Shift-Key R-J2 Teach-Pendant in Karel abfragen

-- E-STOP, Enable, Deadman
tpi_estop = 250
tpi_enable = 249
tpi_r_dman = 248
tpi_l_dman = 247

-- Arrow keys
ky_up_arw = 212
ky_dn_arw = 213
ky_rt_arw = 208
ky_lf_arw = 209

--********************************************** TP only keys
-- Hard keys (shifted or unshifted )
tpi_select = 143
tpi_menus = 144
tpi_edit = 145
tpi_data = 146
tpi_function = 147

-- Misc. keys
tpi_item = 148
tpi_pct_up = 149
tpi_pct_dn = 150
tpi_hold = 151
tpi_step = 152
tpi_reset = 153

-- Shifted misc keys
ky_item_s = 154
tpi_pct_up_s = 155
tpi_pct_dn_s = 156
tpi_step_s = 157
tpi_hold_s = 158
tpi_reset_s = 159

-- Key codes for non-hardkey menus
tpi_m_system = 151
tpi_m_stat = 154
tpi_m_alarm = 162
tpi_m_vision = 163
tpi_m_swg_eq = 243
tpi_m_mac_mf = 244
tpi_m_user2 = 245 -- USER2 menu (used by form and table managers)

-- Motion related keys
tpi_fwd = 185
tpi_bwd = 186
tpi_coord = 187
tpi_x_pls = 188
tpi_y_pls = 189
tpi_z_pls = 190
tpi_w_pls = 191
tpi_p_pls = 192
tpi_r_pls = 193
tpi_x_mns = 194
tpi_y_mns = 195
tpi_z_mns = 196
tpi_w_mns = 197
tpi_p_mns = 198
tpi_r_mns = 199

-- Shifted motion related keys
tpi_fwd_s = 200
tpi_bwd_s = 201
tpi_coord_s = 202
tpi_x_pls_s = 214
tpi_y_pls_s = 215
tpi_z_pls_s = 216
tpi_w_pls_s = 217
tpi_p_pls_s = 218
tpi_r_pls_s = 219
tpi_x_mns_s = 220
tpi_y_mns_s = 221
tpi_z_mns_s = 222
tpi_w_mns_s = 223
tpi_p_mns_s = 224
tpi_r_mns_s = 225

--********************************************** TP & CRT Shared keys

-- Keypad keys (shifted or unshifted)
ky_enter = 13
ky_bckspace = 8
ky_comma = 44
ky_minus = 45
ky_dot = 46
ky_zero = 48
ky_one = 49
ky_two = 50
ky_three = 51
ky_four = 52
ky_five = 53
ky_six = 54
ky_seven = 55
ky_eight = 56
ky_nine = 57

--/* top row keys */
ky_prev = 128
ky_f1 = 129
ky_f2 = 131
ky_f3 = 132
ky_f4 = 133
ky_f5 = 134
ky_next = 135

-- Shifted top row keys
ky_prev_s = 136
ky_f1_s = 137
ky_f2_s = 138
ky_f3_s = 139
ky_f4_s = 140
ky_f5_s = 141
ky_next_s = 142

-- Key codes for special actions
ky_disp_updt = 170
ky_reissue = 171
ky_cancel = 252
ky_new_menu = 0
ky_warn_req = 172

-- Shifted arrow keys
ky_up_arw_s = 204
ky_dn_arw_s = 205
ky_rt_arw_s = 206
ky_lf_arw_s = 207

-- /* user function keys */
ky_uf_1 = 173
ky_uf_2 = 174
ky_uf_3 = 175
ky_uf_4 = 176
ky_uf_5 = 177
ky_uf_6 = 178
ky_uf_7 = 210

-- shifted user function keys
ky_uf_1_s = 179
ky_uf_2_s = 180
ky_uf_3_s = 181
ky_uf_4_s = 182
ky_uf_5_s = 183
ky_uf_6_s = 184
ky_uf_7_s = 211

-- function keys
ky_f6 = 194
ky_f7 = 195
ky_f8 = 196
ky_f9 = 197
ky_f10 = 198
ky_help = 203

Ich habe mal ein "kleines" Programm geschrieben um die Tasten zu testen.

Dabei kam zum Beispiel heraus, dass die Estops immer zusammen gemeldet werden und NO sind.

