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

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A. KAREL LANGUAGE ALPHABETICAL DESCRIPTION

[in] jpos : JOINTPOS

[out] status :INTEGER

[in] group_no :INTEGER

%ENVIRONMENT Group :REGOPE

Details:

• register_no specifies the position register in which to store the position, jpos .

• The position data is set in JOINTPOS representation with no conversion.

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

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

is not changed.

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

the controller.

See Also: GET_JPOS_REG, GET_POS_REG, SET_POS_REG, POS_REG_TYPE Built-in

Procedures

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

example.

A.20.17

SET_JPOS_TPE Built-In Procedure

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

Syntax : SET_JPOS_TPE(open_id, position_no, posn, status<, group_no>)

Input/Output Parameters :

[in] open_id : INTEGER

[in] position_no : INTEGER

[in] posn : JOINTPOS

[out] status : INTEGER

[in] group_no :INTEGER

%ENVIRONMENT Group :PBCORE

Details:

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• open_id specifies the opened teach pendant program. Before calling this built-in, a program must

be opened using the OPEN_TPE Built-In, and have read/write access.

• position_no specifies the position in the program in which to store the value.

• The position data is set in JOINTPOS representation with no conversion.

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

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

is not changed.

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

the controller.

See Also: GET_JPOS_TPE, GET_POS_TPE, SET_POS_TPE, GET_POS_TYP Built-in Procedures

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

(CPY.TP.KL), for a detailed program example.

A.20.18

SET_LANG Built-In Procedure

Purpose: Changes the current language

Syntax : SET_LANG(lang_name, status)

Input/Output Parameters :

[in] lang_name :STRING

[out] status :INTEGER

%ENVIRONMENT Group :PBCORE

Details:

• lang_name specifies which language from which the dictionaries should be read/written. Use

one of the following pre-defined constants:

dp_default

dp_english

dp_japanese

dp_french

dp_german

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dp_spanish

• The read-only system variable $LANGUAGE indicates which language is currently in use.

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

setting the language.

• The error, 33003, "No dict found for language," will be returned if no dictionaries are loaded

into the specified language. The KCL command "SHOW LANGS" can be used to view which

languages are created in the system.

See Also: Chapter 10 DICTIONARIES AND FORMS

Example: Refer to Section B.13 , "Using the DISCTRL_ALPHA Built-in" (DCALP_EX.KL), for a

detailed program example.

A.20.19

SET_PERCH Built-In Procedure

Purpose: Sets the perch position and tolerance for a group of axes

Syntax : SET_PERCH(jpos, tolerance, indx)

Input/Output Parameters :

[in] jpos : JOINTPOS

[in] tolerance : ARRAY[6] of REAL

[in] indx : INTEGER

%ENVIRONMENT Group :SYSTEM

Details:

• The values of jpos are converted to radians and stored in the system variable $REFPOS1[ indx

].$perch_pos.

• The tolerance array is converted to degrees and stored in the system variable $REFPOS1[ indx

].$perchtol. If the tolerance array is uninitialized, an error is generated.

• indx specifies the element number to be set in the $REFPOS1 array.

• The group of axes is implied from the specified position, jpos . If JOINTPOS is not in group 1,

then the system variable $REFPOSn is used where n corresponds to the group number of jpos

and indx must beset to 1.

See Also: The appropriate application-specific FANUC Robotics Setup and Operations Manual

to setup Reference Positions

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Example: In the following example, $REFPOS1[2].$perchpos and $REFPOS1[2].$perchtol are

set according to perch_pos and tolerance[i].

SET_PERCH Built-In Procedure

VAR

perch_pos: JOINTPOS IN GROUP[1]

BEGIN

FOR i = 1 to 6 DO

tolerance[i] = 0.01

ENDFOR

SET_PERCH (perch_pos, tolerance, 2)

END

A.20.20

SET_PORT_ASG Built-In Procedure

Purpose: Allows a KAREL program to assign one or more logical ports to specified physical port(s)

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

phy_port_no, n_ports, status)

Input/Output Parameters :

[in] log_port_type : INTEGER

[in] log_port_no : INTEGER

[in] rack_no : INTEGER

[in] slot_no : INTEGER

[in] phy_port_type : INTEGER

[in] phy_port_no : INTEGER

[in] n_ports : INTEGER

[out] status : INTEGER

%ENVIRONMENT Group :IOSETUP

Details:

• log_port_type specifies the code for the type of port to be assigned. Codes are defined in

KLIOTYPS.KL.

