ROBOT3D - Robot Offline Programming & Simulation

PROGRAM HELP - Revision 1.9.01

*** VERY IMPORTANT: You can only acess programs that are in current program directory. See the CHDIR command in this text.

The program menu is designed to implement an automatic mode of operation, based on cycle logic.

The integrated command interpreter can read text files of type <.R3D> and produce complete robot programs. Point data, and conditions are retrieved from separated files.

The interpreter language R3D specially developped for the package is an implementation of the BASIC language and is designed to take full advantage of all simulation routines.

The program files can be created or edited by an text editor of the user's choice. Use the file ROBMOD.CFG to set the editor name and path. The filename is passed to the editor as a parameter. ROBMOD uses the small editor RODIT because of memory limitations. To use another editor it must occupy less than 100k.

If the user has problems running RODIT.EXE under ROBMOD please reconfigure your CONFIG.SYS and AUTOEXEC.BAT to leave about 600kb of DOS memory.

The search Directory for program and locations data is defined in the ROBMOD.CFG file.

Example (file ROBMOD.CFG) :

RODIT
1,0,1,8,1200,10,1,1
C:\ROBOT3D\PROG

Please set the last line to the desired Directory. Alternatively the directory can be changed by the CHDIR command.

The basic Directories are as follows:

Directory PATH

The directories work1, work 2 & work3 are examples of user created directories to keep the user programs and point data.

The lenght of a program is 10k bytes maximum but as programs can be chained by means of CALL instructions the only limitation is disk memory.

The functions provided in the program menu are:

* SAVE
Save point data in file [.COR]. Data recorded: X,Y,Z,A,B,C,S (status),T (turn), E1..E6 (external axis), A1..A6 (robot axis), Tool , Base , Condition (techware).
In program RUN if the locations are teached (see MARK_LOC in Utility menu) the data points are saved by the system.

* RETRIEVE
Retrieve point data from file [.COR].
Data recorded: X,Y,Z,A,B,C,S (status),T (turn), E1..E6 (external axis), A1..A6 (robot axis), Tool , Base , Condition (techware). The locations data can be loaded in a program by means of a GET_DATA interpreter command.

The locations data can be loaded in a program by means of a GET_DATA command.

***** EXAMPLE OF A [.COR] FILE: *****

0,PTP X+1366.9,Y-0.0,Z+1269.2,A-0.000,B+77.000,C+90.000,S 0,T 0,
E1+0.000,E2+0.000,E3+0.000,E4+0.000,E5+0.000,E6+0.000,
A1+0.000,A2+0.000,A3+0.000,A4+0.000,A5-35.000,A6+0.000,
TOOL 0,FRAME 0,COND 0
1,PTP X+1366.9,Y-0.0,Z+1269.2,A-0.000,B+77.000,C+90.000,S 47,T 0,
E1+0.000,E2+0.000,E3+0.000,E4+0.000,E5+0.000,E6+0.000,
A1+0.000,A2+0.000,A3+0.000,A4+0.000,A5-35.000,A6+0.000,
TOOL 0,FRAME 0,COND 0
2,PTP X+1561.7,Y-100.0,Z+1414.1,A-0.000,B+77.000,C+90.000,S 11,T 0,
E1+0.000,E2+0.000,E3+0.000,E4+0.000,E5+0.000,E6+0.000,
A1+5.219,A2+28.281,A3-51.330,A4+19.673,A5-12.787,A6-22.220,
TOOL 0,FRAME 0,COND 0
3,PTP X+1561.7,Y+100.0,Z+1314.1,A-0.000,B+77.000,C+90.000,S 34,T 0,
E1+0.000,E2+0.000,E3+0.000,E4+0.000,E5+0.000,E6+0.000,
A1-5.219,A2+20.606,A3-29.065,A4-9.456,A5-26.969,A6+11.442,
TOOL 0,FRAME 0,COND 0


NOTE: Please note that a [.COR] file is suitable to be converted in a [.R3D] file if the point numbers are removed.

***** EXAMPLE OF A MODIFIED [.R3D] FILE: *****

PTP X+2836.6,Y+2626.4,Z+810.0,A+179.999,B-0.000,C+180.000,21
PTP X+2836.6,Y+2626.4,Z+810.0,A+179.999,B-0.000,C+180.000,21
PTP X+2733.5,Y+1761.5,Z+810.0,A+154.999,B+0.000,C+180.000,21
LIN X+2733.5,Y+1461.5,Z+810.0,A+154.999,B+0.000,C+180.000,21
PTP X+2733.5,Y+1161.5,Z+810.0,A+129.999,B-0.000,C+180.000,21
END


* ERASE
Erases data points from memory. The range can be specified.

* TRACE
Traces all data points in memory defining the robot path.

