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

B. KAREL EXAMPLE PROGRAMS

MARRC75KR07091E Rev D

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

WRITE (CHR(cc_home) + CHR(cc_clear_win))-- Clear TP USER menu

SET_CURSOR(TPDISPLAY, 12, 1, status)

-- reposition cursor

comment = ’ ’

-- Initialize the comment

WRITE (’comment: ’)

-- Display message

DISCTRL_ALPH(’t_fu’, 12, 10, comment, ’COMM’, 0, term_char, status)

IF status <> 0 THEN

-- Verify DISCTRL_ALPH was successful

POST_ERR(status, ’’, 0, cc_warn)

-- Post the status as a warning

ENDIF

IF term_char = ky_enter THEN

WRITE (CR, ’comment was changed:’, comment, CR) -- Display new comment

ELSE

WRITE (CR, ’comment was not changed’, CR)

ENDIF

WRITE (CR, ’Press enter to continue’)

READ (CR)

Using the DISCTRL_ALPHA Built-in - Enter Data from CRT/KB

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

---- Section 4-C: This section will perform program name entry from the

----

CRT/KB. The dictionary name and element values are

----

explicitly stated here, instead of using the available

----

default values.

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

-- Set the dictionary language to English

-- This is useful if you want to use this same code for multiple

-- languages. Then any time you load in a dictionary you check

-- to see what the current language, $language, is and load the

-- correct dictionary.

-- For instance you could have a DCALPHJP.TX file which

-- would be the Japanese dictionary. If the current language, $language,

-- was set to Japanese you would load this dictionary.

SET_LANG ( dp_english, status)

IF (status <> 0) THEN

POST_ERR (status, ’’, 0,cc_warn)

-- Post the status as a warning

ENDIF

-- Load the dcalpheg.tx file, using ALPH as the dictionary name,

-- to the English language, using DRAM as the memory storage device.

ADD_DICT (’DCALPHEG’, ’ALPH’, dp_english, dp_dram, status)

IF (status <> 0 ) THEN

POST_ERR (status, ’’, 0, cc_pause)

-- Post the status and pause the

-- program, since the dictionary

ENDIF

-- must be loaded to continue.

device_stat = crt_panel

-- Give control to the CRT/KB

WRITE OUTPUT (CHR(cc_home) + CHR(cc_clear_win))--Clear CRT/KB USER menu

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B. KAREL EXAMPLE PROGRAMS

FORCE_SPMENU (device_stat, SPI_TPUSER, 1) -- Force the CRT/KB USER menu

-- to be visible

SET_CURSOR(OUTPUT, 12, 1, status)

-- Reposition the cursor

WRITE OUTPUT (’prog_name: ’)

prog_name = ’ ’

-- Initialize program name

DISCTRL_ALPH(’c_fu’,12,12,prog_name,’ALPH’,alph_prog,term_char,status)

--DISCTRL_ALPHA uses the ALPH dictionary and ALPH_PROG dictionary element

IF status <> 0 THEN

-- Verify DISCTRL_ALPH was

-- successful.

POST_ERR(status, ’’, 0, cc_warn)

-- Post returned status to the

ENDIF

-- error (’err’) window.

IF term_char = ky_enter THEN

WRITE (CR, ’prog_name was changed:’, prog_name, CR)

ELSE

WRITE (CR, ’prog_name was NOT changed.’, CR)

ENDIF

device_stat = tp_panel

-- Make sure to reset

END DCALP_EX

B.13.1

Dictionary Files

This ASCII dictionary file is used to write text to the specified screen. DCALPH_EG.UTX is also

used with DCAL_EX.KL. For more information on DCAL_EX.KL, refer to Section B.13 .

DCALPHEG.UTX Dictionary File

.KL DCALPH

$, alpha_prog

" PRG

MAIN

SUB

TEST

>"&new_line

" PROC

JOB

MACRO

>"&new_line

" TEST1

TEST2

TEST3

TEST4

Note The greater than symbol (>) in DCALPHEG.UTX Dictionary File is a reminder to use the

NEXT key to scroll through the multiple lines. Also notice that the &new_line appears only on the

first two lines. This ensures that the lines will scroll correctly.

B.14

APPLYING OFFSETS TO A COPIED TEACH PENDANT

PROGRAM

This program copies a teach pendant program and then applies an offset to the positions within the

newly created program. This is useful when you create the teach pendant program offline and then

B-85

B. KAREL EXAMPLE PROGRAMS

MARRC75KR07091E Rev D

realized that all the teach pendant positions are off by some determined amount. However, you should

be aware that the utility PROGRAM ADJUST is far more adequate for this job.