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• log_port_no specifies the number of the port to be assigned.

• rack_no is the rack containing the port module. For process I/O boards, memory-image, and

dummy ports, this is zero; for Allen-Bradley and Genius ports, this is 16.

• slot_no is the slot containing the port module. For process I/O boards, this is the sequence in

the SLC-2 chain. For memory-image and dummy ports, this is zero; for Allen-Bradley and

Genius ports, this is 1.

• phy_port_type is the type of port to be assigned to. Often this will be the same as log_port_type .

Exceptions are if log_port_type is a group type ( io_gpin or io_gpout ) or a port is assigned

to memory-image or dummy ports.

• phy_port_no is the number of the port to be assigned to. If log_port_type is a group, this is the

port number for the least-significant bit of the group.

• n_ports is the number of physical ports to be assigned to the logical port. If log_port_type is a

group type, n_ports indicates the number of bits in the group. When setting digital I/O, n_ports is

the number of points you are configuring. In most cases this will be 8, but may be 1 through 8.

• status is returned with zero if the parameters are valid. Otherwise, it is returned with an error

code. The assignment is invalid if the specified port(s) do not exist or if the assignment of

log_port_type to phy_port_type is not permitted.

For example, GINs cannot be assigned to DOUTs. Neither log_port_type nor phy_port_type can

be a system port type (SOPIN, for example).

Note The assignment does not take effect until the next power-up.

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

for a detailed program example.

A.20.21

SET_PORT_ATR Built-In Function

Purpose: Sets the attributes of a port

Syntax : SET_PORT_ATR(port_id, atr_type, atr_value)

Function Return Type :INTEGER

Input/Output Parameters :

[in] port_id : INTEGER

[in] atr_type : INTEGER

[in] atr_value : INTEGER

%ENVIRONMENT Group :FLBT

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Details:

•

port_id is one of the predefined constants as follows:

port_1

port_2

port_3

port_4

•

atr_type specifies the attribute type to set. One of the following predefined constants should be

used:

atr_readahd :Read ahead buffer

atr_baud :Baud rate

atr_parity :Parity

atr_sbits :Stop bits

atr_dbits :Data length

atr_xonoff :XON/XOFF

atr_eol :End of line

atr_modem :Modem line

•

atr_value specifies the value for the attribute type. See Table A-20 on the following page which

contains acceptable pre-defined attribute types with corresponding values.

Table

A-20.

Attribute Values

ATR_TYPE

ATR_VALUE

atr_readahd

any integer, represents multiples of 128 bytes (for example: atr_value=1 means

the buffer length is 128 bytes.

atr_baud

baud_9600

baud_4800

baud_2400

baud_1200

atr_parity

parity_none

parity_even

parity_odd

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Table

A-20.

Attribute Values (Cont’d)

ATR_TYPE

ATR_VALUE

atr_sbits

sbits_1

sbits_15

sbits_2

atr_dbits

dbits_5

dbits_6

dbits_7

dbits_8

atr_xonoff

xf_not_used

xf_used

atr_eol

an ASCII code value, Refer to Appendix D , "Character Codes"

atr_modem

md_not_used

md_use_dsr

md_nouse_dsr

md_use_dtr

md_nouse_dtr

md_use_rts

md_nouse_rts

• A returned integer is the status of this action to port.

See Also: SET_FILE_ATR Built-In Procedure, Section 7.3.1 , ‘‘Setting File and Port Attributes,’’

for more information

Example: Refer to the example for the GET_PORT_ATR Built_In Function.

A.20.22

SET_PORT_CMT Built-In Procedure

Purpose: Allows a KAREL program to set the comment displayed on the teach pendant, for a

specified logical port

Syntax : SET_PORT_CMT(port_type, port_no, comment_str, status)

Input/Output Parameters :

[in] port_type : INTEGER

[in] port_no : INTEGER

[in] comment_str : STRING

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[out] status : INTEGER

%ENVIRONMENT Group :IOSETUP

Details:

• port_type specifies the code for the type of port whose mode is being set. Codes are defined

in KLIOTYPS.KL.

