Program Structure Good Practices

    Hello,

    Getting a few ABB robots (IRC5 controllers) so I'm trying to figure out how it all works. Reading through the RAPID manuals, it sorta makes sense, but wondering if I'm approaching this properly. The only internal example projects I have access to display some ~50 procedures inside one main.

    Here's a pic of some sample modules I created:

    6crC3Vh.png

    Basically I've separated global procedures in "grouped" modules. Does this make sense for ABB or does it fall flat on a real teach pendant? If this seems okay, should some of these be system modules (namely the handshakes/EOAT stuff)?

  • Lemster68 August 14, 2023 at 9:46 PM

    Approved the thread.

    The one downside that I have experienced to having many modules with few routines is that to view other routines I have to go back to module view, then select view routines for the other selected modules. Kind of adds that extra step when trying to follow/examine the code. I am not saying to lump everything together, just something to keep in mind.

    System modules are OK for handshakes, like you might combine EOAT and Handshakes, for the reason above.

    What I've done is to declare Global items inside System Modules and they are always active on the system. I do add "NOVIEW' declaration to the ones that I do not wish the operators should be able to modify. Then my Part modules is separately loaded as required from the HDD and inside them is all data required for the use in that Module. At the end of the day if you can keep your modules and routines nice and tidy and know what is going on, it should be good.

    Quote from Lemster68

    The one downside that I have experienced to having many modules with few routines is that to view other routines I have to go back to module view, then select view routines for the other selected modules. Kind of adds that extra step when trying to follow/examine the code.

    Ahh, ran the flex pendant sim and I see what you mean. Suppose I can make my groups more loose. Thanks!

    Quote from JMF

    Then my Part modules is separately loaded as required from the HDD and inside them is all data required for the use in that Module.

    Is loading/unloading modules like this common practice or is it just used when you've hit your memory limit? Seems a little extra for small-ish programs?

    Here's the structure I typically use, unless there is a process or production sequence that requires more complicated decisions...

    Your MainModule (and MAIN routine) should generally consist of Proc Calls which set initial conditions and then send you into your production loop, and NOTHING ELSE. I shoot for 20 lines or less.

    Each MODULE should stick to a "theme" of sorts. "Part Handling" or "Product #12" or "Plant Tour Demo".

    ROUTINES within Modules should be written to handle a specific task. This can be a few lines or a thousand if needed, but keep it focused.

    System Modules cannot contain motion commands, so only use them for I/O and data manipulation.

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