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FANUC Robotics SYSTEM R-30iA and R-30iB Controller. KAREL Reference Manual - page 24

B. KAREL EXAMPLE PROGRAMS

MARRC75KR07091E Rev D

pendant program, PROG_1.TP, is executed which loops through some positions and stores a value to

R[2]. The number of loops depends on the value of the R[1] (which was initially set by the KAREL

program.)

After PROG_1.TP has completed, the KAREL program gets the value from R[2] and verifies it

was the expected value.

The PROG_VAL.TP teach pendant program should look similar to the following.

PROG_VAL

JOINT 10%

1:

!POSITION REG VALUE ;

2:J P[1:ABOVE JOINT] 100% FINE ;

3: PR[1,2]=600 ;

4:L PR[1] 100.0 Inch/mm FINE ;

5:J P[1:ABOVE JOINT]100% FINE ;

The PROG_VAL.TP teach pendant program does the following:

• Moves to position 1 in joint mode.

• Changes the ’y’ location of the position in Position Register 1, PR[1] (which was set by the

KAREL program).

• Moves to the new PR[1] position.

• Finally moves back to position 1.

The PROG_1.TP teach pendant program should look similar to the following.

PROG_1

JOINT 10%

1: LBL[1:START] ;

2: IF R[1]=0, JMP LBL[2] ;

3:J P[1] 100% FINE ;

4:J P[2] 100% FINE ;

5: R[1]=R[1] 1 ;

6: JMP LBL[1] ;

7: LBL[2:DONE] ;

8: R[2]=1 ;

The PROG_1.TP teach pendant program does the following:

• Checks the value of the R[1].

• If the value of R[1] is not 0, then moves to J P[1] and J P[2] and decrements the value of R[1].

PROG_1.TP continues in this loop until the Register R[1] is zero.

B-34

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