• port_no specifies the port number whose mode is being set.

• comment_str is a string whose value is the comment for the specified port. This must not be over

16 characters long.

• status is returned with zero if the parameters are valid and the specified mode can be set for the

specified port.

See Also: SET_PORT_VALUE, SET_PORT_MOD, GET_PORT_CMT, GET_PORT_VALUE,

GET_PORT_MOD Built-in Procedures

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

for a detailed program example.

A.20.23

SET_PORT_MOD Built-In Procedure

Purpose: Allows a KAREL program to set (or reset) special port modes for a specified logical port

Syntax : SET_PORT_MOD(port_type, port_no, mode_mask, status)

Input/Output Parameters :

[in] port_type : INTEGER

[in] port_no : INTEGER

[in] mode_mask : INTEGER

[out] status : INTEGER

%ENVIRONMENT Group :IOSETUP

Details:

• port_type specifies the code for the type of port whose mode is being set. Codes are defined

in KLIOTYPS.KL.

• port_no specifies the port number whose mode is being set.

• mode_mask is a mask specifying which modes are turned on. The following modes are defined:

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1 :reverse mode - sense of the port is reversed; if the port is set to TRUE, the physical output

is set toFALSE. If the port is set to FALSE, the physical output is set to TRUE. If a physical

input is TRUE when the port is read, FALSE is returned. If a physical input is FALSE when the

port is read, TRUE is returned.ports.

2 :complementary mode - the logical port is assigned to two physical ports whose values are

complementary. In this case, port_no must be an odd number. If port n is set to TRUE, port n is

set to TRUE, and port n + 1 is set to FALSE. If port n is set to FALSE, port n is set to FALSE

and port n + 1 is set to TRUE. This is effective only for output

Note The mode setting does not take effect until the next power-up.

• status is returned with zero if the parameters are valid and the specified mode can be set for the

specified port.

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

for a detailed program example.

A.20.24

SET_PORT_SIM Built-In Procedure

Purpose: Sets port simulated

Syntax : SET_PORT_SIM(port_type, port_no, value, status)

Input/Output Parameters :

[in] port_type : INTEGER

[in] port_no : INTEGER

[in] value : INTEGER

[out] status : INTEGER

%ENVIRONMENT Group :IOSETUP

Details:

• port_type specifies the code for the type of port to simulate. Codes are defined in KLIOTYPS.KL.

• port_no specifies the number of the port to simulate.

• value specifies the initial value to set.

• status is returned with zero if the port is simulated.

See Also: SET_PORT_ASG, GET_PORT_ASG, GET_PORT_SIM Built-in Procedures

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

for a detailed program example.

A.20.25

SET_PORT_VAL Built-In Procedure

Purpose: Allows a KAREL program to set a specified output (or simulated input) for a specified

logical port

Syntax : SET_PORT_VAL(port_type, port_no, value, status)

Input/Output Parameters :

[in] port_type : INTEGER

[in] port_no : INTEGER

[in] value : INTEGER

[out] status : INTEGER

%ENVIRONMENT Group :IOSETUP

Details:

• port_type specifies the code for the type of port whose mode is being set. Codes are defined

in KLIOTYPS.KL.

• port_no specifies the port number whose mode is being set.

• value indicates the value to be assigned to a specified port. If the port_type is BOOLEAN

(i.e. DOUT), this should be 0 = OFF, or 1 = ON. This field can be used to set input ports if

the port is simulated.

• status is returned with zero if the parameters are valid and the specified mode can be set for the

specified port.

See Also: SET_PORT_VALUE, SET_PORT_MOD, GET_PORT_CMT, GET_PORT_VALUE,

GET_PORT_MOD Built-in Procedures

Example: The following example sets the value for a specified port.