Um das Programm laufen laufen zu lassen muss Register 1 <> 0 sein.

Um das Programm wieder abzubrechen kann das Register 1 auf 0 gesetzt werden.

-------------

PROGRAM KeyTest

%NOLOCKGROUP

%COMMENT = 'Test der Tasten'

%NOPAUSESHFT

%NOPAUSE = ERROR + TPENABLE + COMMAND

VAR

bSchleife :BOOLEAN -- Solange true wird das Programm ausgeführt

bToggle : BOOLEAN

-- Hilfsvariablen für Get_Reg

real_flag : BOOLEAN ;

real_value : REAL ;

int_value : INTEGER ;

Status : INTEGER ;

ncount : INTEGER;

BEGIN

bToggle =TRUE -- für besere Erkennbarkein wird ein Takt im Menüfenster dargestellt.

-- Dies ist eien Hilfsvariable dafür

WHILE(bSchleife = TRUE) DO

-- *************************************

-- Um das Programm beenden zu können wird

-- Register 1 auf 0 abgefragt

--****************************************

GET_REG(1, real_flag, int_value, real_value, Status)

IF int_value <> 0 THEN

bSchleife = TRUE

else

bSchleife = FALSE

ENDIF

--**************************************

-- für besere Erkennbarkein wird ein Takt

--im Menüfenster dargestellt.

--**************************************

IF bToggle THEN

WRITE('******',CR)

bToggle = FALSE

else

WRITE('*********',CR)

bToggle = TRUE

ENDIF

--**************************************

-- Ausgabe der Tasten

--**************************************

IF TPIN[0] = TRUE THEN

WRITE(' KY_NEW_MENU ',CR)

ENDIF

IF TPIN[8] = TRUE THEN

WRITE(' ky_bckspace ',CR)

ENDIF

IF TPIN[13] = TRUE THEN

WRITE(' KY_ENTER ',CR)

ENDIF

IF TPIN[44] = TRUE THEN

WRITE(' KY_COMMA ',CR)

ENDIF

IF TPIN[45] = TRUE THEN

WRITE(' KY_MINUS ',CR)

ENDIF

IF TPIN[46] = TRUE THEN

WRITE(' KY_DOT ',CR)

ENDIF

IF TPIN[48] = TRUE THEN

WRITE(' KY_ZERO ',CR)

ENDIF

IF TPIN[49] = TRUE THEN

WRITE(' KY_ONE ',CR)

ENDIF

IF TPIN[50] = TRUE THEN

WRITE(' KY_TWO ',CR)

ENDIF

IF TPIN[51] = TRUE THEN

WRITE(' KY_THREE ',CR)

ENDIF

IF TPIN[52] = TRUE THEN

WRITE(' KY_FOUR ',CR)

ENDIF

IF TPIN[53] = TRUE THEN

WRITE(' KY_FIVE ',CR)

ENDIF

IF TPIN[54] = TRUE THEN

WRITE(' KY_SIX ',CR)

ENDIF

IF TPIN[55] = TRUE THEN

WRITE(' KY_SEVEN ',CR)

ENDIF

IF TPIN[56] = TRUE THEN

WRITE(' KY_EIGHT ',CR)

ENDIF

IF TPIN[57] = TRUE THEN

WRITE(' KY_NINE ',CR)

ENDIF

IF TPIN[128] = TRUE THEN

WRITE(' KY_PREV ',CR)

ENDIF

IF TPIN[129] = TRUE THEN

WRITE(' KY_F1 ',CR)

ENDIF

IF TPIN[131] = TRUE THEN

WRITE(' KY_F2 ',CR)

ENDIF

IF TPIN[132] = TRUE THEN

WRITE(' KY_F3 ',CR)

ENDIF

IF TPIN[133] = TRUE THEN

WRITE(' KY_F4 ',CR)

ENDIF

IF TPIN[134] = TRUE THEN

WRITE(' KY_F5 ',CR)

ENDIF

IF TPIN[135] = TRUE THEN

WRITE(' KY_NEXT ',CR)

ENDIF

IF TPIN[136] = TRUE THEN

WRITE(' KY_PREV_S ',CR)

ENDIF

IF TPIN[137] = TRUE THEN

WRITE(' KY_F1_S ',CR)

