Variable becomes undefined between two lines of code, kawasaki robot

Public forum Technical questions
1

We are using the kawasaki robot in our project, but it gives this weird error randomly in the code:

(E0104) String variable is not defined.
No = 1002
Program held.No = 1
Program = read_tcp_buffer Step = 18
PC program aborted.No = 1002

this is the piece of code that the error is taking about

20
Schermafbeelding 2018-10-24 om 16.54.20.png1448×824 309 KB

As far as i can see the error is talking about the $tcp_buffer variable that is undefined, but as you can see i check if tcp_buffer exists and create it if is does not exist. I also tried tried to check if it exists in the wait function. But it still crashes at this point sometimes. It will run fine for a few times and then give the error. Does anyone have any ideas how to fix this?

3

I assigned Guus for this one. He might be able to help with this.

4

When you are asking for help, please supply the code as well, not just a screenshot!

The error tells you something is wrong in step=18.
The Kawasaki ignores lines where no executable code is present, in your screenshot I can see 4 lines without code. Therefore I expect your error to be at least on line 22.

In line 23 & 24 you are decoding the $tcp_buffer using the command $DECODE to transform a string variable. So this is the code where I expect you to possibly have errors.

Running the following lines of code in K-Roset (Kawasaki simulation) reproduces the same error you are talking about

>$buffer = "foobar"
>$temp = $DECODE($buffer,"|",0)
>print $buffer

>print $temp
foobar
>$temp = $DECODE($buffer,"|",1)
(E0102)Variable is not defined.

The following code does not reproduce the error.

>$buffer = "foo|bar"
>$temp = $DECODE($buffer,"|",0)
>print $buffer
|bar
>print $temp
foo
>$temp = $DECODE($buffer,"|",1)
>

So if the variable $buffer is filled with string information without pipes, your ‘if statement’ will pass, but the first $DECODE command will empty your string variable. This can cause an error in the next line.

Please let us know if this indeed is the problem you are having!

5

thank you for your quick response, you are correct that Kawasaki ignores lines with no code, but it does count lines with comments. Running this code

 .PROGRAM test1()
  $buffer = "foobar"
  $temp = $DECODE($buffer,"|",0)
  print $buffer
  print $temp
  
  
  
  
  $temp = $DECODE($buffer,"|",1)
.END

I get this error(wrong line number):

(E0102) Variable is not defined.
        
 Program = test1  Step = 5
Program aborted.No = 1

but running this code :

.PROGRAM test1()
  $buffer = "foobar"
  $temp = $DECODE($buffer,"|",0)
  print $buffer
  print $temp
  ;
  ;
  ;
  ;
  $temp = $DECODE($buffer,"|",1)
.END

i get this error with the correct line number:

(E0102) Variable is not defined.
        
 Program = test1  Step = 9
Program aborted.No = 1

so I am of the opinon that the problem is with the actual line 18 of our code. It could still be somerting related to the problem you pointed out and i will see if i can recreate and debug the issue on the simulator.

I have atached our .as file. It is a modified version of this library https://github.com/G-Paris/kawapai and has been working perfectly for our entire project until for today.

kawasai_export.as (79.5 KB)

edit:
here is also the modified version of the python file we use:
robot.py (15.2 KB)

6

That is a repository from Guus fyi :grinning:

7

Did you solve this issue?

8

nop.

They made a work-around -> use different code.

9

@tom What was the workaround you used so we can close this topic?