SET_PORT_VAL Built-In Procedure

PROGRAM setvalprog

%ENVIRONMENT IOSETUP

%INCLUDE FR:\kliotyps

ROUTINE set_value(port_type: INTEGER;

port_no: INTEGER;

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g_value: BOOLEAN): INTEGER

VAR

value: INTEGER

status: INTEGER

BEGIN

IF g_value THEN

value = 1

ELSE

value = 0;

ENDIF

SET_PORT_VAL (port_type, port_no, value, status)

RETURN (status)

END set_value

BEGIN

END setvalprog

A.20.26

SET_POS_REG Built-In Procedure

Purpose: Stores an XYZWPR value in the specified position register

Syntax : SET_POS_REG(register_no, posn, status<, group_no>)

Input/Output Parameters :

[in] register_no : INTEGER

[in] posn : XYZWPR

[out] status : INTEGER

[in] group_no : INTEGER

%ENVIRONMENT Group :REGOPE

Details:

• register_no specifies the position register in which to store the value.

• The position data is set in XYZWPR representation with no conversion.

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

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

is not changed.

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

the controller.

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

example.

A.20.27

SET_POS_TPE Built-In Procedure

Purpose: Stores an XYZWPR value in the specified position in the specified teach pendant program

Syntax : SET_POS_TPE(open_id, position_no, posn, status<, group_no>)

Input/Output Parameters :

[in] open_id : INTEGER

[in] position_no : INTEGER

[in] posn : XYZWPR

[out] status : INTEGER

[in] group_no : INTEGER

%ENVIRONMENT Group :PBCORE

Details:

• open_id specifies the opened teach pendant program. Before calling this built-in, a program must

be opened using the OPEN_TPE Built-In, and have read/write access.

• position_no specifies the position in the program in which to store the value.

• A motion instruction must already exist that uses the position_no or the position will not be

used by the teach pendant program.

• The position data is set in XYZWPR representation with no conversion.

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

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

is not changed.

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

the controller.

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

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

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A.20.28

SET_PREG_CMT Built-In-Procedure

Purpose: To set the comment information of a KAREL position register based on a given register

number and a given comment.

Syntax: SET_PREG_CMT (register_no, comment_string, status)

Input/Output Parameters:

[in] register_no: INTEGER

[in] comment_string: STRING

[out] status: INTEGER

%ENVIRONMENT group: REGOPE

A.20.29

SET_REAL_REG Built-In Procedure

Purpose: Stores a REAL value in the specified register

Syntax : SET_REAL_REG(register_no, real_value, status)

Input/Output Parameters :

[in] register_no : INTEGER

[in] real_value : REAL

[out] status : INTEGER

%ENVIRONMENT Group :REGOPE

Details:

• register_no specifies the register into which real_value will be stored.

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

See Also: SET_INT_REG, GET_REAL_REG, GET_INT_REG Built-in Procedures

A.20.30

SET_REG_CMT Built-In-Procedure

Purpose: To set the comment information of a KAREL register based on a given register number

and a given comment.

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Syntax: SET_REG_CMT (register_no, comment_string, status

Input/Output Parameters:

[in] register_no: INTEGER

[in] comment_string: STRING

[out] status: INTEGER

%ENVIRONMENT group REGOPE

Details:

• Register_no specifies which register to retrieve the comments from. The comment_string

represents the data which is to be used to set the comment of the given register. If the

comment_string exceeds more than 16 characters, the built-in will truncate the string.

A.20.31 SET_SREG_CMT Built-in Procedure

Purpose: Sets the comment for the specified string register.

Syntax : SET_SREG_CMT(register_no, comment, status)

Input/Output Parameters:

[in] register_no :INTEGER

[in] comment :STRING[254]

[out] status :INTEGER

%ENVIRONMENT Group :REGOPE

Details:

• register_no specifies the string register to get.

• comment contains the comment to set to the specified string register.

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

See Also: GET_STR_REG, GET_SREG_CMT, SET_STR_REG Built-in Procedures.

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A.20.32 SET_STR_REG Built-in Procedure

Purpose: Sets the value for the specified string register.

Syntax : SET_STR_REG(register_no, value, status)

Input/Output Parameters:

[in] register_no :INTEGER

[in] value :STRING[254]

[out] status :INTEGER

%ENVIRONMENT Group :REGOPE

Details:

• register_no specifies the string register to get.