ENDIF

IF TPIN[138] = TRUE THEN

WRITE(' KY_F2_S ',CR)

ENDIF

IF TPIN[139] = TRUE THEN

WRITE(' KY_F3_S ',CR)

ENDIF

IF TPIN[140] = TRUE THEN

WRITE(' KY_F4_S ',CR)

ENDIF

IF TPIN[141] = TRUE THEN

WRITE(' KY_F5_S ',CR)

ENDIF

IF TPIN[142] = TRUE THEN

WRITE(' KY_NEXT_S ',CR)

ENDIF

IF TPIN[143] = TRUE THEN

WRITE(' tpi_select ',CR)

ENDIF

IF TPIN[144] = TRUE THEN

WRITE(' tpi_menus ',CR)

ENDIF

IF TPIN[145] = TRUE THEN

WRITE(' tpi_edit ',CR)

ENDIF

IF TPIN[146] = TRUE THEN

WRITE(' tpi_data ',CR)

ENDIF

IF TPIN[147] = TRUE THEN

WRITE(' tpi_function ',CR)

ENDIF

IF TPIN[148] = TRUE THEN

WRITE(' tpi_item ',CR)

ENDIF

IF TPIN[149] = TRUE THEN

WRITE(' tpi_pct_up ',CR)

ENDIF

IF TPIN[150] = TRUE THEN

WRITE(' tpi_pct_dn ',CR)

ENDIF

IF TPIN[151] = TRUE THEN

WRITE(' tpi_hold ',CR)

ENDIF

IF TPIN[151] = TRUE THEN

WRITE(' tpi_m_system ',CR)

ENDIF

IF TPIN[152] = TRUE THEN

WRITE(' tpi_step ',CR)

ENDIF

IF TPIN[153] = TRUE THEN

WRITE(' tpi_reset ',CR)

ENDIF

IF TPIN[154] = TRUE THEN

WRITE(' ky_item_s ',CR)

ENDIF

IF TPIN[154] = TRUE THEN

WRITE(' tpi_m_stat ',CR)

ENDIF

IF TPIN[155] = TRUE THEN

WRITE(' tpi_pct_up_s ',CR)

ENDIF

IF TPIN[156] = TRUE THEN

WRITE(' tpi_pct_dn_s ',CR)

ENDIF

IF TPIN[157] = TRUE THEN

WRITE(' tpi_step_s ',CR)

ENDIF

IF TPIN[158] = TRUE THEN

WRITE(' tpi_hold_s ',CR)

ENDIF

IF TPIN[159] = TRUE THEN

WRITE(' tpi_reset_s ',CR)

ENDIF

IF TPIN[162] = TRUE THEN

WRITE(' tpi_m_alarm ',CR)

ENDIF

IF TPIN[163] = TRUE THEN

WRITE(' tpi_m_vision ',CR)

ENDIF

IF TPIN[170] = TRUE THEN

WRITE(' KY_DISP_UPDT ',CR)

ENDIF

IF TPIN[171] = TRUE THEN

WRITE(' KY_REISSUE ',CR)

ENDIF

IF TPIN[172] = TRUE THEN

WRITE(' ky_warn_req ',CR)

ENDIF

IF TPIN[173] = TRUE THEN

WRITE(' KY_UF_1 ',CR)

ENDIF

IF TPIN[185] = TRUE THEN

WRITE(' tpi_fwd ',CR)

ENDIF

IF TPIN[186] = TRUE THEN

WRITE(' tpi_bwd ',CR)

ENDIF

IF TPIN[187] = TRUE THEN

WRITE(' tpi_coord ',CR)

ENDIF

IF TPIN[188] = TRUE THEN

WRITE(' tpi_x_pls ',CR)

ENDIF

IF TPIN[189] = TRUE THEN

WRITE(' tpi_y_pls ',CR)

ENDIF

IF TPIN[190] = TRUE THEN

WRITE(' tpi_z_pls ',CR)

ENDIF

IF TPIN[191] = TRUE THEN

WRITE(' tpi_w_pls ',CR)

ENDIF

IF TPIN[192] = TRUE THEN

WRITE(' tpi_p_pls ',CR)

ENDIF

IF TPIN[193] = TRUE THEN

WRITE(' tpi_r_pls ',CR)

ENDIF

IF TPIN[194] = TRUE THEN

WRITE(' tpi_x_mns ',CR)