Applying Offsets to Copied Teach Pendant Program - Overview

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

----

CPY_TP.KL

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

----

Elements of KAREL Language Covered:

In Section:

----

Actions:

----

Clauses:

----

FROM

Sec 3-F

----

Conditions:

----

Data Types:

----

ARRAY OF REAL

Sec 2

----

ARRAY OF STRING

Sec 2

----

BOOLEAN

Sec 2

----

INTEGER

Sec 2; 3-B,C,D,E

----

JOINTPOS

Sec 2

----

REAL

Sec 2

----

STRING

Sec 2

----

XYZWPR

Sec 2

----

Directives:

----

ENVIRONMENT

Sec 1

----

Built-in Functions &

Procedures:

----

AVL_POS_NUM

Sec 3-E

----

CHR

Sec 3-B, 4

----

CLOSE_TPE

Sec 3-E

----

CNV_REL_JPOS

Sec 3-E

----

CNV_JPOS_REL

Sec 3-E

----

COPY_TPE

Sec 3-E

----

GET_JPOS_TPE

Sec 3-E

----

GET_POS_TYP

Sec 3-E

----

GET_POS_TPE

Sec 3-E

----

OPEN_TPE

Sec 3-E

----

PROG_LIST

Sec 3-B

----

SELECT_TPE

Sec 3-E

----

SET_JPOS_TPE

Sec 3-E

----

SET_POS_TPE

Sec 3-E

Applying Offsets to Copied Teach Pendant Program - Overview Continued

----

Statements:

B-86

MARRC75KR07091E Rev D

B. KAREL EXAMPLE PROGRAMS

----

FOR...ENDFOR

Sec 3-B,D,E

----

IF ...THEN...ELSE...ENDIF

Sec 3-A,B,C,E

----

READ

Sec 3-B,C,D

----

REPEAT...UNTIL

Sec 3-B,C,D

----

RETURN

Sec 3-E

----

ROUTINE

Sec 3-A,B,C,D,E,F

----

SELECT...ENDSELECT

Sec 3-E

----

WRITE

Sec 3-B,C,D,E,4

----

Reserve Words:

----

BEGIN

Sec 3-A,B,C,D,E;

----

CONST

Sec 2

----

Sec 3-B,C,D,E

----

END

Sec 3-A,B,C,D,E;

----

PROGRAM

Sec 1

----

VAR

Sec 2

Applying Offsets to Copied Teach Pendant Program - Declaration Section

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

----

Section 1: Program and Environment Declaration

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

PROGRAM CPY_TP

%ENVIRONMENT TPE

-- necessary for all xxx_TPE built-ins

%ENVIRONMENT BYNAM

-- necessary for PROG_LIST built-in

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

----

Section 2: Constant and Variable Declaration

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

CONST

ER_WARN = 0

-- warning constant for use in POST_ERR

SUCCESS = 0

-- success constant

JNT_POS = 9

-- constant for GET_POS_TYP

XYZ_POS = 2

-- constant for GET_POS_TYP

MAX_AXS = 9

-- Maximum number of axes JOINTPOS has

VAR

from_prog: STRING[13]

-- TP program name to be copied FROM

to_prog

: STRING[13]

-- TP program name to be copied TO

over_sw

: BOOLEAN

-- Decides whether to overwrite an existing

-- program when performing COPY_TPE

status

: INTEGER

-- Holds error status from the builtin calls

off_xyz

: XYZWPR

-- Offset amount for the XYZWPR positions

jp_off

: ARRAY [9] of REAL

-- Offset amount for the JOINT positions

new_xyz

: XYZWPR

-- XYZWPR which has offset applied

org_xyz

: XYZWPR

-- Original XYZWPR from to_prog

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B. KAREL EXAMPLE PROGRAMS

MARRC75KR07091E Rev D

new_jpos : JOINTPOS

-- JOINTPOS which as the offset applied

org_jpos : JOINTPOS

-- Original JOINTPOS from to_prog

open_id

: INTEGER

-- Identifier for the opened to_prog

jp_org

: ARRAY [9] of REAL

-- REAL representation of org_jpos

jp_new

: ARRAY [9] of REAL

-- REAL representation of jp_new

Applying Offsets to Copied Teach Pendant Program - Declare Routines

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

----

Section 3: Routine Declaration

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

----

Section 3-A: CHK_STAT Declaration

----

Tests whether the status was successful or not.

----

If the status was not successful the status is posted

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

ROUTINE chk_stat (rec_stat: integer)

begin

IF (rec_stat <> SUCCESS) THEN

-- if rec_stat is not SUCCESS

-- then post the error

POST_ERR (rec_stat, ’’, 0, ER_WARN)

-- Post the error to the system.

ENDIF

END chk_stat

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

----

Section 3-B: GetFromPrg Declaration

----

Generate a list of loaded TPE programs.