• value contains the value to set to the specified string register.

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

See Also: GET_STR_REG, GET_SREG_CMT, SET_SREG_CMT Built-in Procedures.

A.20.33

SET_TIME Built-In Procedure

Purpose: Set the current time within the KAREL system

Syntax : SET_TIME(i)

Input/Output Parameters :

[in] i : INTEGER

%ENVIRONMENT Group :TIM

Details:

• i holds the INTEGER representation of time within the KAREL system. This value is represented

in 32-bit INTEGER format as follows:

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Table

A-21.

32-Bit INTEGER Format of Time

31-25

24-21

20-16

year

month

day

15-11

10-5

4-0

hour

minute

second

• The contents of the individual fields are as follows:

— DATE:

Bits 15-9 — Year since 1980

Bits 8-5 — Month (1-12)

Bits 4-0 — Day of the month

— TIME:

Bits 31-25 — Number of hours (0-23)

Bits 24-21 — Number of minutes (0-59)

Bits 20-16 — Number of 2-second increments (0-29)

• This value can be determined using the GET_TIME and CNV_STR_TIME Built-In procedures.

• If i is 0, the time on the system will not be changed.

• INTEGER values can be compared to determine if one time is more recent than another.

See Also: CNV_STR_TIME, GET_TIME Built-In Procedures

Example: The following example converts the STRING variable str_time , input by the user in

‘‘DD-MMM-YYY HH:MM:SS’’ format, to the INTEGER representation of time int_time using the

CNV_STR_TIME Built-In procedure. SET_TIME is then used to set the time within the KAREL

system to the time specified by int_time .

SET_TIME Built-In Procedure

WRITE(’Enter the new time : ’)

READ(str_time)

CNV_STR_TIME(str_time,int_time)

SET_TIME(int_time)

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A.20.34

SET_TPE_CMT Built-In Procedure

Purpose: Provides the ability for a KAREL program to set the comment associated with a specified

position in a teach pendant program.

Syntax : SET_TPE_CMT(open_id, pos_no, comment, status)

Input/Output Parameters :

[in] open_id :INTEGER

[in] pos_no :INTEGER

[in] comment :STRING

[out] status :INTEGER

%ENVIRONMENT Group :TPE

Details:

• open_id specifies the open_id returned from a previous call to OPEN_TPE. An open mode of

TPE_RWACC must be used in the OPEN_TPE call.

• pos_id specifies the number of the position in the teach pendant program to get a comment from.

The specified position must have been recorded.

• comment is the comment to be associated with the specified position. A zero length string can be

used to ensure that a position has no comment. If the string is over 16 characters, it is truncated

and used and a warning error is returned.

• status indicates zero if the operation was successful, otherwise an error code will be displayed.

See Also: GET_TPE_CMT and OPEN_TPE for more Built-in Procedures.

A.20.35

SET_TRNS_TPE Built-In Procedure

Purpose: Stores a POSITION value within the specified position in the specified teach pendant

program

Syntax : SET_TRNS_TPE(open_id, position_no, posn, status)

Input/Output Parameters :

[in] open_id : INTEGER

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[in] position_no : INTEGER

[in] posn : POSITION

[out] status : INTEGER

%ENVIRONMENT Group :PBCORE

Details:

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

this built-in.

• position_no specifies the position in the program in which to store the value specified by posn .

Data for other groups is not changed.

• The position data is set in POSITION representation with no conversion.

• posn is the group number of position_no .

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

A.20.36

SET_TSK_ATTR Built-In Procedure

Purpose: Set the value of the specified running task attribute

Syntax : SET_TSK_ATTR(task_name, attribute, value, status)

Input/Output Parameters :

[in] task_name : STRING

[in] attribute : INTEGER

[in] value : INTEGER

[out] status : INTEGER

%ENVIRONMENT Group :PBCORE

Details:

• task_name is the name of the specified running task. A blank task_name will indicate the calling

task.