* LOC2R3D
This function is very usefull as it can transform locations files [.COR] files in [.R3D] files using the space_points approach. The program file is ready to run, edit or translate.

EXAMPLE:
REM Project: default
REM Kinematics: RT01
REM Robot: IRB2000
REM RBASE (X+0.0,Y+0.0,Z+0.0,A+0.0,B+0.0,C+0.0)
REM Cell: floor
REM CBASE (X+0.0,Y+0.0,Z+0.0,A+0.0,B+0.0,C+0.0)
REM Tool: pkh500b
REM TOF[0] (X-440.5,Y+0.0,Z+136.5,A+0.0,B-112.0,C+0.0)
REM Positioner: orbit
REM PBASE (X+1000.0,Y+0.0,Z+0.0,A+0.0,B+0.0,C+0.0)


REM Description:
REM >
REM >


GET_DATA "AAA "
HOME
REM HOME (X+1300.0,Y-0.0,Z+1820.0,A-0.0,B+18.0,C-0.0)
REM P1,Tool=0,Frame=0,Cond=0
PTP_SP 1
REM P2,Tool=0,Frame=0,Cond=0
LIN_SP 2
END


* SELECT
Selects the program <.R3D> file.

* RUN
Starts running the program file with the interpreter.
The user can specify the starting line number. (See LIST command)
The user is prompt to erase the objects loaded if any.

NOTE:
During program run the ARROW_KEYS,T,+,-,0,1,2,3,4,5,6,7,F,S,P,L
can be used to execute display functions like in the display menu.

F - FASTRUN toggle
T - PAN TCP
S - STOP
P - PAUSE
L - Toggle STEP-BY-STEP mode

* EDIT
Invoques the RODIT editor to edit a program file. If no file is specified it creates a new file. The filename cannot exceed 12 chars. The editor name can be changed in the file ROBMOD.CFG.
To have information about the editor see the RODIT.DOC file in the ROBOT3D directory.

* LIST
Shows program listing of selected program, with line numbering.
In alternative another type of file can be listed.

* PRINT
Prints program listing. The program <.R3D> or the locations file <.COR> can be printed.

* CHDIR
Changes the current Directory for searching programs [.R3D] & locations files. Please
indicate the complete path.

* IRDATA
Converts programs to and from SIEMENS IRDATA with the IRD_R3D and R3D_IRD utilities.
Please read IRDATA.DOC file to see language limitations.
(Only supplied with complete package).

* ABB_S3
Converts programs to and from ABB ARLA (s3) with the R3D_ARLA and ARLA_R3D utilities.
ARLA programs must be compiled with the ABB OLP3 software supplied by ABB ROBOTICS.
Please read ARLA.DOC file to see language limitations.
(Only supplied with complete package).

* ABB_S4
Converts programs to and from ABB RAPID (s4) with the R3D_S4 and S4_R3D utilities.
S4 programs can be downloaded directly on the robots.
Please read S4.DOC file to see language limitations.
(Only supplied with complete package).

* KUKA (C1)
Converts programs to and from KRL (KRC1) with the KRC1_R3D and R3D_KRC1 utilities.
KRC1 programs can be downloaded directly on the robots.
Please read KRC1.DOC file to see language limitations.
(Only supplied with complete package).

* KUKA (C32)
Converts programs to and from KRL (KRC32) with the KRC32R3D and R3DKRC32 utilities.
KRC32 programs can be downloaded on the robots using APS (c) application.
Please read KRC32.DOC file to see language limitations.
(Only supplied with complete package).

R3D - Robot3D Offline Programming Language (NEUTRAL LANGUAGE)

The set of commands are as follow:

* Float variables:

A-W (changed to integer format whenever necessary)
P0-P99 parameters
NOTE: When performing motion instructions the variables X,Y,Z,A,B,C
and R,S,T,U,V,W are reserved.
DIM Varname
NOTE: A DIM Statment shall be used for each variable
Declared float variables names (max 30)

* REM text
Comments text

* NEW
Clears variables from memory

* FOR <control var_name>=<initial value> TO <target value>
.
NEXT

<initial value> & <target value> can be parameters expressions.

* GOSUB <line_num>
.
<line_num>
code
.
RETURN

NOTE: Parameters are not supported!

* JMP_SUB <line_num>,<ntimes>
.
<line_num>
code
.
RETURN

<ntimes> can be a parameter expression.
This constructiom is equivalent to the gosub but the call is repeated
<ntimes>. NOTE: unlike the GOSUB this construction can't be nested!
The following is legal:

. JMP_SUB 50,3
. END


. 50 PRINT "SUB 50"
. GOSUB 100
. RETURN


. 100 I=I+1
. RETURN


The following is illegal:

. JMP_SUB 50,3
. END


. 50 PRINT "SUB 50"
. JMP_SUB 100,2
. RETURN


. 100 I=I+1
. RETURN


* GOTO <line_num>

NOTE: Parameters are not supported!

