FANUC 机器人系统 R-30iA 和 R-30iB 控制器 KAREL 参考手册

【实例简介】FANUC 机器人系统 R-30iA 和 R-30iB 控制器 KAREL 参考手册

发那科机器人Karel语言手册

FANUC 机器人系统

【实例截图】

【核心代码】

目录
关于本手册 .............................................................................................................................................. i
安全 ................................................................................................................................................. xxvii
Chapter 1 KAREL LANGUAGE OVERVIEW ................................................................................ 1–1
1.1 OVERVIEW .................................................................................................................... 1–2
1.2 KAREL PROGRAMMING LANGUAGE ............................................................................. 1–2
1.2.1 Overview ......................................................................................................................... 1–2
1.2.2 Creating a Program ............................................................................................................ 1–4
1.2.3 Translating a Program ........................................................................................................ 1–4
1.2.4 Loading Program Logic and Data ......................................................................................... 1–4
1.2.5 Executing a Program .......................................................................................................... 1–5
1.2.6 Execution History ............................................................................................................. 1–5
1.2.7 Program Structure ............................................................................................................. 1–5
1.3 SYSTEM SOFTWARE ...................................................................................................... 1–7
1.3.1 Software Components ........................................................................................................ 1–7
1.3.2 Supported Robots .............................................................................................................. 1–7
1.4 CONTROLLER ................................................................................................................ 1–8
1.4.1 Memory .......................................................................................................................... 1–8
1.4.2 Input/Output System ........................................................................................................ 1–10
1.4.3 User Interface Devices ..................................................................................................... 1–10
Chapter 2 LANGUAGE ELEMENTS ............................................................................................ 2–1
2.1 LANGUAGE COMPONENTS ............................................................................................ 2–2
2.1.1 Character Set .................................................................................................................... 2–2
2.1.2 Operators ......................................................................................................................... 2–5
2.1.3 Reserved Words ................................................................................................................ 2–6
2.1.4 User-Defined Identifiers ..................................................................................................... 2–7
2.1.5 Labels ............................................................................................................................. 2–8
2.1.6 Predefined Identifiers ......................................................................................................... 2–8
2.1.7 System Variables ............................................................................................................. 2–10
2.1.8 Comments ..................................................................................................................... 2–10
2.2 TRANSLATOR DIRECTIVES ....................................................................................... 2–11
2.3 DATA TYPES ................................................................................................................ 2–13
2.4 USER-DEFINED DATA TYPES AND STRUCTURES ......................................................... 2–14
2.4.1 User-Defined Data Types .................................................................................................. 2–14
2.4.2 User-Defined Data Structures ............................................................................................ 2–16
2.5 ARRAYS ....................................................................................................................... 2–18
2.5.1 Multi-Dimensional Arrays ................................................................................................ 2–19
2.5.2 Variable-Sized Arrays ...................................................................................................... 2–20
Chapter 3 USE OF OPERATORS ................................................................................................ 3–1
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3.1 EXPRESSIONS AND ASSIGNMENTS ................................................................................ 3–2
3.1.1 Rule for Expressions and Assignments .................................................................................. 3–2
3.1.2 Evaluation of Expressions and Assignments ........................................................................... 3–2
3.1.3 Variables and Expressions ................................................................................................... 3–4
3.2 OPERATIONS ................................................................................................................. 3–4
3.2.1 Arithmetic Operations ........................................................................................................ 3–5
3.2.2 Relational Operations ......................................................................................................... 3–6
3.2.3 Boolean Operations ........................................................................................................... 3–7
3.2.4 Special Operations ............................................................................................................. 3–8
Chapter 4 PROGRAM CONTROL ............................................................................................... 4–1
4.1 OVERVIEW ..................................................................................................................... 4–2
4.2 PROGRAM CONTROL STRUCTURES ............................................................................... 4–2
4.2.1 Alternation Control Structures ............................................................................................. 4–2
4.2.2 Looping Control Statements ................................................................................................ 4–3
4.2.3 Unconditional Branch Statement .......................................................................................... 4–3
4.2.4 Execution Control Statements .............................................................................................. 4–3
4.2.5 Condition Handlers ............................................................................................................ 4–4
Chapter 5 ROUTINES ................................................................................................................. 5–1
5.1 ROUTINE EXECUTION ................................................................................................... 5–2
5.1.1 Declaring Routines ............................................................................................................ 5–2
5.1.2 Invoking Routines ............................................................................................................. 5–5
5.1.3 Returning from Routines .................................................................................................... 5–7
5.1.4 Scope of Variables ............................................................................................................. 5–8
5.1.5 Parameters and Arguments .................................................................................................. 5–9
5.1.6 Stack Usage ................................................................................................................... 5–13
5.2 BUILT- IN ROUTINES .................................................................................................... 5–15
Chapter 6 CONDITION HANDLERS ............................................................................................ 6–1
6.1 CONDITION HANDLER OPERATIONS ............................................................................. 6–3
6.1.1 Global Condition Handlers .................................................................................................. 6–3
6.2 CONDITIONS ................................................................................................................. 6–6
6.2.1 Port_Id Conditions ............................................................................................................ 6–7
6.2.2 Relational Conditions ......................................................................................................... 6–7
6.2.3 System and Program Event Conditions .................................................................................. 6–8
6.3 ACTIONS ..................................................................................................................... 6–11
6.3.1 Assignment Actions ......................................................................................................... 6–11
6.3.2 Motion Related Actions .................................................................................................... 6–13
6.3.3 Routine Call Actions ........................................................................................................ 6–13
6.3.4 Miscellaneous Actions ..................................................................................................... 6–14
Chapter 7 FILE INPUT/OUTPUT OPERATIONS ........................................................................... 7–1
7.1 OVERVIEW .................................................................................................................... 7–3
7.2 FILE VARIABLES ............................................................................................................ 7–3
7.3 OPEN FILE STATEMENT ................................................................................................. 7–4
7.3.1 Setting File and Port Attributes ............................................................................................ 7–5
7.3.2 File String ...................................................................................................................... 7–10
7.3.3 Usage String ................................................................................................................... 7–11
7.4 CLOSE FILE STATEMENT ............................................................................................. 7–14
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7.5 READ STATEMENT ....................................................................................................... 7–14
7.6 WRITE STATEMENT ..................................................................................................... 7–16
7.7 INPUT/OUTPUT BUFFER ............................................................................................... 7–17
7.8 FORMATTING TEXT (ASCII) INPUT/OUTPUT ................................................................. 7–18
7.8.1 Formatting INTEGER Data Items ....................................................................................... 7–19
7.8.2 Formatting REAL Data Items ............................................................................................ 7–22
7.8.3 Formatting BOOLEAN Data Items ..................................................................................... 7–25
7.8.4 Formatting STRING Data Items ......................................................................................... 7–27
7.8.5 Formatting VECTOR Data Items ........................................................................................ 7–31
7.8.6 Formatting Positional Data Items ....................................................................................... 7–32
7.9 FORMATTING BINARY INPUT/OUTPUT ........................................................................ 7–34
7.9.1 Formatting INTEGER Data Items ....................................................................................... 7–35
7.9.2 Formatting REAL Data Items ............................................................................................ 7–36