• attribute is the task attribute whose value is to be set. The following attributes are valid:

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TSK_PRIORITY :Priority, see %PRIORITY for value information

TSK_TIMESLIC :Time slice duration, see %TIMESLICE for value information

TSK_NOBUSY :Busy lamp off, see %NOBUSYLAMP

TSK_NOABORT :Ignore abort request

Pg_np_error :no abort on error

Pg_np_cmd :no abort on command

TSK_NOPAUSE :Ignore pause request

pg_np_error :no pause on error

pg_np_end :no pause on command when TP is enabled

pg_np_tpenb :no pause

TSK_TRACE :Trace enable

TSK_TRACELEN :Maximum number of lines to store when tracing

TSK_TPMOTION :TP motion enable, see %TPMOTION for value information

TSK_PAUSESFT :Pause on shift, reverse of %NOPAUSESHFT

•

value depends on the task attribute being set.

•

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

See Also: GET_TSK_INFO Built-in Procedure

Example: See examples in Chapter 15 MULTI-TASKING

A.20.37

SET_TSK_NAME Built-In Procedure

Purpose: Set the name of the specified task

Syntax : SET_TSK_NAME(old_name, new_name, status)

Input/Output Parameters :

[in] old_name : STRING

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[in] new_name : STRING

[out] status : INTEGER

%ENVIRONMENT Group :MULTI

Details:

• task_name is the name of the task of interest. A blank task_name will indicate the calling task.

• new_name will become the new task name.

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

See Also: GET_ATTR_PRG Built-in Procedure

Example: See examples in Chapter 15 MULTI-TASKING

A.20.38

SET_VAR Built-In Procedure

Purpose: Allows a KAREL program to set the value of a specified variable

Syntax : SET_VAR(entry, prog_name, var_name, value, status)

Input/Output Parameters :

[in,out] entry : INTEGER

[in] prog_name : STRING

[in] var_name : STRING

[in] value : Any valid KAREL data type except PATH

[out] status : INTEGER

%ENVIRONMENT Group :SYSTEM

Details:

• entry returns the entry number in the variable data table of var_name in the device directory

where var_name is located. This variable should not be modified.

• prog_name specifies the name of the program that contains the specified variable. If prog_name

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is ’’, then it defaults to the current task name being executed. prog_name can also access a

system variable on a robot in a ring.

•

Use prog_name of ’*SYSTEM*’ to set a system variable.

•

var_name must refer to a static variable.

•

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

•

If both var_name and value are ARRAYs, the number of elements copied will equal the size of

the smaller of the two arrays.

•

If both var_name and value are STRINGs, the number of characters copied will equal the size of

the smaller of the two strings.

•

If both var_name and value are STRUCTUREs of the same type, value will be an exact copy

of var_name .

•

var_name will be set to value .

•

If value is uninitialized, the value of var_name will be set to uninitialized and status will be set to

12311. value must be a static variable within the calling program.

•

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

Caution

Using SET_VAR to modify system variables could cause unexpected results.

•

The designated names of all the robots can be found in the system variable $PH_MEMBERS[].

This also include information about the state of the robot. The ring index is the array index for

this system variable. KAREL users can write general purpose programs by referring to the names

and other information in this system variable rather than explicit names.

See Also: CREATE_VAR, RENAME_VAR Built-In Procedures, Internet Options Manual for

information on accessing system variables on a robot in a ring.

Example 1:To access $TP_DEFPROG on the MHROB03 robot in a ring, see Accessing

$TP_DEFPROG on MHROB03 .

Accessing $TP_DEFPROG on MHROB03

SET_VAR(entry, ’\\MHROB03\*system*’, ’$TP_DEFPROG’, strvar, status)

Example 2: In GET_VAR SET_VAR Example , an array [ipgetset]set_data[x,y] is set on all robots in

the ring from all robots in the ring. In this array x is the source robot index and y is the destination

robot index:

GET_VAR SET_VAR Example

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FOR idx = 1 TO $PH_ROSIP.$NUM_MEMBERS DO

IF idx = $PH_ROSIP.$MY_INDEX THEN

-- This will work but it this robot so is inefficient

ELSE

SELECT $PH_MEMBERS[idx].$STATE OF

CASE (0) : -- Offline

sstate = ’ Offline’

CASE (1) : -- Online

sstate = ’ Online ’

CASE (2) : -- Synchronized

sstate = ’ Synch

’

