Code to share

    Hi all devoted ABB programmers,

    Here is some code I wrote some years ago, posting it here for you to use, learn some programming. There are no warranties express or implied, user assumes all risks. Here goes:

    MODULE LEERULZ

    ! This module contains two routines, rEnter and rExit which are
    ! intended to be universal handshake routines for requesting
    ! entry from the cell controller to enter an area, fixture or
    ! robot interference zone. When called, the user must pass in
    ! the parameters and switches unique to the user's installation.
    ! I.E., Digital inputs and digital outputs from your IO map, your
    ! tool and workobjects, if used. Nothing is hard-coded, so there
    ! is no need to rewrite these routines for your particular
    ! project. Both routines have Backward handlers so the user will
    ! be able to step backwards through the procedure call. The robot
    ! will move back to where it came from using the parameter passed
    ! which should be the parameter robtarget or jointtarget from which
    ! it came when requesting entry or exit. Then It will set or reset
    ! the digital output for clear as appropriate to enter or exit.
    ! pass in the parameter for the path interpolation used, linear, joint
    ! or MoveAbsJ. Or, the default will be joint interpolation.
    ! Example procedure call:
    ! rEnter "Station 1", doSta1EntRequest, diSta1ClearEnter1, doSta1InFixture, tGripper\WObj:=wobjStation1\swMoveJoint\pPreviouspoint:=p10;
    !

    PROC rEnter(
    string area,
    VAR signaldo request,
    VAR signaldi signal,
    VAR signaldo notclear,
    PERS tooldata tool,
    \PERS wobjdata WObj
    \switch swMoveAbs
    |switch swMoveLin
    |switch swMoveJoint
    \robtarget pPreviouspoint
    |jointtarget jposPrevious)

    VAR num nDummy;
    VAR bool bTimeFlag;
    VAR errnum erBreakFlag;
    CONST string stFixClear:="Clear signal has been received, ";

    IF (NOT Present(pPreviouspoint)) AND (NOT Present(jposPrevious)) THEN
    TPErase;
    TPWrite "Neither a robtarget nor a jointtarget were provided!!!";
    TPWrite "Please remedy this from where this";
    TPWrite "procedure was called.";
    TPWrite "Backwards execution will NOT be possible!!!";
    ENDIF
    IF (Present(jposPrevious)) AND (NOT Present(swMoveAbs)) THEN
    TPErase;
    TPWrite "The optional switch for MoveAbsJ was not provided";
    TPWrite " but a jointtarget was!!!";
    TPWrite "Please remedy this from where this";
    TPWrite "procedure was called.";
    TPWrite "Backwards execution will NOT be possible!!!";
    ENDIF
    Set request;
    WaitUntil signal=1\MaxTime:=2\TimeFlag:=bTimeFlag;
    IF bTimeFlag AND OpMode()=OP_MAN_PROG THEN
    TPWrite "Waiting for Clear signal, ";
    TPReadFK nDummy,ArgName(signal),"","",""," ",""\DIBreak:=signal\BreakFlag:=erBreakFlag;
    ELSE
    TPWrite "Waiting for Clear signal, ";
    TPWrite ArgName(signal);
    WaitDI signal,1;
    ENDIF
    TPWrite stFixClear;
    TPWrite ArgName(signal);
    Reset notclear;
    Reset request;
    BACKWARD
    IF (NOT Present(pPreviouspoint)) AND (NOT Present(jposPrevious)) THEN
    TPErase;
    TPWrite "Neither a robtarget nor a jointtarget were provided!!!";
    TPWrite "Please remedy this from where this procedure";
    TPWrite "was called.";
    ENDIF
    IF Present(swMoveAbs) THEN
    MoveAbsJ jposPrevious,v500,fine,Tool\WObj?WObj;
    ELSEIF Present(swMoveLin) THEN
    MoveL pPreviouspoint,v500,fine,Tool\WObj?WObj;
    ELSE
    MoveJ pPreviouspoint,v500,fine,Tool\WObj?WObj;
    ENDIF
    TPWrite "Robot clearing " + area;
    Set notclear;
    RETURN;
    ENDPROC

    PROC rExit(
    string area,
    VAR signaldo request,
    VAR signaldi signal,
    VAR signaldo notclear,
    PERS tooldata tool,
    \PERS wobjdata WObj
    \switch swMoveAbs
    |switch swMoveLin
    |switch swMoveJoint
    \robtarget pPreviouspoint
    |jointtarget jposPrevious)

    VAR num nDummy;
    VAR bool bTimeFlag;
    VAR errnum erBreakFlag;
    CONST string stExiting:="Robot exiting ";
    CONST string stReturning:="Robot Returning ";

    IF (NOT Present(pPreviouspoint)) AND (NOT Present(jposPrevious)) THEN
    TPErase;
    TPWrite "Neither a robtarget nor a jointtarget were provided!!!";
    TPWrite "Please remedy this from where this";
    TPWrite "procedure was called.";
    TPWrite "Backwards execution will NOT be possible!!!";
    ENDIF
    IF (Present(jposPrevious)) AND (NOT Present(swMoveAbs)) THEN
    TPErase;
    TPWrite "The optional switch for MoveAbsJ was not provided";
    TPWrite " but a jointtarget was!!!";
    TPWrite "Please remedy this from where this";
    TPWrite "procedure was called.";
    TPWrite "Backwards execution will NOT be possible!!!";
    ENDIF
    Set request;
    WaitUntil signal=1\MaxTime:=2\TimeFlag:=bTimeFlag;
    IF bTimeFlag AND OpMode()=OP_MAN_PROG THEN
    TPWrite "Waiting for Clear signal, ";
    TPReadFK nDummy,ArgName(signal),"","",""," ",""\DIBreak:=signal\BreakFlag:=erBreakFlag;
    ELSE
    TPWrite "Waiting for Clear signal, ";
    TPWrite ArgName(signal);
    WaitDI signal,1;
    ENDIF
    TPWrite stExiting+area;
    ! The VAR signaldo notclear is not set here
    ! because some motion is necessary to get the
    ! robot actually clear. If it were set here
    ! then the robot is not clear because no Motion
    ! has occurred yet.
    Reset request;
    BACKWARD
    Reset notclear;
    IF Present(swMoveAbs) THEN
    MoveAbsJ jposPrevious,v500,fine,Tool\WObj?WObj;
    ELSEIF Present(swMoveLin) THEN
    MoveL pPreviouspoint,v500,fine,Tool\WObj?WObj;
    ELSE
    MoveJ pPreviouspoint,v500,fine,Tool\WObj?WObj;
    ENDIF
    TPWrite stReturning+area;
    RETURN;
    ENDPROC
    ENDMODULE

Advertising from our partners