7.9.3 Formatting BOOLEAN Data Items ..................................................................................... 7–36
7.9.4 Formatting STRING Data Items ......................................................................................... 7–36
7.9.5 Formatting VECTOR Data Items ........................................................................................ 7–37
7.9.6 Formatting POSITION Data Items ...................................................................................... 7–37
7.9.7 Formatting XYZWPR Data Items ....................................................................................... 7–37
7.9.8 Formatting XYZWPREXT Data Items ................................................................................ 7–38
7.9.9 Formatting JOINTPOS Data Items ..................................................................................... 7–38
7.10 USER INTERFACE TIPS ................................................................................................. 7–38
7.10.1 USER Menu on the Teach Pendant ..................................................................................... 7–38
7.10.2 USER Menu on the CRT/KB ............................................................................................. 7–40
Chapter 8 POSITION DATA ......................................................................................................... 8–1
8.1 OVERVIEW .................................................................................................................... 8–2
8.2 POSITIONAL DATA ......................................................................................................... 8–2
8.3 FRAMES OF REFERENCE ............................................................................................... 8–3
8.3.1 World Frame .................................................................................................................... 8–4
8.3.2 User Frame (UFRAME) ..................................................................................................... 8–5
8.3.3 Tool Definition (UTOOL) ................................................................................................... 8–5
8.3.4 Using Frames in the Teach Pendant Editor (TP) ...................................................................... 8–5
8.4 JOG COORDINATE SYSTEMS .......................................................................................... 8–6
Chapter 9 FILE SYSTEM ............................................................................................................ 9–1
9.1 OVERVIEW .................................................................................................................... 9–2
9.2 FILE SPECIFICATION ...................................................................................................... 9–3
9.2.1 Device Name .................................................................................................................... 9–3
9.2.2 File Name ........................................................................................................................ 9–4
9.2.3 File Type ......................................................................................................................... 9–5
9.3 STORAGE DEVICE ACCESS ............................................................................................ 9–6
9.3.1 Overview ......................................................................................................................... 9–7
9.3.2 Memory File Devices ....................................................................................................... 9–13
9.3.3 Virtual Devices ............................................................................................................... 9–14
9.3.4 File Pipes ....................................................................................................................... 9–16
9.4 FILE ACCESS ............................................................................................................... 9–20
9.5 FORMATTING XML INPUT ........................................................................................... 9–20
9.5.1 Overview ....................................................................................................................... 9–20
9.5.2 Installation Sequence ....................................................................................................... 9–21
9.5.3 Example KAREL Program Referencing an XML File ............................................................ 9–22
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9.5.4 Parse Errors ................................................................................................................... 9–26
9.6 MEMORY DEVICE ........................................................................................................ 9–27
Chapter 10 DICTIONARIES AND FORMS ................................................................................... 10–1
10.1 OVERVIEW ................................................................................................................... 10–3
10.2 CREATING USER DICTIONARIES .................................................................................. 10–3
10.2.1 Dictionary Syntax ........................................................................................................... 10–3
10.2.2 Dictionary Element Number .............................................................................................. 10–4
10.2.3 Dictionary Element Name ................................................................................................. 10–5
10.2.4 Dictionary Cursor Positioning ............................................................................................ 10–5
10.2.5 Dictionary Element Text ................................................................................................... 10–6
10.2.6 Dictionary Reserved Word Commands ................................................................................ 10–8
10.2.7 Character Codes ............................................................................................................. 10–10
10.2.8 Nesting Dictionary Elements ............................................................................................ 10–10
10.2.9 Dictionary Comment ....................................................................................................... 10–11
10.2.10 Generating a KAREL Constant File ................................................................................... 10–11
10.2.11 Compressing and Loading Dictionaries on the Controller ....................................................... 10–11
10.2.12 Accessing Dictionary Elements from a KAREL Program ....................................................... 10–12
10.3 CREATING USER FORMS ............................................................................................. 10–13
10.3.1 Form Syntax .................................................................................................................. 10–14
10.3.2 Form Attributes ............................................................................................................. 10–15
10.3.3 Form Title and Menu Label .............................................................................................. 10–16
10.3.4 Form Menu Text ............................................................................................................ 10–17
10.3.5 Form Selectable Menu Item .............................................................................................. 10–18
10.3.6 Edit Data Item ............................................................................................................... 10–19
10.3.7 Dynamic Forms using Tree View ........................................................................................ 10–26
10.3.8 Non-Selectable Text ........................................................................................................ 10–27
10.3.9 Display Only Data Items .................................................................................................. 10–27
10.3.10 Cursor Position Attributes ................................................................................................ 10–27
10.3.11 Form Reserved Words and Character Codes ........................................................................ 10–28
10.3.12 Form Function Key Element Name or Number .................................................................... 10–30
10.3.13 Form Function Key Using a Variable ................................................................................. 10–31
10.3.14 Form Help Element Name or Number ................................................................................ 10–31
10.3.15 Teach Pendant Form Screen ............................................................................................. 10–32
10.3.16 CRT/KB Form Screen ..................................................................................................... 10–32
10.3.17 Form File Naming Convention .......................................................................................... 10–33
10.3.18 Compressing and Loading Forms on the Controller ............................................................... 10–34
10.3.19 Displaying a Form .......................................................................................................... 10–36
Chapter 11 SOCKET MESSAGING ............................................................................................. 11–1
11.1 OVERVIEW .................................................................................................................. 11–2
11.2 SYSTEM REQUIREMENTS ............................................................................................ 11–2
11.2.1 Overview ....................................................................................................................... 11–2
11.2.2 Software Requirements .................................................................................................... 11–2
11.2.3 Hardware Requirements ................................................................................................... 11–2
11.3 CONFIGURING THE SOCKET MESSAGING OPTION ...................................................... 11–3
11.3.1 Overview ....................................................................................................................... 11–3
11.3.2 Setting up a Server Tag ..................................................................................................... 11–3
11.3.3 Setting up a Client Tag ..................................................................................................... 11–6
11.4 SOCKET MESSAGING AND KAREL ............................................................................... 11–9
11.4.1 Overview ....................................................................................................................... 11–9
11.4.2 MSG_CONN( string, integer ) .......................................................................................... 11–9
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11.4.3 MSG_DISCO( string, integer ) .......................................................................................... 11–9
11.4.4 MSG_PING( string, integer ) ........................................................................................... 11–10
11.4.5 Exchanging Data during a Socket Messaging Connection ....................................................... 11–10
11.5 NETWORK PERFORMANCE ......................................................................................... 11–10
11.5.1 Overview ...................................................................................................................... 11–10
11.5.2 Guidelines for a Good Implementation ............................................................................... 11–11
11.6 PROGRAMMING EXAMPLES ....................................................................................... 11–11
11.6.1 .................................................................................................................................... 11–11
11.6.2 A KAREL Client Application ........................................................................................... 11–11
11.6.3 A KAREL Server Application .......................................................................................... 11–14
11.6.4 ANSI C Loopback Client Example .................................................................................... 11–16
Chapter 12 SYSTEM VARIABLES ............................................................................................... 12–1
12.1 ACCESS RIGHTS .......................................................................................................... 12–2
