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TP WRITE Command Reference

TP_WRITE can be used to write single-line (dynamic) messages to various "screens".

Among others, the following "targets" are available for selection:

  • Console
  • UserScreen
  • TPError
  • StringRegister
  • TPERR_CONS (TPError and Console)

The string length for each ARG is 34

In most cases the string length, of the str2write is truncated by system at length of 40.

The shrinked version(tp_write_ref.htm) of this reference file can be uploaded to the controller. This way, the information is also available on the TP or via web browser.

  • Teach Pendant  : TP_WRITE('HELP');     

  • web browser    : _hostname_/karel/tp_write    

  • FTP upload     : tp_write_ref.htm --> FR:TP_WRITE_ref.htm

Commands

TP_WRITE uses command strings to execute given task.

These strings are based on a internal variable(cmd_list) with unique command ID.

The ID can also be used as a substitute for the string commands. (use ID in brackets after command name)

Some commands require several parameters or arguments.

[Optional arguments in square brackets.]

Info: check tp_write-va file to check cmd-states and internal cmd_list.

ARGUMENT WIZARD

This is optional.

Use this feature if you like the dialog based programming and the 'code' style.

Check Fanuc documentation "Wizard to Input Arguments" inside handling tool document

  • We provide a (template) file for R-30iBPlus (V9.10 and up)
  • It's up to the user to check file naming problems like duplicates/collisions with other programs (.e.g. TP_VIEW)
  • Upload the file with [LOAD] from TP or upload with ftp client to FR device.
  • To 'uninstall' delete file from FR device

PARSE

All (dynamic) strings will be parsed only if there is an extra/additional argument!

'String parser' searches for special "string":

  • Register Value string = '%R'

    • StringRegister Value string = '%SR'

  • Time string = '%TIME'

    • needs extra argument: '0'
      • otherwise parser is not executed

  • TimeStamp = '%FAST_CLOCK'

    • NOT available on R-50iA / V10.10
    • value is [SYSTEM]$FAST_CLOCK
    • needs extra argument: '0'
      • otherwise parser is not executed

    :CALL TP_WRITE('USER','Value of R[1]is %R',1);

    :CALL TP_WRITE('USER','Time now: %TIME',1);

HELP (11)

: CALL TP_WRITE('HELP');

: CALL TP_WRITE(11);

Shows (web)help of this program

USER (21)

: CALL TP_WRITE('USER','Hello User');

Writes a (dynamic)string to UserScreen

TPDISPLAY (21)

: CALL TP_WRITE('TPDISPLAY','Hello User');

Writes a (dynamic)string to UserScreen

TPERROR (22)

: CALL TP_WRITE('TPERROR','Hello User');

Writes a (dynamic)string to TPERROR area

TPPROMPT (23)

: CALL TP_WRITE('TPPROMPT','Hello User');

Writes a (dynamic)string to TPPROMPT area

TPFUNC (24)

: CALL TP_WRITE('TPFUNC','Hello User');

Writes a (dynamic)string to TPFUNC (function keys area)

TPSTATUS (25)

: CALL TP_WRITE('TPSTATUS','Hello User');

Writes a (dynamic)string to TPSTATUS (only if active)

SR (26)

: CALL TP_WRITE('SR',idx,'Hello User');     

 :  CALL TP_WRITE("SR"=26,"ID"=1,"Str2Write"='Reg1 = %R',1) ;

Writes a (dynamic)string to SR with given String and index

CONSOLE (27)

: CALL TP_WRITE('CONSOLE','Hello User');

Writes a (dynamic)string to CONSOLE

POST_ERR (28)

: CALL TP_WRITE('POST_ERR',SEV,ERRCODE);     

:  CALL TP_WRITE("POST_ERR"=28,"INFO"=0,"Sys-Err_Num"=0) ;
  • SEV / Severity :
    • INFO:0 = Nothing
    • WARN:1 = PAUSE
    • ERROR:2 = ABORT
  • ERRCODE / ErrorCode
    • Fanuc error code
      • ffccc (decimal)
        • ff represents the facility code of the error
        • ccc represents the error code within the specified facility
      • check fanuc documentation

Posts an error with given ErrorCode and severity

APSH_ERR (29)

: CALL TP_WRITE('APSH_ERR',SEV,'Hello User');     

:  CALL TP_WRITE("APSH_ERR"=29,"INFO"=0,"Str2Write"='...') ;

  • Severity :

    • INFO:0 = Nothing
    • WARN:1 = PAUSE
    • ERROR:2 = ABORT

  • Str2Write

Posts an APSH_ERR with given String and severity

TPERR_CONS (31)

: CALL TP_WRITE('TPERR_CONS','Hello User');

Writes a (dynamic)string to TPERROR AND Console

CLEAR commands

: CALL TP_WRITE('CLEAR.xxxx');

Erases all chars from corresponding sreen/area

CLEAR.TPDISPLAY (61)

: CALL TP_WRITE('CLEAR.TPDISPLAY');

erases all chars from TPDISPLAY/User screen

CLEAR.TPERROR (62)

: CALL TP_WRITE('CLEAR.TPERROR');

erases all chars from error area

CLEAR.TPPROMPT (63)

: CALL TP_WRITE('CLEAR.TPPROMPT');

erases all chars from prompt area

CLEAR.TPFUNC (64)

: CALL TP_WRITE('CLEAR.TPFUNC');

erases all chars from function key area

CLEAR.TPSTATUS (65)

: CALL TP_WRITE('CLEAR.TPSTATUS');

erases all chars from status area ; only if status is active

CLEAR.USER (61)

: CALL TP_WRITE('CLEAR.USER');

erases all chars from TPDISPLAY/User screen

FORCE Commands

Same as 'TP_VIEW' 'force commands.

  • same string-commands
  • same command ID's

FORCE.USER (51)

: CALL TP_WRITE('FORCE.USER');

Forces SingleUserScreen

  • Forces 'SCREEN.SINGLE'.
  • Additionally the USER Screen/Menu will be shown.

FORCE.USERWIDE (52)

: CALL TP_WRITE('FORCE.USERWIDE');

Forces SingleUserScreen inside wide mode

  • Forces 'SCREEN.WIDE'.
  • Additionally the USER Screen/Menu will be shown.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND

  • Fanuc is a registered trademark

(c) Backdate Software GmbH