Another program that writes a program.

This module shows more file handling, both reading and writing. There is also quite a bit of array usage. I have already shared it on a github repo, but I feel that it follows well from the previous article. It reads Motoman files and converts the infromation into usable ABB Rapid code, creating loadable modules for the ABB. I hope that you all can find it useful, especially if you get the chance to use it and give some bug reports or feedback. Otherwise, take away some more knowledge.

Code

MODULE ImportMoto
  ! Version 1.0  9-23-2016  LJ
  ! Version 1.1 10-04-2018  LJ  Will no longer write null value robtagets,
  ! i.e., "UNUSED" from VAR.DAT, also, will not write motions for "UNUSED"
  ! in order to eliminate clutter, useless stuff.
  ! Version 1.2  10-08-2016  LJ  Fixed bug in which a PULSE type position
  ! variable messed up the conversion.
  ! 
  !  This program will read a Motoman VAR.DAT, TOOL.CND and UFRAME.CND files
  !  and extract the position data, tool data and user frames, writing
  !  them into ABB modules with ABB datatypes.  It will also build
  !  a motion module populated with move instructions to move to the
  !  translated positions with the tool used and work object used same
  !  as was used in the Motoman.
  !  Copy the VAR.DAT, TOOL.CND and UFRAME.CND into the ABB "HOME"
  !  directory.  Run "ReadVarDat".  Four ABB modules will be written to
  !  the "HOME" directory:  ImportPos.mod, ImportTool.mod, ImportFrame.mod
  !  and ImportMotion.mod.  You may then load these modules into the 
  !  controller's memory.
  PERS string stBuffer2{18}:=["//TOOL 0","///NAME CAL TOOL","-1.619","300.932","1016.922","0.0000","0.0000","0.0000","0.000","0.000","0.000","8.500","0.000","0.000","0.001","0.000","0","0"];
  PERS string stBuffer3{6}:=["950.00","0.000","50.000","0.0000","0.0000","90.0000"];
  PERS num nBuffer3{6}:=[1413.874,-2.064,117.457,0.0516,-0.0043,0.0255];
  VAR bool bToolUsed{64};
  VAR bool bFrameUsed{20};



  PROC ReadVarDat()
    VAR iodev Vardat;
    VAR iodev ToolCnd;
    VAR iodev UframeCnd;
    VAR iodev WriteMod;
    VAR iodev WriteToolMod;
    VAR iodev WriteFrameMod;
    VAR iodev WriteMotionMod;
    VAR string stReadpointer;
    VAR string stReadpointer2;
    VAR string stReadpointer3;
    VAR bool bGood;
    VAR bool bWriteOnce;
    VAR num nData;
    VAR num nX;
    VAR num nY;
    VAR num nZ;
    VAR num nRx;
    VAR num nRy;
    VAR num nRz;
    VAR string stPart;
    CONST string stUnused:="""UNUSED""";
    VAR string stBuffer{14}:=["","","","","","","","","","","","","",""];
    VAR string stText;
    VAR robtarget pTemp;