----

Lets the user select one of these programs

----

to be the program to be copied, ie FROM_prog

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

ROUTINE GetFromPrg

VAR

tp_type

: INTEGER

-- Types of program to list

n_skip

: INTEGER

-- Index into the list of programs

format

: INTEGER

-- What type of format to store programs in

n_progs

: INTEGER

-- Number of programs returned in prg_name

prg_name

: ARRAY [8] of STRING[20] --Program names returned from PROG_LIST

status

: INTEGER

-- Status of PROG_LIST call

f_index

: INTEGER

-- Fast index for generating the program listing.

arr_size

: INTEGER

-- Array size of prg_name

prg_select: INTEGER

-- Users selection for which program to copy

indx

: INTEGER

-- FOR loop counter which displays prg_name

Applying Offsets to Copied Teach Pendant Program - Generate Program List for User

BEGIN

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MARRC75KR07091E Rev D

B. KAREL EXAMPLE PROGRAMS

f_index = 0

-- Initialize the f_index

n_skip

= 0

-- Initialize the n_skip

tp_type = 2

-- find any TPE program

format

= 1

-- return just the program name in prg_name

n_progs = 0

-- Initialize the n_progs

arr_size = 8

-- Set equal to the declared array size of prg_name

prg_select = 0 -- Initialize the program selector

REPEAT

WRITE (chr(128),chr(137))

-- Clear the TP USER screen

-- Get a listing of all TP program which begin with "TEST"

PROG_LIST(’TEST*’,tp_type,n_skip,format,prg_name,n_progs,status,f_index)

chk_stat (status)

--Check status from PROG_LIST

FOR indx = 1 to n_progs DO

WRITE (indx,’:’,prg_name[indx], CR) -- Write the list of programs out

ENDFOR

IF (n_skip > 0) OR ( n_prog >0) THEN

WRITE (’select program to be copied:’,CR)

WRITE (’PRESS -1 to get next page of programs:’)

REPEAT

READ (prg_select)

-- get program selection

UNTIL ((prg_select >= -1) AND (prg_select <= n_progs)

AND (prg_select <> 0))

ELSE

WRITE (’no TP programs to COPY’, CR)

WRITE (’Aborting program, since need’,CR)

WRITE (’at least one TP program to copy.’,CR)

ABORT

ENDIF

-- Check if listing is complete and user has not made a selection.

IF ((prg_select = -1) AND (n_progs < arr_size)) THEN

f_index = 0

--reset f_index to re-generate list.

n_progs = arr_size

--set so the REPEAT/UNTIL will continue

ENDIF

-- Check if user user has made a selection

IF (prg_select <> -1) then

from_prog = prg_name[prg_select]-- Set from_prog to name selected

n_progs = 0

-- Set n_prog to stop looping.

ENDIF

UNTIL (n_progs < arr_size)

END GetFromPrg

Applying Offsets to Copied Teach Pendant Program - Overwrite or Delete Program

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

----

Section 3-C: GetOvrSw Declaration

----

Ask user whether to overwrite the copied

B-89

B. KAREL EXAMPLE PROGRAMS

MARRC75KR07091E Rev D

----

program, TO_prog, if it exists.

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

ROUTINE GetOvrSw

VAR

yesno

: INTEGER

BEGIN

WRITE (CR, ’If Program already exists do you want’,CR)

WRITE (’to overwrite the file Yes:1, No:0 ? ’)

REPEAT

READ (yesno)

UNTIL ((yesno = 0) OR( yesno = 1))

IF yesno = 1 then

--Set over_sw so program is overwriten if it exists

over_sw = TRUE

ELSE

--Set over_sw so program is NOT overwriten if it exists

over_sw = FALSE

ENDIF

END GetOvrSw

Applying Offsets to Copied Teach Pendant Program - Input Offset Positions

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

----

Section 3-D: GetOffset Declaration

----

Have the user input the offset for both

----

XYZWPR and JOINTPOS positions.

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

ROUTINE GetOffset

VAR

yesno

: INTEGER

index

: INTEGER

BEGIN

--Get the XYZWPR offset, off_xyz

REPEAT

WRITE ( ’Enter offset for XYZWPR positions’,CR)

WRITE (’ X = ’)

READ

(off_xyz.x)

WRITE (’ Y = ’)

READ

(off_xyz.y)

WRITE (’ Z = ’)

READ

(off_xyz.z)

WRITE (’ W = ’)

READ

(off_xyz.w)

WRITE (’ P = ’)

READ

(off_xyz.p)

WRITE (’ R = ’)

READ

(off_xyz.r)

--Display the offset values the user input

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MARRC75KR07091E Rev D

B. KAREL EXAMPLE PROGRAMS

WRITE (’ Offset XYZWPR position is’,CR, off_xyz,CR)

WRITE (’Is this offset correct? Yes:1, No:0 ? ’)

READ

(yesno)

UNTIL (yesno = 1)

-- enter offset amounts until the user

-- is satisfied.