12.2 STORAGE ..................................................................................................................... 12–3
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
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
Chapter 15 MULTI-TASKING ....................................................................................................... 15–1
15.1 MULTI-TASKING TERMINOLOGY ................................................................................. 15–2
15.2 INTERPRETER ASSIGNMENT ....................................................................................... 15–3
15.3 MOTION CONTROL ...................................................................................................... 15–3
15.4 TASK SCHEDULING ..................................................................................................... 15–4
15.4.1 Priority Scheduling .......................................................................................................... 15–5
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15.4.2 Time Slicing ................................................................................................................... 15–6
15.5 STARTING TASKS ......................................................................................................... 15–6
15.5.1 Running Programs from the User Operator Panel (UOP) PNS Signal ........................................ 15–7
15.5.2 Child Tasks .................................................................................................................... 15–7
15.6 TASK CONTROL AND MONITORING ............................................................................. 15–7
15.6.1 From TPP Programs ........................................................................................................ 15–8
15.6.2 From KAREL Programs ................................................................................................... 15–8
15.6.3 From KCL ..................................................................................................................... 15–8
15.7 USING SEMAPHORES AND TASK SYNCHRONIZATION ................................................. 15–9
15.8 USING QUEUES FOR TASK COMMUNICATIONS ........................................................... 15–14
Appendix A KAREL LANGUAGE ALPHABETICAL DESCRIPTION ............................................... A–1
A.1 OVERVIEW ................................................................................................................... A–9
A.2 - A - KAREL LANGUAGE DESCRIPTION ........................................................................ A–18
A.2.1 ABORT Action ............................................................................................................... A–18
A.2.2 ABORT Condition ........................................................................................................... A–18
A.2.3 ABORT Statement ........................................................................................................... A–19
A.2.4 ABORT_TASK Built-In Procedure ..................................................................................... A–19
A.2.5 ABS Built-In Function ..................................................................................................... A–20
A.2.6 ACOS Built-In Function ................................................................................................... A–20
A.2.7 ACT_SCREEN Built-In Procedure ..................................................................................... A–21
A.2.8 ACT_TBL Built-In Procedure ............................................................................................. A–22
A.2.9 ADD_BYNAMEPC Built-In Procedure ............................................................................... A–24
A.2.10 ADD_DICT Built-In Procedure ......................................................................................... A–25
A.2.11 ADD_INTPC Built-In Procedure ........................................................................................ A–26
A.2.12 ADD_REALPC Built-In Procedure .................................................................................... A–27
A.2.13 ADD_STRINGPC Built-In Procedure ................................................................................. A–29
A.2.14 %ALPHABETIZE Translator Directive ............................................................................... A–30
A.2.15 APPEND_NODE Built-In Procedure .................................................................................. A–30
A.2.16 APPEND_QUEUE Built-In Procedure ................................................................................ A–31
A.2.17 APPROACH Built-In Function .......................................................................................... A–32
A.2.18 ARRAY Data Type .......................................................................................................... A–33
A.2.19 ARRAY_LEN Built-In Function ........................................................................................ A–34
A.2.20 ASIN Built-In Function .................................................................................................... A–34
A.2.21 Assignment Action .......................................................................................................... A–35
A.2.22 Assignment Statement ...................................................................................................... A–36
A.2.23 ATAN2 Built-In Function ................................................................................................. A–38
A.2.24 ATTACH Statement ......................................................................................................... A–39
A.2.25 ATT_WINDOW_D Built-In Procedure ................................................................................ A–39
A.2.26 ATT_WINDOW_S Built-In Procedure ................................................................................ A–40
A.2.27 AVL_POS_NUM Built-In Procedure .................................................................................. A–41
A.3 - B - KAREL LANGUAGE DESCRIPTION ........................................................................ A–42
A.3.1 BOOLEAN Data Type ..................................................................................................... A–42
A.3.2 BYNAME Built-In Function ............................................................................................. A–43
A.3.3 BYTE Data Type ............................................................................................................. A–44
A.3.4 BYTES_AHEAD Built-In Procedure .................................................................................. A–45
A.3.5 BYTES_LEFT Built-In Function ........................................................................................ A–46
A.4 - C - KAREL LANGUAGE DESCRIPTION ........................................................................ A–47
A.4.1 CALL_PROG Built-In Procedure ....................................................................................... A–47
A.4.2 CALL_PROGLIN Built-In Procedure ................................................................................. A–48
A.4.3 CANCEL Action ............................................................................................................. A–49
A.4.4 CANCEL Statement ........................................................................................................ A–49
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A.4.5 CANCEL FILE Statement ................................................................................................ A–50
A.4.6 CHECK_DICT Built-In Procedure ..................................................................................... A–51
A.4.7 CHECK_EPOS Built-In Procedure ..................................................................................... A–52
A.4.8 CHECK_NAME Built-In Procedure ................................................................................... A–53
A.4.9 CHR Built-In Function ..................................................................................................... A–53
A.4.10 CLEAR Built-In Procedure ............................................................................................... A–54
A.4.11 CLEAR_SEMA Built-In Procedure .................................................................................... A–55
A.4.12 CLOSE FILE Statement ................................................................................................... A–55
A.4.13 CLOSE HAND Statement ................................................................................................. A–56
A.4.14 CLOSE_TPE Built-In Procedure ........................................................................................ A–56
A.4.15 CLR_IO_STAT Built-In Procedure ..................................................................................... A–57
A.4.16 CLR_PORT_SIM Built-In Procedure .................................................................................. A–57
A.4.17 CLR_POS_REG Built-In Procedure ................................................................................... A–58
A.4.18 %CMOSVARS Translator Directive ................................................................................... A–59
A.4.19 %CMOS2SHADOW Translator Directive ............................................................................ A–59
A.4.20 CNC_DYN_DISB Built-In Procedure ................................................................................. A–59
A.4.21 CNC_DYN_DISE Built-In Procedure ................................................................................. A–60
A.4.22 CNC_DYN_DISI Built-In Procedure .................................................................................. A–61
A.4.23 CNC_DYN_DISP Built-In Procedure ................................................................................. A–62
A.4.24 CNC_DYN_DISR Built-In Procedure ................................................................................. A–62
A.4.25 CNC_DYN_DISS Built-In Procedure ................................................................................. A–63
A.4.26 CNCL_STP_MTN Built-In Procedure ................................................................................. A–64
A.4.27 CNV_CNF_STRG Built-In Procedure .................................................................................. A–64
A.4.28 CNV_CONF_STR Built-In Procedure ................................................................................. A–65
A.4.29 CNV_INT_STR Built-In Procedure .................................................................................... A–66
A.4.30 CNV_JPOS_REL Built-In Procedure .................................................................................. A–67
A.4.31 CNV_REAL_STR Built-In Procedure ................................................................................. A–67
A.4.32 CNV_REL_JPOS Built-In Procedure .................................................................................. A–68
A.4.33 CNV_STR_CONF Built-In Procedure ................................................................................. A–69
A.4.34 CNV_STR_INT Built-In Procedure .................................................................................... A–70
A.4.35 CNV_STR_REAL Built-In Procedure ................................................................................. A–71
A.4.36 CNV_STR_TIME Built-In Procedure ................................................................................. A–71
A.4.37 CNV_TIME_STR Built-In Procedure ................................................................................. A–72
A.4.38 %COMMENT Translator Directive .................................................................................... A–73
A.4.39 COMPARE_FILE Built-in Procedure ................................................................................... A–73
A.4.40 CONDITION...ENDCONDITION Statement ....................................................................... A–75
A.4.41 CONFIG Data Type ......................................................................................................... A–77
A.4.42 CONNECT TIMER Statement ........................................................................................... A–78
A.4.43 CONTINUE Action ......................................................................................................... A–79
A.4.44 CONTINUE Condition ..................................................................................................... A–79
A.4.45 CONT_TASK Built-In Procedure ....................................................................................... A–80
A.4.46 COPY_FILE Built-In Procedure ......................................................................................... A–81