    Close Vardat;
    Close ToolCnd;
    Close UframeCnd;
    Open "Home" \File:="VAR.DAT", Vardat\Read;
    WHILE stReadpointer <> EOF DO
      ! start reading in the contents of the VAR.DAT file
      stText:=ReadStr(Vardat);
      stReadpointer:=ReadStr(Vardat\Delim:="\2C"\Discardheaders);
      IF stReadpointer = "///P" THEN
        ! all other variables have been read, now position
        ! variables have been reached.
        Close WriteMod;
        Open "HOME:" \File:="ImportPos.mod", WriteMod\Write;
        Write WriteMod, "MODULE ImportPos";
        Close WriteToolMod;
        Open "HOME:" \File:="ImportTool.mod", WriteToolMod\Write;
        Write WriteToolMod, "MODULE ImportTool";
        Close WriteToolMod;
        Open "HOME:" \File:="ImportFrame.mod", WriteFrameMod\Write;
        Write WriteFrameMod, "MODULE ImportFrame";
        Close WriteFrameMod;
        Open "HOME:" \File:="ImportMotion.mod", WriteMotionMod\Write;
        Write WriteMotionMod, "MODULE ImportMotion";
        Write WriteMotionMod, "  PROC motions()";
        Close WriteMotionMod;
        FOR i FROM 0 TO 1023 DO
          FOR m FROM 1 TO 14 DO
            stBuffer{m}:=ReadStr(Vardat\Delim:="\2C"\Discardheaders);
            IF stBuffer{1} = stUnused THEN
              GOTO Skip;
            ENDIF
          ENDFOR
          IF stBuffer{1} = """PULSE""0" THEN
            GOTO Skip;
          ENDIF
        Write WriteMod, "  PERS robtarget p" + ValToStr(i) + ":=[["\NoNewLine; 
Skip:
          IF stBuffer{1} = """RECTAN""0" THEN
            Close ToolCnd;
            Open "HOME:" \File:="TOOL.CND", ToolCnd\Read;
            stReadpointer2:=stEmpty;
            WHILE stReadpointer2 <> "//TOOL " + stBuffer{3} DO
              stReadpointer2:=ReadStr(ToolCnd\Delim:="\2C");
            ENDWHILE
            !Stop;
            IF stReadpointer2 = "//TOOL " + stBuffer{3} THEN
              stBuffer2{1}:=stReadpointer2;
              FOR j FROM 2 TO 17 DO
                stBuffer2{j}:=ReadStr(ToolCnd\Delim:="\2C");
              ENDFOR
            ENDIF
            bGood:=StrToVal(stBuffer{3},nData);
            nData:=nData + 1;
            IF NOT bToolUsed{nData} THEN
              Open "HOME:" \File:="ImportTool.mod", WriteToolMod\Append;
              Write WriteToolMod, "  PERS tooldata tMoto" + stBuffer{3} + ":=[TRUE,[["\NoNewLine;
              Write WriteToolMod, stBuffer2{3} + "," + stBuffer2{4} + "," + stBuffer2{5} + "]"\NoNewLine;
              bGood:=StrToVal(stBuffer2{8},nRz);
              bGood:=StrToVal(stBuffer2{7},nRy);
              bGood:=StrToVal(stBuffer2{6},nRx);
              Write WriteToolMod, ","\Orient:=NOrient(OrientZYX(nRz,nRy,nRx))\NoNewLine;
              Write WriteToolMod, "],[" + stBuffer2{12}\NoNewLine;
              bGood:=StrToVal(stBuffer2{9},nX);
              bGood:=StrToVal(stBuffer2{10},nY);
              bGood:=StrToVal(stBuffer2{11},nZ);
              Write WriteToolMod, ","\Pos:=[nX,nY,nZ]\NoNewLine;
              Write WriteToolMod, ",[1,0,0,0],0,0,0]];" + "  !" + stBuffer2{2};
              Close WriteToolMod;
              bToolUsed{nData}:=TRUE;
            ENDIF
            Close UframeCnd;
            Open "HOME:" \File:="UFRAME.CND", UframeCnd\Read;
            WHILE stReadpointer3 <> "//UFRAME " + stBuffer{2} DO
              IF stBuffer{2} = "0" THEN
                IF NOT bWriteOnce THEN
                  Open "HOME:" \File:="ImportFrame.mod", WriteFrameMod\Append;
                  Write WriteFrameMod, "  PERS wobjdata wobjMoto0:=[FALSE,TRUE,"""",[[0,0,0],"\NoNewLine;
                  Write WriteFrameMod, "[1,0,0,0]],[[0,0,0],[1,0,0,0]]];";
                  bWriteOnce:=TRUE;
                  Close WriteFrameMod;
                ENDIF
                GOTO Abort;
              ENDIF
              stReadpointer3:=ReadStr(UframeCnd\Delim:="\2C");