--Get the JOINTPOS offset, jp_off

REPEAT

WRITE ( ’Enter offset for JOINT positions’,CR)

FOR indx = 1 TO 6 DO

-- loop for number of robot axes

WRITE (’ J’,indx,’ = ’)

READ

(jp_off[indx])

ENDFOR

WRITE (’JOINT position offset is’, CR)

FOR indx = 1 TO 6 DO

write ( jp_off[indx],CR)

-- Display the values the user input

ENDFOR

WRITE (’Is this offset correct? Yes:1, No:0 ? ’)

READ

(yesno)

UNTIL (yesno = 1)

-- Enter offset amounts until the user

END GetOffset

-- is satisfied

Applying Offsets to Copied Teach Pendant Program - Apply Offsets to Positions

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

----

Section 3-E: ModifyPrg Declaration

----

Apply the offsets to each position within the TP program

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

ROUTINE ModifyPrg

VAR

pos_typ : INTEGER

--The type of position returned from GET_POS_TYP

num_axs : INTEGER

-- The number of axes if position is a JOINTPOS type

indx_pos: INTEGER

-- FOR loop counter, that increments through TP position

group_no: INTEGER

-- The group number of the current position setting.

num_pos : INTEGER

-- The next available position number within TP program

indx_axs: INTEGER

-- FOR loop counter, increments through REAL array

BEGIN

SELECT_TPE (’’, status)

-- Make sure the to_prog is currently not selected

to_prog = ’MDFY_TP’

-- Set the to_prog to desired name.

------ Copy the from_prog to to_prog -----

COPY_TPE (from_prog, to_prog, over_sw, status)

chk_stat(status)

-- check status of COPY_TPE

--- If the user specified not to overwrite the TPE program and

--- the status returned is 7015, "program already exist",

--- then quit the program. This will mean not altering the already

--- existing to_prog.

IF ((over_sw = FALSE) AND (status = 7015)) THEN

WRITE (’ABORTING:: PROGAM ALREADY EXISTS!’,CR)

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B. KAREL EXAMPLE PROGRAMS

MARRC75KR07091E Rev D

RETURN

ENDIF

--- Open the to_prog with the Read/Write access

OPEN_TPE (to_prog, TPE_RWACC, TPE_RDREJ, open_id, status)

chk_stat(status)

-- check status of OPEN_TPE

group_no = 1

--- apply offset to each position within to_prog

--- The current number of position that the TPE program has is num_pos -1

FOR indx_pos = 1 to num_pos-1 DO

--Get the DATA TYPE of each position within the to_prog

--If it is a JOINTPOS also get the number of axes.

GET_POS_TYP (open_id, indx_pos, group_no, pos_typ, num_axs, status)

chk_stat (status)

WRITE(’get_pos_typ status’, status,cr)

Applying Offsets to Copied Teach Pendant Program - Apply Offsets to Positions Cont.

--Decide if the position, indx_pos, is a JOINTPOS or a XYZWPR

SELECT pos_typ OF

CASE (JNT_POS):

-- The position is a JOINTPOS

FOR indx_axs = 1 TO MAX_AXS DO

-- initialize with default values

jp_org[indx_axs] = 0.0

-- This avoids problems with the

jp_new[indx_axs] = 0.0

-- CNV_REL_JPOS

ENDFOR

-- get the JOINTPOS P[indx_pos] from to_prog

-----

org_jpos = GET_JPOS_TPE (open_id, indx_pos, status)

chk_stat( status)

-- Convert the JOINTPOS to a REAL array, in order to perform offset

CNV_JPOS_REL (org_jpos, jp_org, status)

chk_stat (status)

-- Apply the offset to the REAL array

FOR indx_axs = 1 to num_axs DO

jp_new[indx_axs] = jp_org[indx_axs] + jp_off[indx_axs]

ENDFOR

-- Converted back to a JOINTPOS.

-- The input array, jp_new, must not have any uninitialized values

-- or the error 12311 - "Data uninitialized" will be posted.

-- This is why we previously set all the values to zero.