A.4.47 COPY_PATH Built-In Procedure ........................................................................................ A–82
A.4.48 COPY_QUEUE Built-In Procedure .................................................................................... A–83
A.4.49 COPY_TPE Built-In Procedure .......................................................................................... A–85
A.4.50 COS Built-In Function ..................................................................................................... A–86
A.4.51 CR Input/Output Item ...................................................................................................... A–86
A.4.52 CREATE_TPE Built-In Procedure ...................................................................................... A–87
A.4.53 CREATE_VAR Built-In Procedure ..................................................................................... A–88
A.4.54 %CRTDEVICE ............................................................................................................... A–90
A.4.55 CURJPOS Built-In Function ............................................................................................. A–91
A.4.56 CURPOS Built-In Function ............................................................................................... A–92
A.4.57 CURR_PROG Built-In Function ........................................................................................ A–93
A.5 - D - KAREL LANGUAGE DESCRIPTION ........................................................................ A–93
A.5.1 DAQ_CHECKP Built-In Procedure .................................................................................... A–93
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A.5.2 DAQ_REGPIPE Built-In Procedure .................................................................................... A–94
A.5.3 DAQ_START Built-In Procedure ....................................................................................... A–96
A.5.4 DAQ_STOP Built-In Procedure ......................................................................................... A–98
A.5.5 DAQ_UNREG Built-In Procedure ...................................................................................... A–99
A.5.6 DAQ_WRITE Built-In Procedure ..................................................................................... A–100
A.5.7 %DEFGROUP Translator Directive .................................................................................. A–102
A.5.8 DEF_SCREEN Built-In Procedure ................................................................................... A–102
A.5.9 DEF_WINDOW Built-In Procedure .................................................................................. A–103
A.5.10 %DELAY Translator Directive ........................................................................................ A–104
A.5.11 DELAY Statement ......................................................................................................... A–105
A.5.12 DELETE_FILE Built-In Procedure ................................................................................... A–106
A.5.13 DELETE_NODE Built-In Procedure ................................................................................. A–107
A.5.14 DELETE_QUEUE Built-In Procedure ............................................................................... A–107
A.5.15 DEL_INST_TPE Built-In Procedure ................................................................................. A–108
A.5.16 DET_WINDOW Built-In Procedure ................................................................................. A–109
A.5.17 DISABLE CONDITION Action ....................................................................................... A–109
A.5.18 DISABLE CONDITION Statement .................................................................................. A–110
A.5.19 DISCONNECT TIMER Statement ................................................................................... A–111
A.5.20 DISCTRL_ALPH Built_In Procedure ............................................................................... A–112
A.5.21 DISCTRL_FORM Built_In Procedure ............................................................................... A–114
A.5.22 DISCTRL_LIST Built-In Procedure .................................................................................. A–116
A.5.23 DISCTRL_PLMN Built-In Procedure ............................................................................... A–117
A.5.24 DISCTRL_SBMN Built-In Procedure ............................................................................... A–119
A.5.25 DISCTRL_TBL Built-In Procedure .................................................................................. A–122
A.5.26 DISMOUNT_DEV Built-In Procedure .............................................................................. A–125
A.5.27 DISP_DAT_T Data Type ................................................................................................ A–125
A.5.28 DOSFILE_INF Built-In Procedure ..................................................................................... A–127
A.6 - E - KAREL LANGUAGE DESCRIPTION ...................................................................... A–128
A.6.1 ENABLE CONDITION Action ....................................................................................... A–128
A.6.2 ENABLE CONDITION Statement ................................................................................... A–129
A.6.3 %ENVIRONMENT Translator Directive ........................................................................... A–129
A.6.4 ERR_DATA Built-In Procedure ....................................................................................... A–131
A.6.5 ERROR Condition ......................................................................................................... A–132
A.6.6 EVAL Clause ............................................................................................................... A–133
A.6.7 EVENT Condition ......................................................................................................... A–134
A.6.8 EXP Built-In Function ................................................................................................... A–134
A.7 - F - KAREL LANGUAGE DESCRIPTION ...................................................................... A–135
A.7.1 FILE Data Type ............................................................................................................ A–135
A.7.2 FILE_LIST Built-In Procedure ........................................................................................ A–135
A.7.3 FOR...ENDFOR Statement ............................................................................................. A–137
A.7.4 FORCE_SPMENU Built-In Procedure .............................................................................. A–138
A.7.5 FORMAT_DEV Built-In Procedure .................................................................................. A–141
A.7.6 FRAME Built-In Function .............................................................................................. A–142
A.7.7 FROM Clause .............................................................................................................. A–144
A.8 - G - KAREL LANGUAGE DESCRIPTION ...................................................................... A–145
A.8.1 GET_ATTR_PRG Built-In Procedure ............................................................................... A–145
A.8.2 GET_FILE_POS Built-In Function ................................................................................... A–147
A.8.3 GET_JPOS_REG Built-In Function .................................................................................. A–148
A.8.4 GET_JPOS_TPE Built-In Function ................................................................................... A–148
A.8.5 GET_PORT_ASG Built-in Procedure ............................................................................... A–149
A.8.6 GET_PORT_ATR Built-In Function ................................................................................. A–151
A.8.7 GET_PORT_CMT Built-In Procedure ............................................................................... A–153
A.8.8 GET_PORT_MOD Built-In Procedure .............................................................................. A–154
A.8.9 GET_PORT_SIM Built-In Procedure ................................................................................ A–155
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A.8.10 GET_PORT_VAL Built-In Procedure ................................................................................ A–156
A.8.11 GET_POS_FRM Built-In Procedure ................................................................................. A–157
A.8.12 GET_POS_REG Built-In Function ................................................................................... A–158
A.8.13 GET_POS_TPE Built-In Function .................................................................................... A–158
A.8.14 GET_POS_TYP Built-In Procedure .................................................................................. A–159
A.8.15 GET_PREG_CMT Built-In-Procedure ............................................................................... A–160
A.8.16 GET_QUEUE Built-In Procedure ..................................................................................... A–161
A.8.17 GET_REG Built-In Procedure ......................................................................................... A–162
A.8.18 GET_REG_CMT .......................................................................................................... A–163
A.8.19 GET_SREG_CMT Builtin Procedure ................................................................................. A–163
A.8.20 GET_STR_REG Built-In Procedure ................................................................................... A–164
A.8.21 GET_TIME Built-In Procedure ......................................................................................... A–164
A.8.22 GET_TPE_CMT Built-in Procedure ................................................................................. A–165
A.8.23 GET_TPE_PRM Built-in Procedure ................................................................................. A–166
A.8.24 GET_TSK_INFO Built-In Procedure ................................................................................ A–168
A.8.25 GET_USEC_SUB Built-In Procedure ................................................................................ A–170
A.8.26 GET_USEC_TIM Built-In Function .................................................................................. A–171
A.8.27 GET_VAR Built-In Procedure ......................................................................................... A–171
A.8.28 GO TO Statement .......................................................................................................... A–175
A.9 - H - KAREL LANGUAGE DESCRIPTION ...................................................................... A–176
A.9.1 HOLD Action ............................................................................................................... A–176
A.9.2 HOLD Statement .......................................................................................................... A–177
A.10 - I - KAREL LANGUAGE DESCRIPTION ....................................................................... A–178
A.10.1 IF ... ENDIF Statement .................................................................................................. A–178
A.10.2 IN Clause .................................................................................................................... A–179
A.10.3 %INCLUDE Translator Directive ..................................................................................... A–180
A.10.4 INDEX Built-In Function ............................................................................................... A–181
A.10.5 INI_DYN_DISB Built-In Procedure ................................................................................. A–181
A.10.6 INI_DYN_DISE Built-In Procedure .................................................................................. A–183
A.10.7 INI_DYN_DISI Built-In Procedure .................................................................................. A–184
A.10.8 INI_DYN_DISP Built-In Procedure .................................................................................. A–186
A.10.9 INI_DYN_DISR Built-In Procedure ................................................................................. A–187
A.10.10 INI_DYN_DISS Built-In Procedure .................................................................................. A–188
A.10.11 INIT_QUEUE Built-In Procedure .................................................................................... A–189