ENDIF

IF TPIN[195] = TRUE THEN

WRITE(' tpi_y_mns ',CR)

ENDIF

IF TPIN[196] = TRUE THEN

WRITE(' tpi_z_mns ',CR)

ENDIF

IF TPIN[197] = TRUE THEN

WRITE(' tpi_w_mns ',CR)

ENDIF

IF TPIN[198] = TRUE THEN

WRITE(' tpi_p_mns ',CR)

ENDIF

IF TPIN[199] = TRUE THEN

WRITE(' tpi_r_mns ',CR)

ENDIF

IF TPIN[200] = TRUE THEN

WRITE(' tpi_fwd_s ',CR)

ENDIF

IF TPIN[201] = TRUE THEN

WRITE(' tpi_bwd_s ',CR)

ENDIF

IF TPIN[202] = TRUE THEN

WRITE(' tpi_coord_s ',CR)

ENDIF

IF TPIN[204] = TRUE THEN

WRITE(' KY_UP_ARW_S ',CR)

ENDIF

IF TPIN[205] = TRUE THEN

WRITE(' KY_DN_ARW_S ',CR)

ENDIF

IF TPIN[206] = TRUE THEN

WRITE(' KY_RT_ARW_S ',CR)

ENDIF

IF TPIN[207] = TRUE THEN

WRITE(' KY_LF_ARW_S ',CR)

ENDIF

IF TPIN[208] = TRUE THEN

WRITE(' KY_RT_ARW ',CR)

ENDIF

IF TPIN[209] = TRUE THEN

WRITE(' KY_LF_ARW ',CR)

ENDIF

IF TPIN[212] = TRUE THEN

WRITE(' KY_UP_ARW ',CR)

ENDIF

IF TPIN[213] = TRUE THEN

WRITE(' KY_DN_ARW ',CR)

ENDIF

IF TPIN[214] = TRUE THEN

WRITE(' tpi_x_pls_s ',CR)

ENDIF

IF TPIN[215] = TRUE THEN

WRITE(' tpi_y_pls_s ',CR)

ENDIF

IF TPIN[216] = TRUE THEN

WRITE(' tpi_z_pls_s ',CR)

ENDIF

IF TPIN[217] = TRUE THEN

WRITE(' tpi_w_pls_s ',CR)

ENDIF

IF TPIN[218] = TRUE THEN

WRITE(' tpi_p_pls_s ',CR)

ENDIF

IF TPIN[219] = TRUE THEN

WRITE(' tpi_r_pls_s ',CR)

ENDIF

IF TPIN[220] = TRUE THEN

WRITE(' tpi_x_mns_s ',CR)

ENDIF

IF TPIN[221] = TRUE THEN

WRITE(' tpi_y_mns_s ',CR)

ENDIF

IF TPIN[222] = TRUE THEN

WRITE(' tpi_z_mns_s ',CR)

ENDIF

IF TPIN[223] = TRUE THEN

WRITE(' tpi_w_mns_s ',CR)

ENDIF

IF TPIN[224] = TRUE THEN

WRITE(' tpi_p_mns_s ',CR)

ENDIF

IF TPIN[225] = TRUE THEN

WRITE(' tpi_r_mns_s ',CR)

ENDIF

IF TPIN[243] = TRUE THEN

WRITE(' tpi_m_swg_eq ',CR)

ENDIF

IF TPIN[244] = TRUE THEN

WRITE(' tpi_m_mac_mf ',CR)

ENDIF

IF TPIN[247] = FALSE THEN -- NormalyOpen

WRITE(' tpi_l_dman ',CR)

ENDIF

IF TPIN[248] = FALSE THEN -- NormalyOpen

WRITE(' tpi_r_dman ',CR)

ENDIF

IF TPIN[249] = FALSE THEN --NormalyOpen

WRITE(' tpi_enable ',CR)

ENDIF

IF TPIN[250] = TRUE THEN

WRITE(' tpi_estop ',CR)

ENDIF

IF TPIN[252] = TRUE THEN

WRITE(' KY_CANCEL ',CR)

ENDIF

IF TPIN[245] = TRUE THEN

WRITE(' tpi_m_user2 ',CR)

ENDIF

DELAY(1000)

ENDWHILE

END KeyTest