CNV_REL_JPOS (jp_new, new_jpos, status)

chk_stat(status)

-- Set the new offset position, new_jpos, into the indx_pos

SET_JPOS_TPE (open_id, indx_pos, new_jpos, status)

chk_stat(status)

write (’indx_pos’, indx_pos, ’new_jpos’,cr, new_jpos,cr)

CASE (XYZ_POS): -- The position is a XYZWPR

-- Get the XYZWPR position P[indx_pos] from to_prog

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MARRC75KR07091E Rev D

B. KAREL EXAMPLE PROGRAMS

org_xyz = GET_POS_TPE (open_id , indx_pos, status)

chk_stat( status)

-- Check status from GET_POS_TPE

Applying Offsets to Copied Teach Pendant Program - Clears TP User Menu

-- Apply offset to the XYZWPR

new_xyz.x = org_xyz.x + off_xyz.x

new_xyz.y = org_xyz.y + off_xyz.y

new_xyz.z = org_xyz.z + off_xyz.z

new_xyz.w = org_xyz.w + off_xyz.w

new_xyz.p = org_xyz.p + off_xyz.p

new_xyz.r = org_xyz.r + off_xyz.r

--Set the new offset position, new_xyz, into the indx_pos

SET_POS_TPE (open_id, indx_pos, new_xyz, status)

chk_stat (status)

-- Check status from SET_POS_TPE

ENDSELECT

ENDFOR

---Close TP program before quitting program

CLOSE_TPE (open_id, status)

chk_stat (status)