A.10.12 INIT_TBL Built-In Procedure ......................................................................................... A–190
A.10.13 IN_RANGE Built-In Function ......................................................................................... A–201
A.10.14 INSERT_NODE Built-In Procedure .................................................................................. A–202
A.10.15 INSERT_QUEUE Built-In Procedure ................................................................................ A–203
A.10.16 INTEGER Data Type ..................................................................................................... A–204
A.10.17 INV Built-In Function .................................................................................................... A–205
A.10.18 IO_MOD_TYPE Built-In Procedure ................................................................................. A–206
A.10.19 IO_STATUS Built-In Function ......................................................................................... A–207
A.11 - J - KAREL LANGUAGE DESCRIPTION ....................................................................... A–208
A.11.1 J_IN_RANGE Built-In Function ...................................................................................... A–208
A.11.2 JOINTPOS Data Type .................................................................................................... A–209
A.11.3 JOINT2POS Built-In Function ......................................................................................... A–209
A.12 - K - KAREL LANGUAGE DESCRIPTION ...................................................................... A–211
A.12.1 KCL Built-In Procedure ................................................................................................. A–211
A.12.2 KCL_NO_WAIT Built-In Procedure ................................................................................. A–212
A.12.3 KCL_STATUS Built-In Procedure .................................................................................... A–213
A.13 - L - KAREL LANGUAGE DESCRIPTION ...................................................................... A–213
A.13.1 LN Built-In Function ..................................................................................................... A–213
A.13.2 LOAD Built-In Procedure ............................................................................................... A–214
A.13.3 LOAD_STATUS Built-In Procedure ................................................................................. A–215
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A.13.4 LOCK_GROUP Built-In Procedure .................................................................................. A–216
A.13.5 %LOCKGROUP Translator Directive ............................................................................... A–217
A.14 - M - KAREL LANGUAGE DESCRIPTION ..................................................................... A–218
A.14.1 MIRROR Built-In Function ............................................................................................. A–218
A.14.2 MODIFY_QUEUE Built-In Procedure .............................................................................. A–219
A.14.3 MOTION_CTL Built-In Function .................................................................................... A–221
A.14.4 MOUNT_DEV Built-In Procedure ................................................................................... A–221
A.14.5 MOVE_FILE Built-In Procedure ...................................................................................... A–222
A.14.6 MSG_CONNECT Built-In Procedure ............................................................................... A–223
A.14.7 MSG_DISCO Built-In Procedure ..................................................................................... A–225
A.14.8 MSG_PING ................................................................................................................. A–225
A.15 - N - KAREL LANGUAGE DESCRIPTION ...................................................................... A–226
A.15.1 NOABORT Action ........................................................................................................ A–226
A.15.2 %NOABORT Translator Directive ................................................................................... A–227
A.15.3 %NOBUSYLAMP Translator Directive ............................................................................ A–227
A.15.4 NODE_SIZE Built-In Function ........................................................................................ A–227
A.15.5 %NOLOCKGROUP Translator Directive .......................................................................... A–229
A.15.6 NOMESSAGE Action .................................................................................................... A–230
A.15.7 NOPAUSE Action ......................................................................................................... A–230
A.15.8 %NOPAUSE Translator Directive .................................................................................... A–231
A.15.9 %NOPAUSESHFT Translator Directive ............................................................................ A–231
A.16 - O - KAREL LANGUAGE DESCRIPTION ...................................................................... A–232
A.16.1 OPEN FILE Statement ................................................................................................... A–232
A.16.2 OPEN HAND Statement ................................................................................................. A–233
A.16.3 OPEN_TPE Built-In Procedure ........................................................................................ A–233
A.16.4 ORD Built-In Function ................................................................................................... A–234
A.16.5 ORIENT Built-In Function .............................................................................................. A–235
A.17 - P - KAREL LANGUAGE DESCRIPTION ...................................................................... A–236
A.17.1 PATH Data Type ........................................................................................................... A–236
A.17.2 PATH_LEN Built-In Function .......................................................................................... A–238
A.17.3 PAUSE Action .............................................................................................................. A–238
A.17.4 PAUSE Condition ......................................................................................................... A–239
A.17.5 PAUSE Statement ......................................................................................................... A–240
A.17.6 PAUSE_TASK Built-In Procedure .................................................................................... A–241
A.17.7 PEND_SEMA Built-In Procedure .................................................................................... A–242
A.17.8 PIPE_CONFIG Built-In Procedure ................................................................................... A–242
A.17.9 POP_KEY_RD Built-In Procedure ................................................................................... A–243
A.17.10 Port_Id Action .............................................................................................................. A–244
A.17.11 Port_Id Condition .......................................................................................................... A–245
A.17.12 POS Built-In Function .................................................................................................... A–246
A.17.13 POS2JOINT Built-In Function ......................................................................................... A–246
A.17.14 POS_REG_TYPE Built-In Procedure ................................................................................ A–248
A.17.15 POSITION Data Type .................................................................................................... A–249
A.17.16 POST_ERR Built-In Procedure ........................................................................................ A–250
A.17.17 POST_ERR_L Built-In Procedure ...................................................................................... A–251
A.17.18 POST_SEMA Built-In Procedure ..................................................................................... A–253
A.17.19 PRINT_FILE Built-In Procedure ...................................................................................... A–253
A.17.20 %PRIORITY Translator Directive .................................................................................... A–254
A.17.21 PROG_BACKUP Built-In Procedure ................................................................................ A–255
A.17.22 PROG_CLEAR Built-In Procedure ................................................................................... A–258
A.17.23 PROG_RESTORE Built-In Procedure ............................................................................... A–260
A.17.24 PROG_LIST Built-In Procedure ....................................................................................... A–262
A.17.25 PROGRAM Statement ................................................................................................... A–263
A.17.26 PULSE Action .............................................................................................................. A–264
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A.17.27 PULSE Statement ......................................................................................................... A–265
A.17.28 PURGE CONDITION Statement ..................................................................................... A–266
A.17.29 PURGE_DEV Built-In Procedure ..................................................................................... A–267
A.17.30 PUSH_KEY_RD Built-In Procedure ................................................................................. A–268
A.18 - Q - KAREL LANGUAGE DESCRIPTION ...................................................................... A–269
A.18.1 QUEUE_TYPE Data Type .............................................................................................. A–269
A.19 - R - KAREL LANGUAGE DESCRIPTION ...................................................................... A–269
A.19.1 READ Statement ........................................................................................................... A–269
A.19.2 READ_DICT Built-In Procedure ...................................................................................... A–271
A.19.3 READ_DICT_V Built-In-Procedure ................................................................................. A–272
A.19.4 READ_KB Built-In Procedure ......................................................................................... A–273
A.19.5 REAL Data Type ........................................................................................................... A–277
A.19.6 Relational Condition ...................................................................................................... A–279
A.19.7 RELAX HAND Statement .............................................................................................. A–280
A.19.8 RELEASE Statement ..................................................................................................... A–281
A.19.9 REMOVE_DICT Built-In Procedure ................................................................................. A–281
A.19.10 RENAME_FILE Built-In Procedure ................................................................................. A–282
A.19.11 RENAME_VAR Built-In Procedure .................................................................................. A–283
A.19.12 RENAME_VARS Built-In Procedure ................................................................................ A–283
A.19.13 REPEAT ... UNTIL Statement ......................................................................................... A–284
A.19.14 RESET Built-In Procedure .............................................................................................. A–285
A.19.15 RESUME Action .......................................................................................................... A–286
A.19.16 RESUME Statement ...................................................................................................... A–286
A.19.17 RETURN Statement ...................................................................................................... A–287
A.19.18 ROUND Built-In Function .............................................................................................. A–288
A.19.19 ROUTINE Statement ..................................................................................................... A–289