CNV_INT_STR(idx, 1, 10, sidx)

prog_name = ’\\’ + $PH_MEMBERS[idx].$NAME + ’\ipgetset’

var_name = ’set_data[’+ smy_index + ’,’ + sidx + ’]’

GET_VAR(entry, prog_name, var_name, set_data[$PH_ROSIP.$MY_INDEX,

idx], status[idx])

IF status[idx] = 0 THEN

IF uninit(set_data[$PH_ROSIP.$MY_INDEX, idx]) THEN

set_data[$PH_ROSIP.$MY_INDEX, idx] = 0

ELSE

set_data[$PH_ROSIP.$MY_INDEX, idx] = set_data[$PH_ROSIP.$MY_INDEX,

idx] + 1

ENDIF

SET_VAR(entry, prog_name, var_name, set_data[$PH_ROSIP.$MY_INDEX, idx],

status[idx])

ENDIF

ENDSELECT

ENDIF

ENDFOR

Example 3: Refer to Section B.2 , "Copying Path Variables" (CPY_PTH.KL), for a detailed program

example.

Example 4 GET_VAR and SET_VAR can also be used to set register values.

This will work for the local robot with the program names *posreg* and *numreg*. For the local robot

this has similar functionality to the GET_POS_REG, GET_REG and SET_REG, SET_POS_REG

built-ins. The built-ins only work for the local robot. You can access robots in the ring via GET_VAR

and SET_VAR by using the robot name as part of the program name.

For the case of SET_VAR on numeric registers the register type will be set to the type of the KAREL

variable. In the example below after executing this code numeric register 20 will be an integer and

numeric register 21 will be a real.

If a position register is locked and you attempt to set it the error position register locked is returned.

See Using GET_VAR and SET_VAR To Set Register Values .

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Using GET_VAR and SET_VAR To Set Register Values

program GETREG

%nolockgroup

VAR

entry: integer

status: integer

int_data: integer

real_data: real

posext_data: xyzwprext

BEGIN

GET_VAR(entry, ’\\mhrob01\*numreg*’, ’$NUMREG[10]’, int_data, status)

IF status <> 0 THEN

GET_VAR(entry, ’\\mhrob01\*numreg*’, ’$NUMREG[10]’, real_data, status)

ENDIF

GET_VAR(entry, ’\\mhrob01\*posreg*’, ’$POSREG[1, 10]’, posext_data, status)

SET_VAR(entry, ’\\mhrob01\*numreg*’, ’$NUMREG[20]’, int_data, status)

SET_VAR(entry, ’\\mhrob01\*numreg*’, ’$NUMREG[21]’, real_data, status)

SET_VAR(entry, ’\\mhrob01\*posreg*’, ’$POSREG[1, 20]’, posext_data, status)

end GETREG

A.20.39

%SHADOWVARS Translator Directive

Purpose: This directive specifies that all variables by default are created in SHADOW.

Syntax : %SHADOWVARS

A.20.40

SHORT Data Type

Purpose: Defines a variable as a SHORT data type

Syntax : SHORT

Details:

• SHORT, is defined as 2 bytes with the range of (-32768 <= n >= 32766). A SHORT variable

assigned to (32767) is considered uninitialized.

• SHORTs are allowed only within an array or within a structure.

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• SHORTs can be assigned to BYTEs and INTEGERs, and BYTEs and INTEGERs can be assigned

to SHORTs. An assigned value outside the SHORT range is detected during execution and

causes the program to be aborted.

A.20.41

SIGNAL EVENT Action

Purpose: Signals an event that might satisfy a condition handler or release a waiting program

Syntax : SIGNAL EVENT[event_no]

where:

event_no : an INTEGER expression

Details:

• You can use the SIGNAL EVENT action to indicate a user-defined event has occurred.

• event_no occurs when signaled and is not remembered. Thus, if a WHEN clause has the event as

its only condition, the associated actions will occur.

• If other conditions are specified that are not met at the time the event is signaled, the actions are

not taken, even if the other conditions are met at another time.

• event_no must be in the range of -32768 to 32767. Otherwise, the program is aborted with an error.

FANUC Robotics SYSTEM R-30iA and R-30iB Controller. KAREL Reference Manual - page 21