--Check status from CLOSE_TPE

END ModifyPrg

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

----

Section 3-F: TP_CLS Declaration

----

Clears the TP USER Menu screen and forces it to

----

become visible. The actual code resides in

ROUT_EX.KL

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

ROUTINE TP_CLS FROM rout_ex

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

----

Section 4: Main Program

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

BEGIN

-- CPY_TP

tp_cls

-- Clear the TP USER Menu screen

GetFromPrg

-- Get the TPE program to copy FROM

GetOvrSw

-- Get the TPE program name to copy TO

GetOffset

-- Get the offset for modifying

-- the teach pendant program

ModifyPrg

-- Modify the copied program by the offset

END CPY_TP

B-93

Appendix C

KCL COMMAND ALPHABETICAL

DESCRIPTION

Contents

Appendix C

KCL COMMAND ALPHABETICAL DESCRIPTION

C-1

C.1

ABORT command

C-6

C.2

APPEND FILE command

C-6

C.3

APPEND NODE command

C-6

C.4

CHDIR command

C-7

C.5

CLEAR ALL command

C-7

C.6

CLEAR BREAK CONDITION command

C-8

C.7

CLEAR BREAK PROGRAM command

C-8

C.8

CLEAR DICT command

C-9

C.9

CLEAR PROGRAM command

C-9

C.10

CLEAR VARS command

C-9

C.11

COMPRESS DICT command

C-10

C.12

COMPRESS FORM command

C-10

C.13

CONTINUE command

C-11

C.14

COPY FILE command

C-11

C.15

CREATE VARIABLE command

C-12

C.16

DELETE FILE command

C-13

C.17

DELETE NODE command

C-13

C.18

DELETE VARIABLE command

C-14

C.19

DIRECTORY command

C-14

C.20

DISABLE BREAK PROGRAM command

C-15

C-1

C. KCL COMMAND ALPHABETICAL DESCRIPTION

MARRC75KR07091E Rev D

C.21

DISABLE CONDITION command

C-15

C.22

DISMOUNT command

C-15

C.23

EDIT command

C-16

C.24

ENABLE BREAK PROGRAM

C-16

C.25

ENABLE CONDITION command

C-16

C.26

FORMAT command

C-17

C.27

HELP command

C-17

C.28

HOLD command

C-18

C.29

INSERT NODE command

C-18

C.30

LOAD ALL command

C-18

C.31

LOAD DICT command

C-19

C.32

LOAD FORM command

C-19

C.33

LOAD MASTER command

C-20

C.34

LOAD PROGRAM command

C-20

C.35

LOAD SERVO command

C-21

C.36

LOAD SYSTEM command

C-21

C.37

LOAD TP command

C-22

C.38

LOAD VARS command

C-23

C.39

LOGOUT command

C-24

C.40

MKDIR command

C-24

C.41

MOUNT command

C-24

C.42

MOVE FILE command

C-25

C.43

PAUSE command

C-25

C.44

PURGE command

C-26

C.45

PRINT command

C-26

C.46

RECORD command

C-27

C.47

RENAME FILE command

C-27

C.48

RENAME VARIABLE command

C-28

C.49

RENAME VARS command

C-28

C.50

RESET command

C-29

C.51

RMDIR command

C-29

C.52

RUN command

C-30

C.53

RUNCF command

C-30

C.54

SAVE MASTER command

C-31

C.55

SAVE SERVO command

C-31

C.56

SAVE SYSTEM command

C-31

C.57

SAVE TP command

C-32

C.58

SAVE VARS command

C-33

C.59

SET BREAK CONDITION command

C-33

C.60

SET BREAK PROGRAM command

C-34

C.61

SET CLOCK command

C-35

C-2

MARRC75KR07091E Rev D

C. KCL COMMAND ALPHABETICAL DESCRIPTION

C.62

SET DEFAULT command

C-35

C.63

SET GROUP command

C-35

C.64

SET LANGUAGE command

C-36

C.65

SET LOCAL VARIABLE command

C-36

C.66

SET PORT command

C-37

C.67

SET TASK command

C-37

C.68

SET TRACE command

C-38

C.69

SET VARIABLE command

C-38

C.70

SET VERIFY command

C-39

C.71

SHOW BREAK command

C-39

C.72

SHOW BUILTINS command

C-40

C.73

SHOW CONDITION command

C-40

C.74

SHOW CLOCK command

C-40

C.75

SHOW CURPOS command

C-41

C.76

SHOW DEFAULT command

C-41

C.77

SHOW DEVICE command

C-41

C.78

SHOW DICTS command

C-41

C.79

SHOW GROUP command

C-41

C.80

SHOW HISTORY command

C-42

C.81

SHOW LANG command

C-42

C.82

SHOW LANGS command

C-42

C.83

SHOW LOCAL VARIABLE command

C-42

C.84

SHOW LOCAL VARS command

C-44

C.85

SHOW MEMORY command

C-44

C.86

SHOW PROGRAM command

C-44

C.87

SHOW PROGRAMS command

C-45

C.88

SHOW SYSTEM command

C-45

C.89

SHOW TASK command

C-45

C.90

SHOW TASKS command

C-46

C.91

SHOW TRACE command

C-46

C.92

SHOW TYPES command

C-46

C.93

SHOW VARIABLE command

C-47

C.94

SHOW VARS command

C-47

C.95

SHOW data_type command

C-48

C.96

SIMULATE command

C-48

C.97

SKIP command

C-49

C.98

STEP OFF command

C-50

C.99

STEP ON command

C-50

C.100

TRANSLATE command

C-50

C.101

TYPE command

C-51

C.102

UNSIMULATE command

C-51

C-3

MARRC75KR07091E Rev D

C. KCL COMMAND ALPHABETICAL DESCRIPTION

This section describes each KCL command in alphabetical order. Each description includes the

purpose of the command, its syntax, and details of how to use it. Examples of each command are also

provided.

The following notation is used to describe KCL command syntax:

•

< > indicates optional arguments to a command

•

| indicates a choice which must be made

•

{ } indicates an item can be repeated

• file_spec: <device_name:><\\host_name\><path_name\>file_name.file_type |

<device_name:><\\host_name\>‘host_specific_name’

• path_name: <file_name\><dir\dir\. . .>

• file_name: maximum of 36 characters, no file type

device_name: is a two to five-character optional field, followed by a colon. The first character is a

letter, the remaining characters must be alphanumeric. If this field is left blank, the default device

from the system variable $DEVICE will be used.

host_name: is a one to eight character optional field. The host_name selects the network node that

receives this command. It must be preceded by two backslashes and separated from the remaining

fields by a backslash.

path_name : file_name\<path_name> - is a recursively defined optional field, each field consisting of

a maximum of 36 characters. It is used to select the file subdirectory. The root or source directory is

handled as a special case. It is designated by a file_name of zero length. For example, access to the

subdirectory SYS linked off of the root would have path name ‘\SYS’. A fully qualified file_spec

using this path_name would look like this, ‘C1:\HOST\SYS\FILE.KL’.

file_name: from one to 36 characters

file_type: from zero to three characters

KCL commands can be abbreviated allowing you to type in fewer letters as long as the abbreviated

version remains unique among all keywords. For example, ‘‘ABORT’’ can be ‘‘AB’’ but

‘‘CONTINUE’’ must be ‘‘CONT’’ to distinguish it from ‘‘CONDITION.’’

path_names, file_names, and file_types that contain special characters or begin with numbers can be

specified as a host_specific_name inside single quotes. FR:\’00\’ is valid, FR:\’00\test.kl’ is valid,

FR:\’00’\test.kl is invalid because the host_specific_name must be last.

KCL commands that have <prog_name> as part of the command syntax will use the default program

if none is specified. KCL commands that have <file_name> as part of the command syntax will use

the default program as the file name if none is specified.

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C.1

ABORT command

Syntax: ABORT < ( prog_name ) | ALL) > <FORCE>

where:

prog_name : the name of any KAREL or TP program which is a task

ALL : aborts all running or paused tasks

FORCE : aborts the task even if the NOABORT attribute is set. FORCE only works with ABORT

prog_name; FORCE does not work with ABORT ALL

Purpose: Aborts the specified running or paused task. If prog_ name is not specified, the default

program is used.