A.19.20 RUN_TASK Built-In Procedure ....................................................................................... A–290
A.20 - S - KAREL LANGUAGE DESCRIPTION ...................................................................... A–291
A.20.1 SAVE Built-In Procedure ................................................................................................ A–291
A.20.2 SAVE_DRAM Built-In Procedure .................................................................................... A–292
A.20.3 SELECT ... ENDSELECT Statement ................................................................................ A–293
A.20.4 SELECT_TPE Built-In Procedure .................................................................................... A–294
A.20.5 SEMA_COUNT Built-In Function ................................................................................... A–294
A.20.6 SEMAPHORE Condition ............................................................................................... A–295
A.20.7 SEND_DATAPC Built-In Procedure ................................................................................. A–295
A.20.8 SEND_EVENTPC Built-In Procedure ............................................................................... A–296
A.20.9 SET_ATTR_PRG Built-In Procedure ................................................................................ A–297
A.20.10 SET_CURSOR Built-In Procedure ................................................................................... A–299
A.20.11 SET_EPOS_REG Built-In Procedure ................................................................................ A–300
A.20.12 SET_EPOS_TPE Built-In Procedure ................................................................................. A–301
A.20.13 SET_FILE_ATR Built-In Procedure ................................................................................. A–302
A.20.14 SET_FILE_POS Built-In Procedure .................................................................................. A–303
A.20.15 SET_INT_REG Built-In Procedure ................................................................................... A–304
A.20.16 SET_JPOS_REG Built-In Procedure ................................................................................. A–304
A.20.17 SET_JPOS_TPE Built-In Procedure ................................................................................. A–305
A.20.18 SET_LANG Built-In Procedure ....................................................................................... A–306
A.20.19 SET_PERCH Built-In Procedure ...................................................................................... A–307
A.20.20 SET_PORT_ASG Built-In Procedure ................................................................................ A–308
A.20.21 SET_PORT_ATR Built-In Function .................................................................................. A–309
A.20.22 SET_PORT_CMT Built-In Procedure ............................................................................... A–311
A.20.23 SET_PORT_MOD Built-In Procedure ............................................................................... A–312
A.20.24 SET_PORT_SIM Built-In Procedure ................................................................................. A–313
A.20.25 SET_PORT_VAL Built-In Procedure ................................................................................ A–314
A.20.26 SET_POS_REG Built-In Procedure .................................................................................. A–315
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A.20.27 SET_POS_TPE Built-In Procedure ................................................................................... A–316
A.20.28 SET_PREG_CMT Built-In-Procedure ............................................................................... A–317
A.20.29 SET_REAL_REG Built-In Procedure ............................................................................... A–317
A.20.30 SET_REG_CMT Built-In-Procedure ................................................................................. A–317
A.20.31 SET_SREG_CMT Built-in Procedure ................................................................................. A–318
A.20.32 SET_STR_REG Built-in Procedure .................................................................................... A–319
A.20.33 SET_TIME Built-In Procedure ........................................................................................ A–319
A.20.34 SET_TPE_CMT Built-In Procedure .................................................................................. A–321
A.20.35 SET_TRNS_TPE Built-In Procedure ................................................................................ A–321
A.20.36 SET_TSK_ATTR Built-In Procedure ................................................................................ A–322
A.20.37 SET_TSK_NAME Built-In Procedure ............................................................................... A–323
A.20.38 SET_VAR Built-In Procedure .......................................................................................... A–324
A.20.39 %SHADOWVARS Translator Directive ............................................................................ A–327
A.20.40 SHORT Data Type ......................................................................................................... A–327
A.20.41 SIGNAL EVENT Action ................................................................................................ A–328
A.20.42 SIGNAL EVENT Statement ............................................................................................ A–328
A.20.43 SIGNAL SEMAPHORE Action ....................................................................................... A–329
A.20.44 SIN Built-In Function .................................................................................................... A–329
A.20.45 SQRT Built-In Function ................................................................................................. A–330
A.20.46 %STACKSIZE Translator Directive .................................................................................. A–330
A.20.47 STD_PTH_NODE Data Type .......................................................................................... A–331
A.20.48 STOP Action ................................................................................................................ A–331
A.20.49 STOP Statement ............................................................................................................ A–332
A.20.50 STRING Data Type ....................................................................................................... A–333
A.20.51 STR_LEN Built-In Function ........................................................................................... A–334
A.20.52 STRUCTURE Data Type ................................................................................................ A–334
A.20.53 SUB_STR Built-In Function ........................................................................................... A–335
A.21 - T - KAREL LANGUAGE DESCRIPTION ...................................................................... A–336
A.21.1 TAN Built-In Function ................................................................................................... A–336
A.21.2 %TIMESLICE Translator Directive .................................................................................. A–337
A.21.3 %TPMOTION Translator Directive .................................................................................. A–337
A.21.4 TRANSLATE Built-In Procedure ..................................................................................... A–337
A.21.5 TRUNC Built-In Function .............................................................................................. A–339
A.22 - U - KAREL LANGUAGE DESCRIPTION ...................................................................... A–340
A.22.1 UNHOLD Action .......................................................................................................... A–340
A.22.2 UNHOLD Statement ...................................................................................................... A–340
A.22.3 UNINIT Built-In Function .............................................................................................. A–341
A.22.4 %UNINITVARS Translator Directive ............................................................................... A–341
A.22.5 UNLOCK_GROUP Built-In Procedure ............................................................................. A–342
A.22.6 UNPAUSE Action ......................................................................................................... A–343
A.22.7 UNPOS Built-In Procedure ............................................................................................. A–344
A.22.8 USING ... ENDUSING Statement .................................................................................... A–344
A.23 - V - KAREL LANGUAGE DESCRIPTION ...................................................................... A–345
A.23.1 V_CAM_CALIB iRVision Built-In Procedure .................................................................... A–345
A.23.2 V_GET_OFFSET iRVision Built-In Procedure ................................................................... A–347
A.23.3 V_GET_PASSFL iRVision Built-In Procedure .................................................................... A–348
A.23.4 V_GET_QUEUE iRVision Built-in Procedure .................................................................... A–350
A.23.5 V_INIT_QUEUE iRVision Built-in Procedure .................................................................... A–350
A.23.6 V_RALC_QUEUE iRVision Built-in Procedure .................................................................. A–351
A.23.7 V_RUN_FIND iRVision Built-In Procedure ....................................................................... A–351
A.23.8 V_SET_REF iRVision Built-In Procedure .......................................................................... A–353
A.23.9 V_START_VTRK iRVision Built-in Procedure ................................................................... A–354
A.23.10 V_STOP_VTRK iRVision Built-in Procedure ..................................................................... A–354
A.23.11 VAR_INFO Built-In Procedure ........................................................................................ A–355
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A.23.12 VAR_LIST Built-In Procedure ......................................................................................... A–357
A.23.13 VECTOR Data Type ...................................................................................................... A–360
A.23.14 VOL_SPACE Built-In Procedure ...................................................................................... A–361
A.23.15 VREG_FND_POS iRVision Built-in Procedure ................................................................... A–362
A.23.16 VREG_OFFSET iRVision Built-in Procedure ..................................................................... A–363
A.24 - W - KAREL LANGUAGE DESCRIPTION ..................................................................... A–364
A.24.1 WAIT FOR Statement .................................................................................................... A–364
A.24.2 WHEN Clause .............................................................................................................. A–364
A.24.3 WHILE...ENDWHILE Statement ..................................................................................... A–365
A.24.4 WITH Clause ............................................................................................................... A–365
A.24.5 WRITE Statement ......................................................................................................... A–366
A.24.6 WRITE_DICT Built-In Procedure .................................................................................... A–367
A.24.7 WRITE_DICT_V Built-In Procedure ................................................................................ A–368
A.25 - X - KAREL LANGUAGE DESCRIPTION ...................................................................... A–369
A.25.1 XML_ADDTAG Built-In Procedure ................................................................................. A–369
A.25.2 XML_GETDATA Built-In Procedure ................................................................................. A–370
A.25.3 XML_REMTAG Built-In Procedure .................................................................................. A–371
A.25.4 XML_SCAN Built-In Procedure ....................................................................................... A–371
A.25.5 XML_SETVAR Built-In Procedure ................................................................................... A–373
A.25.6 XYZWPR Data Type ..................................................................................................... A–374
