" (DYN_DISP.KL)

Section B.11 , "Manipulating Values of Dynamically Displayed Variables" (CHG_DATA.KL)

Section B.12 , "Displaying a List From a Dictionary File" (DCLST_EX.KL)

Section B.1 , "Setting Up Digital Output Ports for Monitoring" (DOUT_EX.KL)

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A.8

- G - KAREL LANGUAGE DESCRIPTION

A.8.1

GET_ATTR_PRG Built-In Procedure

Purpose: Gets attribute data from the specified teach pendant or KAREL program

Syntax : GET_ATTR_PRG(program_name, attr_number, int_value, string_value, status)

Input/Output Parameters :

[in] program_name :STRING

[in] attr_number :INTEGER

[out] int_value :INTEGER

[out] string_value :STRING

[out] status :INTEGER

%ENVIRONMENT Group :PBCORE

Details:

• program_name specifies the program from which to get attribute.

• attr_number is the attribute whose value is to be returned. The following attributes are valid:

AT_PROG_TYPE : Program type

AT_PROG_NAME : Program name (String[12])

AT_OWNER : Owner (String[8])

AT_COMMENT : Comment (String[16])

AT_PROG_SIZE : Size of program

AT_ALLC_SIZE : Size of allocated memory

AT_NUM_LINE : Number of lines

AT_CRE_TIME : Created (loaded) time

AT_MDFY_TIME : Modified time

AT_SRC_NAME : Source file ( or original file ) name (String[128])

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AT_SRC_VRSN : Source file versionA

AT_DEF_GROUP : Default motion group mask (for task attribute). See Table A-16 .

AT_PROTECT : Protection code; 1 :Protection OFF ; 2 :Protection ON

AT_STORAGE : Storage type; TPSTOR_CMOS; TPSTOR_SHADOW; TPSTOR_FILE;

TPSTOR_SHOD

AT_STK_SIZE : Stack size (for task attribute)

AT_TASK_PRI : Task priority (for task attribute)

AT_DURATION : Time slice duration (for task attribute)

AT_BUSY_OFF : Busy lamp off (for task attribute)

AT_IGNR_ABRT : Ignore abort request (for task attribute)

AT_IGNR_PAUS : Ignore pause request (for task attribute)

AT_CONTROL : Control code (for task attribute)

•

The program type returned for AT_PROG_TYPE will be one of the following constants:

PT_KRLPRG : Karel program

PT_MNE_UNDEF : Teach pendant program of undefined sub type

PT_MNE_JOB : Teach pendant job

PT_MNE_PROC : Teach pendant process

PT_MNE_MACRO : Teach pendant macro

•

If the attribute data is a number, it is returned in int_value and string_value is not modified.

•

If the attribute data is a string, it is returned in string_value and int_value is not modified.

•

status explains the status of the attempted operation. If it is not equal to 0, then an error has

occurred. Some of the errors which could occur are:

7073 The program specified in program_name does not exist

17027 string_value is not large enough to contain the attribute string. The value has been

truncated to fit.

17033 attr_number has an illegal value

See Also: SET_ATTR_PRG, GET_TSK_INFO, SET_TSK_ATTR Built-In Procedures

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A. KAREL LANGUAGE ALPHABETICAL DESCRIPTION

A.8.2

GET_FILE_POS Built-In Function

Purpose: Returns the current file position (where the next READ or WRITE operation will take

place) in the specified file

Syntax : GET_FILE_POS(file_id)

Function Return Type :INTEGER

Input/Output Parameters :

[in] file_id :FILE

%ENVIRONMENT Group :FLBT

Details:

• GET_FILE_POS returns the number of bytes before the next byte to be read or written in the file.

• Line terminators are counted in the value returned.

• The file associated with file_id must be open. Otherwise, the program is aborted with an error.

• If the file associated with file_id is open for read-only, it cannot be on the FROM or RAM

disks as a compressed file.

Warning

GET_FILE_POS is only supported for files opened on the RAM Disk

device. Do not use GET_FILE_POS on another device; otherwise, you

could injure personnel and damage equipment.

Example: The following example opens the filepos.dt data file, stores the positions in my_path in

the file, and builds a directory to access them.

GET_FILE_POS Built-In Function

OPEN FILE file_id (’RW’,’filepos.dt’)

FOR i = 1 TO PATH_LEN(my_path) DO

temp_pos = my_path[i].node_pos

pos_dir[i] = GET_FILE_POS(file_id)

WRITE file_id (temp_pos)

ENDFOR

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A.8.3

GET_JPOS_REG Built-In Function

Purpose: Gets a JOINTPOS value from the specified register

Syntax : GET_JPOS_REG(register_no, status <,group_no>)

Function Return Type :REGOPE

Input/Output Parameters :

[in] register_no :INTEGER

[out] status :INTEGER

[in] group_no :INTEGER

%ENVIRONMENT Group :REGOPE

Details:

• register_no specifies the position register to get.

• If group_no is omitted, the default group for the program is assumed.

• If group_no is specified, it must be in the range of 1 to the total number of groups defined on

the controller.

• GET_JPOS_REG returns the position in JOINTPOS format. Use POS_REG_TYPE to determine

the position representation.

• status explains the status of the attempted operation. If not equal to 0, then an error occurred.

See Also: GET_POS_REG, SET_JPOS_REG, SET_POS_REG Built-in Procedures

Example: Refer to Section B.5 , "Using Register Built-ins" (REG_EX.KL) for a detailed program

example.

A.8.4

GET_JPOS_TPE Built-In Function

Purpose: Gets a JOINTPOS value from the specified position in the specified teach pendant program

Syntax : GET_JPOS_TPE(open_id, position_no, status <, group_no>)

Function Return Type :JOINTPOS

Input/Output Parameters :

[in] open_id :INTEGER

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A. KAREL LANGUAGE ALPHABETICAL DESCRIPTION

[in] position_no :INTEGER

[out] status :INTEGER

[in] group_no :INTEGER

%ENVIRONMENT Group :PBCORE

Details:

• open_id specifies the teach pendant program. A program must be opened before calling this

built-in.

• position_no specifies the position in the program to get.

• If group_no is omitted, the default group for the program is assumed.

• If group_no is specified, it must be in the range of 1 to the total number of groups defined on

the controller.

• No conversion is done for the position representation. The position data must be in JOINTPOS

format. If the stored position is not in JOINTPOS, an error status is returned. Use GET_POS_TYP

to get the position representation.

• If the specified position in the program is uninitialized, the returned JOINTPOS value is

uninitialized and the status is set to 17038, "Uninitialized TPE position".

• status explains the status of the attempted operation. If not equal to 0, then an error has occurred.

See Also: SET_JPOS_TPE, GET_POS_TPE, SET_POS_TPE Built-ins

Example: Refer to Section B.14 , "Applying Offsets to a Copied Teach Pendant Program"

(CPY_TPE.KL), for a detailed program example.

A.8.5

GET_PORT_ASG Built-in Procedure

Purpose: Allows a KAREL program to determine the physical port(s) to which a specified logical

port is assigned.

Syntax : GET_PORT_ASG(log_port_type, log_port_no, rack_no, slot_no, phy_port_type,

phy_port_no, n_ports, status)

Input/Output Parameters :

[in] log_port_type :INTEGER

[in] log_port_no :INTEGER

[out] rack_no :INTEGER

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