Execution of the current program statement is completed before the task aborts except for the current

motion, DELAY, WAIT, or READ statements, which are canceled.

Examples: KCL> ABORT test_prog FORCE

KCL> ABORT ALL

C.2

APPEND FILE command

Syntax: APPEND FILE input_file_spec TO output_ file_spec

where:

input_file_spec : a valid file specification

output_file_spec : a valid file specification

Purpose: Appends the contents of the specified input file to the end of the specified output file. The

input_file_spec and the output_file_spec must include both the file name and the file type.

Examples: KCL> APPEND FILE flpy:test.kl TO productn.kl

KCL> APPEND FILE test.kl TO productn.kl

C.3

APPEND NODE command

Syntax: APPEND NODE <[ prog_name ]> var_name

where:

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C. KCL COMMAND ALPHABETICAL DESCRIPTION

prog_name : the name of any KAREL or TP program

var_name : the name of any variable of type PATH

Purpose: Appends one node to the end of the specified PATH variable previously loaded in RAM.

The appended node value is uninitialized and the index number is one more than the last node index.

Execute the KCL> SAVE VARS command to make the change permanent.

Examples: KCL> APPEND NODE [test_prog]weld_pth

KCL> APPEND NODE weld_pth

C.4

CHDIR command

Syntax: CHDIR < device_name >\< path_name >\ or CD < device_name >\< path_nam e >

where:

device_name : a specified device

path_name : a subdirectory previously created on the memory card device using the mkdir command.

When the chdir command is used to change to a subdirectory, the entire path will be displayed on the

teach pendant screen as mc:\new_dir\new_file.

The double dot (..) can be used to represent the directory one level above the current directory.

Purpose: Changes the default device. If a device_name is not specified, displays the default device.

Examples: KCL> CHDIR rd:\

KCL> CD

KCL> CD mc:\a

KCL> CD ..

C.5

CLEAR ALL command

Syntax: CLEAR ALL <YES>

where:

YES : confirmation is not prompted

Purpose: Clears all KAREL and teach pendant programs and variable data from memory. All cleared

programs and variables (if they were saved with the KCL> SAVE VARS command) can be reloaded

into memory using the KCL> LOAD command.

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Examples: KCL> CLEAR ALL

Are you sure? YES

KCL> CLEAR ALL Y

C.6

CLEAR BREAK CONDITION command

Syntax: CLEAR BREAK CONDITION < prog_name > ( brk_pnt_no | ALL)

where:

prog_name : the name of any KAREL program in memory

brk_pnt_no : a particular condition break point

ALL : clears all condition break points

Purpose: Clears specified condition break point(s) from the specified or default program.

A condition break point only affects the program in which it is set.

Examples: KCL> CLEAR BREAK CONDITION test_prog 3

KCL> CLEAR BREAK COND ALL

C.7

CLEAR BREAK PROGRAM command

Syntax: CLEAR BREAK PROGRAM < prog_name > ( brk_pnt_no | ALL)

where:

prog_name : the name of any KAREL program in memory

brk_pnt_no : a particular program break point

ALL : clears all break points

Purpose: Clears specified break point(s) from the specified or default program.

A break point only affects the program in which it is set.

Examples: KCL> CLEAR BREAK PROGRAM test_prog 3

KCL> CLEAR BREAK PROG ALL

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C. KCL COMMAND ALPHABETICAL DESCRIPTION

C.8

CLEAR DICT command

Syntax: CLEAR DICT dict_name <( lang_name | ALL)>

where:

dict_name : the name of any dictionary to be cleared

lang_name : the name of the language. The available choices are ENGLISH, JAPANESE, FRENCH,

GERMAN, SPANISH or DEFAULT.

ALL : clears the dictionary from all languages

Purpose: Clears a dictionary from the specified language or from all languages. If no language is

specified, it is cleared from the DEFAULT language only.

Examples: KCL> CLEAR DICT tpsy ENGLISH

KCL> CLEAR DICT tpsy

C.9

CLEAR PROGRAM command

Syntax: CLEAR PROGRAM < prog_name > <YES>

where:

prog_name : the name of any KAREL or teach pendant program in memory

YES : confirmation is not prompted

Purpose: Clears the program data from memory for the specified or default program.

Examples: KCL> CLEAR PROGRAM test_prog

Are you sure? YES

KCL> CLEAR PROG test_prog Y

C.10 CLEAR VARS command

Syntax: CLEAR VARS < prog_name > <YES>

where:

prog_name : the name of any KAREL or teach pendant program with variables

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YES : confirmation is not prompted

Purpose: Clears the variable and type data associated with the specified or default program from

memory.