A.25.7 XYZWPREXT Data Type ............................................................................................... A–375
A.26 - Y - KAREL LANGUAGE DESCRIPTION ...................................................................... A–375
A.27 - Z - KAREL LANGUAGE DESCRIPTION ...................................................................... A–375
Appendix B KAREL EXAMPLE PROGRAMS ................................................................................ B–1
B.1 SETTING UP DIGITAL OUTPUT PORTS FOR PROCESS MONITORING .............................. B–6
B.2 COPYING PATH VARIABLES ......................................................................................... B–18
B.3 SAVING DATA TO THE DEFAULT DEVICE ..................................................................... B–28
B.4 STANDARD ROUTINES ................................................................................................. B–31
B.5 USING REGISTER BUILT-INS ........................................................................................ B–33
B.6 PATH VARIABLES AND CONDITION HANDLERS PROGRAM ......................................... B–38
B.7 LISTING FILES AND PROGRAMS AND MANIPULATING STRINGS ................................. B–44
B.8 GENERATING AND MOVING ALONG A HEXAGON PATH .............................................. B–49
B.9 USING THE FILE AND DEVICE BUILT-INS ..................................................................... B–54
B.10 USING DYNAMIC DISPLAY BUILT-INS .......................................................................... B–58
B.11 MANIPULATING VALUES OF DYNAMICALLY DISPLAYED VARIABLES ......................... B–68
B.12 DISPLAYING A LIST FROM A DICTIONARY FILE .......................................................... B–70
B.12.1 Dictionary Files .............................................................................................................. B–80
B.13 USING THE DISCTRL_ALPHA BUILT-IN ........................................................................ B–81
B.13.1 Dictionary Files .............................................................................................................. B–85
B.14 APPLYING OFFSETS TO A COPIED TEACH PENDANT PROGRAM .................................. B–85
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
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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.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
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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.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
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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.103 WAIT command .............................................................................................................. C–52
Appendix D CHARACTER CODES ............................................................................................... D–1
D.1 CHARACTER CODES ..................................................................................................... D–2
Appendix E SYNTAX DIAGRAMS .................................................................................................. E–1
Glossary ........................................................................................................................................ GL–28
Index ............................................................................................................................................. Index–1
xx
插图目录
Figure 1–1. Controller Memory ............................................................................................................ 1–9
Figure 1–2. R-30iA Controller ........................................................................................................... 1–11
Figure 3–1. Determining w_handle Relative to WORLD Frame .............................................................. 3–10
Figure 3–2. Determining b_handle Relative to BUMPER Frame ............................................................. 3–11
Figure 7–1. "t_sc" Screen .................................................................................................................. 7–39
Figure 7–2. "t_sc" Screen with $TP_USESTAT = TRUE ........................................................................ 7–39
Figure 7–3. "c_sc" Screen ................................................................................................................. 7–40
Figure 7–4. "c_sc" Screen with $CRT_USERSTAT = TRUE ................................................................... 7–41
Figure 8–1. Referencing Positions in KAREL ......................................................................................... 8–4
Figure 9–1. XML File 1 Separated start and end tags .............................................................................. 9–22
Figure 9–2. XML File 2 Combined start and end tags .............................................................................. 9–22
Figure 9–3. XML File 3 GRID tag not registered or processed .................................................................. 9–22
Figure 9–4. KAREL Program .............................................................................................................. 9–23
Figure 10–1. Dictionary Compressor and User Dictionary File ................................................................. 10–12
Figure 10–2. Teach Pendant Form Screen ............................................................................................. 10–32
Figure 10–3. CRT/KB Form Screen ..................................................................................................... 10–33
Figure 10–4. Dictionary Compressor and Form Dictionary File ................................................................. 10–34
Figure 10–5. Example of Selectable Menu Items .................................................................................... 10–36
Figure 10–6. Example of Edit Data Items ............................................................................................. 10–38
Figure 10–7. Example of Display Only Data Items ................................................................................. 10–42
Figure 14–1. KAREL Logic for Converting Input to a Real Value Representing the Voltage ............................ 14–4
Figure 14–2. RSR Timing Diagram ..................................................................................................... 14–16
Figure 14–3. PNS Timing Diagram ..................................................................................................... 14–17
Figure 14–4. Location of Ports on the Controller .................................................................................... 14–23
Figure 15–1. Task Synchronization Using a Semaphore ........................................................................... 15–10
Figure A–1. Example of COMPARE_FILE built-in Procedure .................................................................... A–74
Figure A–2. FRAME Built-In Function .............................................................................................. A–143
Figure A–3. GET_USEC_SUB Built-In Function .................................................................................. A–171
Figure E–1. ...................................................................................................................................... E–3
Figure E–2. ...................................................................................................................................... E–4
Figure E–3. ...................................................................................................................................... E–5
Figure E–4. ...................................................................................................................................... E–6
Figure E–5. ...................................................................................................................................... E–7
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Contents MARRC75KR07091E Rev D
Figure E–6. ...................................................................................................................................... E–8
Figure E–7. ...................................................................................................................................... E–9
Figure E–8. .................................................................................................................................... E–10
Figure E–9. .................................................................................................................................... E–11
Figure E–10. .................................................................................................................................... E–12
Figure E–11. .................................................................................................................................... E–13
Figure E–12. .................................................................................................................................... E–14
Figure E–13. .................................................................................................................................... E–15
Figure E–14. .................................................................................................................................... E–16
Figure E–15. .................................................................................................................................... E–17
Figure E–16. .................................................................................................................................... E–18
Figure E–17. .................................................................................................................................... E–19
Figure E–18. .................................................................................................................................... E–20
Figure E–19. .................................................................................................................................... E–21
Figure E–20. .................................................................................................................................... E–22
Figure E–21. .................................................................................................................................... E–23
Figure E–22. .................................................................................................................................... E–24
Figure E–23. .................................................................................................................................... E–25
Figure E–24. .................................................................................................................................... E–26
Figure E–25. .................................................................................................................................... E–27
xxii
表目录
Table 2–1. ASCII Character Set .......................................................................................................... 2–2
Table 2–2. Multinational Character Set ................................................................................................. 2–4
Table 2–3. Graphics Character Set ....................................................................................................... 2–5
Table 2–4. KAREL Operators ............................................................................................................ 2–5
Table 2–5. KAREL Operator Precedence .............................................................................................. 2–6
Table 2–6. Reserved Word List ........................................................................................................... 2–6
Table 2–7. Predefined Identifier and Value Summary .............................................................................. 2–8
Table 2–8. Port and File Predefined Identifier Summary .......................................................................... 2–9
Table 2–9. Translator Directives ....................................................................................................... 2–11
Table 2–10. Simple and Structured Data Types ...................................................................................... 2–14
Table 3–1. Summary of Operation Result Types ..................................................................................... 3–3
Table 3–2. KAREL Operators ............................................................................................................ 3–5
Table 3–3. Arithmetic Operations Using , -, and * Operators .................................................................. 3–5
