Blog Articles Tagged with “Rapid code”

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, 210 lines)

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Some years past I was working at an integrator that was building two, entirely separate, but more or less identical truck building lines. The area in which I was working, there was a robot which needed to pick parts from a cart which held the same parts, in rows and layers. Someone brought me the program that had been written in the other assembly line. They told me that we should use that program so that the lines were the same. I looked at that code and just could not bring myself to use it. This is that program:

MODULE pPickPart
!******************************* ROBOT INFORMATION ****************************
! ROBOT = R16
! PLANT = DS Warren Truck
! LINE = Underbody
! STATION = S14
!******************************************************************************
!***********************************NumData************************************
!Pick Locations
PERS num PickX := 0 ;
PERS num PickZ := 0;
!Distance Between one row To the next
CONST num zToPart := 96;
!Distance…

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