Variables and types that are referenced by a loaded program are not cleared.

Examples: KCL> CLEAR VARS test_prog

Are you sure? YES

KCL> CLEAR VARS test_prog Y

C.11

COMPRESS DICT command

Syntax: COMPRESS DICT file_name

where:

file_name : the file name of the user dictionary you want to compress.

Purpose: Compresses a dictionary file from the default storage device, using the specified dictionary

name. The file type of the user dictionary must be ‘‘.UTX’’. The compressed dictionary file will have

the same file name as the user dictionary, and be of type ‘‘.TX’’.

See Also: Chapter 10 DICTIONARIES AND FORMS

Example: KCL> COMPRESS DICT tphcmneg

C.12

COMPRESS FORM command

Syntax: COMPRESS FORM < file_name >

where:

file_name : the file name of the form you want to compress.

Purpose: Compresses a form file from the default storage device using the specified form name. The

file type of the form must be ‘‘.FTX’’. A compressed dictionary file and variable file will be created.

The compressed dictionary file will have the same file name as the form file and be of type ".TX".

The variable file will have a four character file name, that is extracted from the form file name, and be

of type ‘‘.VR’’. If no form file name is specified, the name ‘‘FORM’’ is used.

See Also: Chapter 10 DICTIONARIES AND FORMS

Examples: KCL> COMPRESS FORM

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C. KCL COMMAND ALPHABETICAL DESCRIPTION

KCL> COMPRESS FORM mnpalteg

C.13

CONTINUE command

Syntax: CONTINUE <( prog_name ) | ALL)>

where:

prog_name : the name of any KAREL or teach pendant program which is a task

ALL : continues all paused tasks

Purpose: Continues program execution of the specified task that has been paused by a hold,

pause, or test run operation. If the program is aborted, the program execution is started at the first

executable line.

When a task is paused, the CYCLE START button on the operator panel has the same effect as

the KCL> CONTINUE command.

CONTINUE is a motion command; therefore, the device from which it is issued must have motion

control.

See Also: Refer to the $RMT_MASTER description in the FANUC Robotics Software Reference

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

Examples: KCL> CONTINUE test_prog

KCL> CONT ALL

C.14

COPY FILE command

Syntax: COPY <FILE> from_file_spec TO to_file_spec <OVERWRITE>

where:

from_file_spec : a valid file specification

to_file_spec : a valid file specification

OVERWRITE : specifies copy over (overwrite) an existing file

Purpose: Copies the contents of one file to another with overwrite option. Allows file transfers

between different devices and between the controller and a host system.

The wildcard character (*) can be used to replace from_file_spec ’s entire file name, the first part of

the file name, the last part of the file name, or both the first and last parts of the file name. The file

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type can also use the wildcard in the same manner. The wildcard character in the to_file_spec can

only replace the entire file name or the entire file type.

Examples: KCL> COPY flpy:\test.kl TO rdu:newtest.kl

KCL> COPY mc:\test_dir\test.kl TO mc:\test_dir\newtest.kl

KCL> COPY FILE flpy:\*.kl TO rd:*.kl

KCL> COPY *.* TO fr:

KCL> COPY FILE *.kl TO rd:\*.bak OVERWRITE

KCL> COPY FILE flpy:\*main*.kl TO rd:* OV

KCL> COPY mdb:*.tp TO mc:

C.15

CREATE VARIABLE command

Syntax: CREATE VARIABLE <[ prog_name ]> var_name <IN (CMOS | DRAM)> : data_type

where:

prog_name : the name of any KAREL or TP program

var_name:data_type : a valid variable name and data type

Purpose: Allows you to declare a variable that will be associated with the specified or default

program. You must specify a valid identifier for the var_name and a valid data_type .

Only one variable can be declared with the CREATE VAR command. You must enter the KCL>

SAVE VARS command to save the declared variable with the program variable data. Use the KCL>

SET VARIABLE command to assign a value to a variable.

The following data types are valid (user types are also supported): ARRAY OF BYTE, JOINTPOS,

ARRAY OF SHORT, JOINTPOS1 to JOINTPOS9, BOOLEAN, POSITION, REAL, CONFIG,

VECTOR, FILE, XYZWPR, XYZWPREXT, INTEGER

You can create multi-dimensional arrays of the above type. A maximum of 3 dimensions may be

specified. Paths may only be created from a user defined type.

By default, the variable will be created in temporary memory (in DRAM), and must be recreated

every power up. The value will always be reset to uninitialized.

If IN CMOS is specified the variable will be created in permanent memory. The variable’s value will

be recovered every time the controller is turned on.

FANUC Robotics SYSTEM R-30iA and R-30iB Controller. KAREL Reference Manual - page 26