Table 3–4. Arithmetic Operations Examples .......................................................................................... 3–5
Table 3–5. Arithmetic Operations Using Bitwise Operands ...................................................................... 3–6
Table 3–6. KAREL Operator Precedence .............................................................................................. 3–6
Table 3–7. Relational Operation Examples ............................................................................................ 3–7
Table 3–8. BOOLEAN Operation Summary .......................................................................................... 3–8
Table 3–9. BOOLEAN Operations Using AND, OR, and NOT Operators ................................................... 3–8
Table 3–10. Examples of Vector Operations .......................................................................................... 3–13
Table 5–1. Stack Usage ................................................................................................................... 5–13
Table 5–2. KAREL Built—In Routine Summary .................................................................................. 5–16
Table 6–1. Conditions ....................................................................................................................... 6–2
Table 6–2. Actions ........................................................................................................................... 6–2
Table 6–3. Condition Handler Operations ............................................................................................. 6–3
Table 6–4. Interval Between Global Condition Handler Scans .................................................................. 6–4
Table 6–5. Port_Id Conditions ............................................................................................................ 6–7
Table 6–6. Relational Conditions ........................................................................................................ 6–8
Table 6–7. System and Program Event Conditions .................................................................................. 6–9
Table 6–8. Assignment Actions ........................................................................................................ 6–12
Table 6–9. Motion Related Actions .................................................................................................... 6–13
Table 6–10. Miscellaneous Actions ..................................................................................................... 6–14
Table 7–1. Predefined File Variables .................................................................................................... 7–3
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Contents MARRC75KR07091E Rev D
Table 7–2. Predefined Attribute Types ................................................................................................. 7–5
Table 7–3. Attribute Values ................................................................................................................ 7–6
Table 7–4. Usage Specifiers ............................................................................................................. 7–11
Table 7–5. Text (ASCII) Input Format Specifiers ................................................................................. 7–18
Table 7–6. Text (ASCII) Output Format Specifiers ............................................................................... 7–19
Table 7–7. Examples of INTEGER Input Data Items ............................................................................ 7–20
Table 7–8. Examples of INTEGER Output Data Items .......................................................................... 7–21
Table 7–9. Examples of REAL Input Data Items .................................................................................. 7–23
Table 7–10. Examples of REAL Output Data Items ................................................................................ 7–24
Table 7–11. Examples of BOOLEAN Input Data Items ........................................................................... 7–26
Table 7–12. Examples of BOOLEAN Output Data Items ......................................................................... 7–27
Table 7–13. Examples of STRING Input Data Items ............................................................................... 7–28
Table 7–14. Examples of STRING Output Data Items ............................................................................ 7–30
Table 7–15. Examples of VECTOR Output Data Items ........................................................................... 7–32
Table 7–16. Examples of POSITION Output Data Items (p =
POS(2.0,-4.0,8.0,0.0,90.0,0.0,config_var)) ............................................................................ 7–33
Table 7–17. Binary Input/Output Format Specifiers ................................................................................ 7–35
Table 7–18. Defined Windows for t_sc" ............................................................................................... 7–38
Table 7–19. Defined Windows for c_sc" ............................................................................................... 7–40
Table 8–1. Turn Number Definitions .................................................................................................... 8–2
Table 9–1. File Type Descriptions ....................................................................................................... 9–5
Table 9–2. Virtual Devices ............................................................................................................... 9–14
Table 9–3. System Variable Field Descriptions .................................................................................... 9–18
Table 9–4. File Listings for the MD Device ......................................................................................... 9–27
Table 9–5. Testing Restrictions when Using the MD: Device .................................................................. 9–30
Table 10–1. Conversion Characters ..................................................................................................... 10–7
Table 10–2. Reserved Words .............................................................................................................. 10–9
Table 10–3. Conversion Characters .................................................................................................... 10–20
Table 10–4. Tree View Format ............................................................................................................ 10–26
Table 10–5. Reserved Words ............................................................................................................. 10–28
Table 10–6. Reserved Words for Scrolling Window ............................................................................... 10–29
Table 12–1. Access Rights for System Variables .................................................................................... 12–2
Table 14–1. Standard Operator Panel Input Signals ................................................................................ 14–7
Table 14–2. Standard Operator Panel Output Signals .............................................................................. 14–7
Table 14–3. User Operator Panel Input Signals ...................................................................................... 14–9
Table 14–4. User Operator Panel Output Signals ................................................................................... 14–14
Table 14–5. Teach Pendant Input Signal Assignments ............................................................................ 14–17
Table 14–6. Ports P1 - P4 ................................................................................................................. 14–24
Table 14–7. Default Communications Settings for Devices ..................................................................... 14–24
Table 15–1. System Function Priority Table .......................................................................................... 15–5
Table A–1. Syntax Notation ............................................................................................................... A–9
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Table A–2. Actions ......................................................................................................................... A–11
Table A–3. Clauses ......................................................................................................................... A–11
Table A–4. Conditions ..................................................................................................................... A–12
Table A–5. Data Types ..................................................................................................................... A–12
Table A–6. Directives ...................................................................................................................... A–13
Table A–7. KAREL Built—In Routine Summary .................................................................................. A–13
Table A–8. Items ............................................................................................................................ A–16
Table A–9. Statements ..................................................................................................................... A–17
Table A–10. Valid and Invalid BOOLEAN Values .................................................................................. A–42
Table A–11. INTEGER Representation of Current Time ........................................................................ A–165
Table A–12. Conversion Characters ................................................................................................... A–185
Table A–13. Conversion Characters ................................................................................................... A–193
Table A–14. Valid and Invalid INTEGER Literals ................................................................................ A–204
Table A–15. IO_STATUS Errors ....................................................................................................... A–207
Table A–16. Group_mask Setting ...................................................................................................... A–216
Table A–17. Group_mask Setting ...................................................................................................... A–221
Table A–18. Valid and Invalid REAL operators .................................................................................... A–278
Table A–19. Group_mask setting ....................................................................................................... A–291
Table A–20. Attribute Values ............................................................................................................ A–310
Table A–21. 32–Bit INTEGER Format of Time .................................................................................... A–320
Table A–22. Example STRING Literals .............................................................................................. A–333
Table A–23. Group_mask Settings ..................................................................................................... A–342
Table A–24. Function Code Values .................................................................................................... A–346
Table A–25. Valid Data Types ........................................................................................................... A–356
Table A–26. Valid Data Types ........................................................................................................... A–358
Table B–1. KAREL Example Programs ............................................................................................... B–2
Table D–1. ASCII Character Codes ..................................................................................................... D–2
Table D–2. Special ASCII Character Codes .......................................................................................... D–3
Table D–3. Multinational Character Codes ........................................................................................... D–4
Table D–4. Graphics Character Codes (not available in R-30iB) ............................................................... D–6
Table D–5. Teach Pendant Input Codes ................................................................................................ D–7
Table D–6. European Character Codes ................................................................................................. D–8
Table D–7. Graphics Characters ........................................................................................................ D–10