* Assignment
<var_name>=<expression>
or <var_name>=<function>(expression)
NOTE: var_name can be a parameter.
expression can be a parameter expression.

functions:

SIN(value) value in DEG
COS(value) "
TAN(value) "
ASIN(value) value-> [-1,1] return an angle in DEG
ACOS(value) "
ATAN(value) "
ABS(value)
EXP(value)
LOG(value)
SQR(value)
INP_SIGNAL(value) return the value of an Input_signal
TIMER(value) return the value of timers 1,2
timer 1 - accumulated time
timer 2 - last motion time

* IF <expression> <operator> <expression>
THEN <statement>

<<expression>> can be a parameter expression.

OPERATORS: >,<,=

* PRINT <arg_list>

* LPRINT <arg_list>
Same as print but output goes to the printer.

* TX_RS232 <arg_list> Same as print but output goes to the serial
communications port. The TINYCOMM or other comunication program
must be used on remote computer. The cable to use is a NULL cable.

FILE HANDLING
* FPRINT <arg_list>
Send output to file PROGRAM.OUT. If the file is to be saved don't forget
to save it with another name to not be destroyed in the next program run.
This must be done in DOS.

* INPUT "<prompt-string>",<var_name>

NOTE: var_name can be a parameter.

* END
End of program

ROBOT FUNCTIONS
NOTE: in the following expression refers to parameter expressions.

* HOME
Puts the robot in a predefined position. Should be used only before any movement
instruction as cycle time is not calculated. Is usefull to put this instruction after a
GET_DATA to suppress any positionning error.

* CHG_TOOL "<tool_name>"
Changes the tool and recover the necessary TOF matrix from <tool_name.TOF>

* LIN X<value>,Y<value>,Z<value>,A<value>,B<value>,<C<value>,<status_code>
Linear interpolation using coordinates.
<sol_code> is the code for axis status related with inverse kinematics
solutions 00111111=63 => PPPPPP ; 00000001=1 => PNNNNN
If grippers are active the two left bits are added.
(Example: 10-000000=128 Gripper 2 is ON)

* LIN_SP <expression>
Linear interpolation using space points recorded.

* PTP X<value>,Y<value>,Z<value>, A<value>,B<value>,<C<value>,<status_code>
Syncronous Point to Point interpolation using coordinates (Interpolation is done
in joint space - all axis start and stop at same time).

* PTP_SP <expression>
Syncronous Point to Point interpolation using space points.

* CIR X<v1>,Y<v2>,Z<v3>,X<v4>,Y<v5> ,Z<v6>,A<v7>,B<v8>,C<v9>,<status_code>
Circular interpolation using values. <v1 to v3> gives aux_point coordinates <v4> to <v9>
gives end_point coordinates.

* CIR_SP <expression1>,<expression2>
Circular interpolation using space points. <expression1> gives aux_point
number <expression2> gives end_point number.
NOTE: Circular programming is always Absolute. See the PROG_REL command.

* ZOF <num>,X<value>,Y<value>,Z<value> ,A<value>,B<value>,<C<value>
mum[0,16]
Station frame. Zero Offset number <num> setting. The ZOF functioncan be
used to shift and rotate points in the 3D space allowing the same program
to be executed in diferent locations.
The coordinates are optional. If not specified the value are retrieved
from internal table <project.ZOF>.

* TOF <num>,X<value>,Y<value>,Z<value> ,A<value>,B<value>,<C<value>
num[0,16]
Tool frame selection.
The coordinates are optional. If not specified the value are retrieved
from internal table <project.TOF>.

* PPA R<value>,S<value>,T<value>,U<value> ,V<value>,W<value>
Motion of external axis or positioner. This instruction should appear
after a robot movement to define the robot pose.
Actual version 5.00 includes external axis position in Location file.

* MOVE_JOINTS <value>,<value>,<value> ,<value>,<value>,<value>
Motion of robot axis.

* REC_JOINTS_PAR <num>
Assign robot joint values to parameters starting with param P<num>.

NOTE: In motion movements using coordinates (and for ZOF, OBJ_POS &
OBJ_OFF) the value of the normal variables (eg. X,Y,..U,R) are assigned to
zero before expression is evaluated.
For example an instruction like LIN X+10*i,Y+5,0,A+10,B+5+i,C+0,63
with i=5 is evaluated like
LIN X=50, Y=5, Z=0, A=10, B=10, C=0
OBS: See also the PROG_REL command for exception to this rule!

* OP_GRP <expression> - valid values 1,2.
Open gripper

* CL_GRP <expression>
Close gripper

* PICK_OBJ <expression> (0..39)
Attaches the object defined by expression to the robot TCP. See ATTAC_OBJ
in SETTINGS menu)

* FREE_OBJ <expression> (0..39)
Frees an object attached to the robot TCP, robot or external link.

