Beruflich Dokumente
Kultur Dokumente
DIFFERENT
$MAXUALRMNUM
Minimum: Not available Maximum: Not available Default: Not available KCL/Data:
Not available Program: RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available
Name: Maximum Number of User-defined Alarm Messages that can be Defined
Description: Determines the size of the array $UALRM_MSG. Note that a controlled start is
required
to changed the size of the array. These messages are displayed by executing a UALM statement.
Power Up: Requires a controlled start to take effect.
Autobackup
$AUTOBACKUP.$DEVICE
While the robot is executing a program, it reads the lines ahead of the line currently being
executed (look-ahead execution).
$OVRD_RATE
Minimum: Not available Maximum: Not available Default: Not available KCL/Data:
Not available Program: RW UIF: Not available CRTL: Not available Data Type:
ULONG Memory: Not available
Name: Override change rate
Description: The value of $OVRD_RATE indicates the rate of changing override of 10%-100%.
For example, when $OVRD_RATE = 25, override is changed as follows. V.FINE - FINE - 1 - 2 -
3 - 4 - 5 - 10 - 25 - 50 - 75 - 100
Power Up: Changes to this variable take effect immediately.
FRAMES
$GROUP[1].$utool
Minimum: Not available Maximum: Not available Default: Not available KCL/Data:
Not available Program: RW UIF: Not available CRTL: Not available Data Type:
POSITION Memory: Not available
Name: Tool Coordinate System
Description: $utool is used by KAREL system only. For TPE user, the corresponding variable is
$MNUTOOL. $utool defines the location and orientation of the tool that is attached to the
faceplate.
The position in $utool is defined with respect to a fixed coordinate system on the robot faceplate
and is the origin of the TOOL FRAME. By default, the value of $utool is set to $NILP, which
means the position of the TCP is identical to the location and orientation of the faceplate
coordinate system. You must change the value of $utool to define the specific tool you are using.
Power Up: Effective with next motion
$GROUP[1].$uframe
Minimum: Not available Maximum: Not available Default: Not available KCL/Data:
Not available Program: RW UIF: Not available CRTL: Not available Data Type:
POSITION Memory: Not available
Name: User Coordinate Frame
Description: $uframe is used by KAREL system only. For the teach pendant programmer, the
corresponding variable is $MNUFRAME. $uframe is the position of a user frame of reference.
All programmed positions are defined with respect to $uframe. Any value you assign to $uframe
is defined with respect to the world coordinate system. By default, $uframe is identical to the
world coordinate system, meaning $uframe = $NILP.
Power Up: Effective with next motion
$MNUFRAME[1,6]
Minimum: NIL Maximum: NIL Default: NIL KCL/Data: RW Program: RW UIF:
Not available CRTL: Not available Data Type: POSITION Memory: Not available
Name: User Frame Array
Description: This system variables contains the positional value of the user frame used by the
teach pendant system. This is a two dimensional array. The inner dimension is the frame number
(1-6). The outer dimension is the group number (gnum). The frame number is
$MNUFRAMENUM[gnum].
When $MNUFRAMENUM[gnum] is between 1 and 6 the system uses the following userframe:
$MNUFRAME[gnum, $MNUFRAMENUM[gnum]] If $MNUFRAMENUM[gnum] is zero the
null frame is used. If $MNUFRAMENUM[gnum] is 14 $GROUP[gnum].$UFRAME is used.
Power Up: N/A
Screen: SETUP Frames
$MNUTOOLNUM[2]
Minimum: 0x0 Maximum: 0x15 Default: 0 KCL/Data: RW Program: RW UIF: Not
available CRTL: Not available Data Type: INTEGER Memory: Not available
Name: User Tool Frame Number
Description: Used as the index into $MNUTOOL.
Power Up: N/A
Screen: SETUP Frames, TOOL teach pendant instruction
$MNUFRAMENUM[2]
Minimum: 0x0 Maximum: 0x15 Default: 0 KCL/Data: RW Program: RW UIF: Not
available CRTL: Not available Data Type: INTEGER Memory: Not available
Name: User Frame Number
Description: Used as the index into $MNUFRAME.
Power Up: N/A
Screen: SETUP Frames, teach pendant position programming
2
KAREL
FOR...ENDFOR Statement
Purpose: Looping construct based on an INTEGER counter
Syntax : FOR count = initial || TO | DOWNTO || final
DO{stmnt} ENDFOR
where:
[in]count :INTEGER variable
[in]initial :INTEGER expression
[in]final :INTEGER expression
[in]stmnt :executable KAREL statement
Details:
Initially, count is set to the value of initial and final is evaluated. For each iteration, count is
compared to final.
If TO is used, count is incremented for each loop iteration.
If DOWNTO is used, count is decremented for each loop iteration.
If count is greater than final using TO, stmnt is never executed.
If count is less than final using DOWNTO, stmnt is never executed on the first iteration.
If the comparison does not fail on the first iteration, the FOR loop will be executed for the
number of
times that equals ABS( final - initial) + 1.
If final = initial , the loop is executed once.
initial is evaluated prior to entering the loop. Therefore, changing the values of initial and final
during loop execution has no effect on the number of iterations performed.
The value of count on exit from the loop is uninitialized.
Never issue a GO TO statement in a FOR loop. If a GO TO statement causes the program to
exit a
FOR loop, the program might be aborted with a ``Run time stack overflow'' error.
Never include a GO TO label in a FOR loop. Entering a FOR loop by a GO TO statement
usually
causes the program to be aborted with a ``Run time stack underflow'' error when the ENDFOR
statement is encountered.
The program will not be translated if count is a system variable or ARRAY element.
See Also: Appendix E , ``Syntax Diagrams,'' for additional syntax information.
Example: Refer to the following sections for detailed program examples:
Section B.4 , "Position Data Set and Condition Handlers Program" (PTH_MOVE.KL)
Section B.5 , "Listing Files and Programs and Manipulating Strings" (LIST_EX.KL)
Section B.8 , "Manipulating Values of Dynamically Displayed Variables" (CHG_DATA.KL)
Section B.9 , "Displaying a List From a Dictionary File" (DCLST_EX.KL)
Section B.11 , "Applying Offsets to a Copied Teach Pendant Program" (CPY_TP.KL)