              ! If the end of file is reached without finding the 
              ! uframe we are looking for.
              IF stReadpointer3 = "EOF" Stop;
            ENDWHILE
            ! read the next seven lines to get to the BUSER, what is useful
            FOR k FROM 1 TO 7 DO
              stReadpointer3:=ReadStr(UframeCnd);
            ENDFOR
            FOR k FROM 1 TO 6 DO
              stBuffer3{k}:=ReadStr(UframeCnd\Delim:="\2C");
            ENDFOR
            stPart:=StrPart(stBuffer3{1},11,6);
            stBuffer3{1}:=stPart;
            bGood:=StrToVal(stBuffer3{1},nX);
            bGood:=StrToVal(stBuffer3{2},nY);
            bGood:=StrToVal(stBuffer3{3},nZ);
            bGood:=StrToVal(stBuffer{2},nData);
            IF NOT bFrameUsed{nData} THEN
              Open "HOME:" \File:="ImportFrame.mod", WriteFrameMod\Append;
              Write WriteFrameMod, "  PERS wobjdata wobjMoto" + stBuffer{2} + ":=[FALSE,TRUE,"""","\NoNewLine;
              Write WriteFrameMod, "["\Pos:=[nX,nY,nZ]\NoNewLine;
              bGood:=StrToVal(stBuffer3{6},nRz);
              bGood:=StrToVal(stBuffer3{5},nRy);
              bGood:=StrToVal(stBuffer3{4},nRx);
              Write WriteFrameMod, ","\Orient:=NOrient(OrientZYX(nRz,nRy,nRx))\NoNewLine;
              Write WriteFrameMod, "],[[0,0,0],[1,0,0,0]]];";
              Close WriteFrameMod;
              bFrameUsed{nData}:=TRUE;
            ENDIF
 Abort:
            Close UframeCnd;
            Write WriteMod, stBuffer{7} + ","\NoNewLine;
            Write WriteMod, stBuffer{8} + ","\NoNewLine;
            Write WriteMod, stBuffer{9} + "]"\NoNewLine;
            bGood:=StrtoVal(stBuffer{10},nRx);
            bGood:=StrtoVal(stBuffer{11},nRy);
            bGood:=StrtoVal(stBuffer{12},nRz);
            pTemp.rot:=NOrient(OrientZYX(nRz,nRy,nRx));
            Write WriteMod, ","\Orient:=pTemp.rot\NoNewLine;
            Write WriteMod, "," + "[0,0,0,0],[0,0,9E9,9E9,9E9,9E9]];";
          ELSEIF stBuffer{1} = stUnused THEN
            GOTO Skip2;
          ELSEIF stBuffer{1} = """PULSE""0" THEN
            GOTO Skip2;
          ELSE
            Stop;
            ! need to figure out what else is going on here
          ENDIF
          Open "HOME:" \File:="ImportMotion.mod", WriteMotionMod\Append;
          Write WriteMotionMod, "    MoveJ p" + ValToStr(i) + ",v100,fine," + "tMoto" + stBuffer{3} + "\\wobj:=wobjMoto" + stBuffer{2} + ";";
Skip2:
          Close WriteMotionMod;
        ENDFOR
        Write WriteMod, "ENDMODULE";
        Open "HOME:" \File:="ImportTool.mod", WriteToolMod\Append;
        Write WriteToolMod, "ENDMODULE";
        Open "HOME:" \File:="ImportFrame.mod", WriteFrameMod\Append;
        Write WriteFrameMod, "ENDMODULE";
        Open "HOME:" \File:="ImportMotion.mod", WriteMotionMod\Append;
        Write WriteMotionMod, "  ENDPROC";
        Write WriteMotionMod, "ENDMODULE";
        Close WriteMod;
        Close WriteToolMod;
        Close WriteFrameMod;
        Close WriteMotionMod;
      ENDIF
    ENDWHILE
  ENDPROC
    PROC Main()
        ReadVarDat;
        Stop;
    ENDPROC
ENDMODULE

Display More

Comments 4

MIRobotGuy Apr 21st 2020

Hello,

This is great! would you have an example of reading an ABB module in rapid and making the Inform program?

Thanks,
MiRobotGuy
massula Jan 2nd 2020

Nice idea, Lemster68!
- Lemster68 Jan 3rd 2020
  
  Thank you very much!
- Lemster68 Apr 21st 2020
  
  Thanks, but for now I think not. In the VAR.DAT file there are many mystery numbers which I do not know what they refer to. I had asked here on the Yaskawa Motoman forum if anyone knew what all the components of the position variables were, but no one gave any insight.

Advertising

Comments 4

MIRobotGuy Apr 21st 2020

massula Jan 2nd 2020

Lemster68 Jan 3rd 2020

Lemster68 Apr 21st 2020

Share