* LOAD_OBJ "<obj_name>"
Loads an object in the cell. Ojects are numbered in a sequencial
order.

* OBJ_POS <num>,X<value>,Y<value>,Z<value> ,A<value>,B<value>,C<value>
Places an object within the cell in the specified position origin.
valid values for num 0..39

* OBJ_OFF <num>,X<value>,Y<value>,Z<value> ,A<value>,B<value>,C<value>
Places an object within the cell in the specified position offset
related to the origin.
valid values for num 0..39

* ROBOT_LINK <num>
num< DOF(Degrees of freedom) +2
Assigns location of robot link <num> to variables X,Y,Z,A,B,C.

* EXTERN_LINK <num>
num< DOF_EXT(Degrees of freedom) +2
Assigns location of external link <num> to variables X,Y,Z,A,B,C.

* ATTACH_ROB_LINK <solid_num>,
Attach object_num to robot link_num.

* ATTACH_EXT_LINK <solid_num>,<link_num>
Attach object_num to external link_num.

* S_EXTFRAME
Calculate a frame associated with external axis. The frame will move
during external axis motion. Programed motions (LIN and CR will) will
will be corrected by this dynamic frame. Used to couple robot axis and
positioner axis.

* RS_EXTFRAME
Reset external frame calculation.

* ERASE_OBJS
Erase all objects.

* DELAY <n> - [n] miliseconds.
Suspends execution by n miliseconds (if FASTRUN=OFF)
Increments total timer.

* WAI_IL <n> - Wait for input <n> LOW (valid values 0..31)

* WAI_IH <n> - Wait for input <n> HIGH (valid values 0..31)

* S_O <n>- Set Output <n> (valid values 0..31)

* RS_O <n> - Reset Output <n> (valid values 0..31)

* ARC_ON
Starts arcwelding with (valid values 0..99)
Not implemented.

* ARC_OFF
Stops arcwelding with (valid values 0..99)
Not implemented.

* VEL_CPA <value> Linear velocity [mm/s]
VEL_ALL <value> Velocity for all axis [%]
VEL_AXS ,<value> Velocity for one axis [%]
VEL_OV<value> Velocity override [%]

* ACC_CPA <value> Linear aceleration [mm/s2]
ACC_ALL <value> Aceleration for all axis [%]
ACC_AXS ,<value> Aceleration for one axis [%]

* WELD <weld_cond> - valid values 0..99. Not implemented.
States a weld condition for post-processing

* $<meta_command> META_COMMAND for simulation.

$ZOOM_IN <n> - Zoom In n repetitions
$ZOOM_OUT <n>
$PAN_UP <n>
$PAN_DOWN <n>
$PAN_RIGHT <n>
$PAN_LEFT <n>
$PAN_TCP
$VIEWPORT <n>
$DRAW_ON enables screen regeneration
$DRAW_OFF disable screen regeneration

* GET_DATA "filename"
Retrieves data from a data file. Same as Retrieve in MANUAL mode.
NOTE: to use instructions with space points (ex. PTP_SP 5) the point
data should exist in memory. If you haven't teach any point you should use an GET_DATA
instruction on the program.

BISIACH & CARRU users:

The only way to get the correct PHI parameter after post-processing for the TAURUS SYSTEM
in the RCM is to use the space point aproach in
the programming instructions:

PTP_SP will give correct PHI
PTP X... will give a PHI estimation for planar movements.

* CALL "filename"
Stops execution of the current program and starts execution of a new program. Same as SELECT
and RUN in MANUAL mode.

* PROG_ABS
Program is run with absolute coordinates (Default!).

* PROG_REL
Programed coordinates are relative to last position.
Example:

. PROG_ABS
. PTP X+500.1,Y-600,Z-100,A+0,B+30,C+180,30
. PROG_REL
. PTP X+0,Y+100,Z+0,A+0,B+35,C+180,30


second actual location: (500,-500,-100,0,35,180)
NOTE: The orientation is always ABSOLUTE!

SIEMENS RCM users:

The way to write the program listings must ensure that the movement
type is correct (Incremental or Absolute)

For example:

PROG_REL
50 PRINT "SP50"
PROG_REL
GOSUB 30
LIN X+30,Y+0,Z+0,A+90,B+0,C+180,21
RETURN


PROG_ABS
30 PRINT "SP30"
PROG_ABS
PRINT "WELDING"
RETURN


As SUB 30 is an absolute rotine the LIN after the GOSUB 30 instruction doesn't produce the
desired result since the motion is now absolute. To correct the following instruction should
be placed after the GOSUB 30:

GOSUB 30
-> prog_rel