-
Notifications
You must be signed in to change notification settings - Fork 36
/
KUKA_KRC2_DAT.py
550 lines (484 loc) · 23.7 KB
/
KUKA_KRC2_DAT.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
# Copyright 2017 - RoboDK Software S.L. - http://www.robodk.com/
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
# http://www.apache.org/licenses/LICENSE-2.0
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ----------------------------------------------------
# This file is a POST PROCESSOR for Robot Offline Programming to generate programs
# for a Kuka robot with RoboDK
#
# To edit/test this POST PROCESSOR script file:
# Select "Program"->"Add/Edit Post Processor", then select your post or create a new one.
# You can edit this file using any text editor or Python editor. Using a Python editor allows to quickly evaluate a sample program at the end of this file.
# Python should be automatically installed with RoboDK
#
# You can also edit the POST PROCESSOR manually:
# 1- Open the *.py file with Python IDLE (right click -> Edit with IDLE)
# 2- Make the necessary changes
# 3- Run the file to open Python Shell: Run -> Run module (F5 by default)
# 4- The "test_post()" function is called automatically
# Alternatively, you can edit this file using a text editor and run it with Python
#
# To use a POST PROCESSOR file you must place the *.py file in "C:/RoboDK/Posts/"
# To select one POST PROCESSOR for your robot in RoboDK you must follow these steps:
# 1- Open the robot panel (double click a robot)
# 2- Select "Parameters"
# 3- Select "Unlock advanced options"
# 4- Select your post as the file name in the "Robot brand" box
#
# To delete an existing POST PROCESSOR script, simply delete this file (.py file)
#
# ----------------------------------------------------
# More information about RoboDK Post Processors and Offline Programming here:
# http://www.robodk.com/help#PostProcessor
# http://www.robodk.com/doc/en/PythonAPI/postprocessor.html
# ----------------------------------------------------
# ----------------------------------------------------
# Import RoboDK tools
from robodk import *
HEADER = '''
;FOLD INI
BAS (#INITMOV,0 )
;ENDFOLD (INI)
;FOLD STARTPOS
$BWDSTART = FALSE
PDAT_ACT = PDEFAULT
BAS(#PTP_DAT)
FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
BAS(#FRAMES)
;ENDFOLD
;FOLD SET DEFAULT SPEED
$VEL.CP=0.2
BAS(#VEL_PTP,100)
BAS(#TOOL,0)
BAS(#BASE,0)
;ENDFOLD
$ADVANCE = 5
PTP $AXIS_ACT ; skip BCO quickly
'''
# ----------------------------------------------------
def pose_2_str(pose):
"""Converts a pose target to a string"""
#[x,y,z,w,p,r] = Pose_2_KUKA(pose)
#return ('X %.3f, Y %.3f, Z %.3f, A %.3f, B %.3f, C %.3f' % (x,y,z,r,p,w)) # old version had to be switched
[x,y,z,r,p,w] = pose_2_xyzrpw(pose)
return ('X %.3f,Y %.3f,Z %.3f,A %.3f,B %.3f,C %.3f' % (x,y,z,w,p,r))
def pose_2_str_ext(pose,joints):
njoints = len(joints)
if njoints <= 6:
return pose_2_str(pose)
else:
extaxes = ''
for i in range(njoints-6):
extaxes = extaxes + (',E%i %.5f' % (i+1, joints[i+6]))
return pose_2_str(pose) + extaxes
def angles_2_str(angles):
"""Prints a joint target"""
str = ''
data = ['A1','A2','A3','A4','A5','A6','E1','E2','E3','E4','E5','E6']
for i in range(len(angles)):
str = str + ('%s %.5f,' % (data[i], angles[i]))
str = str[:-1]
return str
def conf_2_str(confRLF):
if confRLF is None:
return "'B010'"
strconf = ""
if confRLF[2] > 0:
strconf = strconf + '1'
else:
strconf = strconf + '0'
if confRLF[1] == 0:
strconf = strconf + '1'
else:
strconf = strconf + '0'
if confRLF[0] > 0:
strconf = strconf + '1'
else:
strconf = strconf + '0'
return "'B%s'" % strconf
def joints_2_turn_str(joints):
if joints is None:
return "'B000000'"
strturn = ""
for i in range(len(joints)):
if joints[i] < 0:
strturn = '1' + strturn
else:
strturn = '0' + strturn
return "'B%s'" % strturn
# ----------------------------------------------------
# Object class that handles the robot instructions/syntax
class RobotPost(object):
"""Robot post object"""
PROG_EXT = 'src' # set the program extension
# other variables
ROBOT_POST = ''
ROBOT_NAME = ''
PROG_FILES = []
PROG_NAME = 'unknown'
PROG_COUNT = 0
BASE_ID = 1
TOOL_ID = 1
speed_ms = 1
speed_degs = 180
accel_mss = 1
accel_degss = 200
VEL_PTP = 100 # speed in percentage
PROG = ''
PROG_DAT = ''
nPosDat = 0
LOG = ''
nAxes = 6
APO_VALUE = -1 # set to one for smooth path
C_DIS = ' C_DIS'
C_PTP = ' C_PTP'
ARC_ON = False
ARC_REQUIRED = False
nArcId = 0
ARC_Pgno = 108
PROG_CALLS = []
def __init__(self, robotpost=None, robotname=None, robot_axes = 6, **kwargs):
self.ROBOT_POST = robotpost
self.ROBOT_NAME = robotname
self.PROG = ''
self.LOG = ''
self.nAxes = robot_axes
def ProgStart(self, progname):
self.PROG_COUNT = self.PROG_COUNT + 1
self.addline('DEF %s ( )' % progname)
if self.PROG_COUNT == 1:
self.PROG = self.PROG + HEADER
self.PROG_NAME = progname
#if self.nAxes > 6:
#self.addline('$ACT_EX_AX = %i' % (self.nAxes-6))
def ProgFinish(self, progname):
self.addline('END')
def ProgSave(self, folder, progname, ask_user = False, show_result = False):
progname = progname + '.' + self.PROG_EXT
if ask_user or not DirExists(folder):
filesave = getSaveFile(folder, progname, 'Save program as...')
if filesave is not None:
filesave = filesave.name
else:
return
else:
filesave = folder + '/' + progname
fid = open(filesave, "w")
#fid.write("&ACCESS RVP\n")
#fid.write("&REL 1\n")
#fid.write("&COMMENT Generated by RoboDK\n")
fid.write("&ACCESS RVP\n")
fid.write("&REL 1\n") #fid.write("&REL 29\n")
fid.write("&PARAM TEMPLATE = C:\\KRC\\Roboter\\Template\\vorgabe\n")
fid.write("&PARAM EDITMASK = *\n")
fid.write(self.PROG)
fid.close()
print('SAVED: %s\n' % filesave) # tell RoboDK the path of the saved file
filesave_dat = filesave[:-3] + 'dat'
fid2 = open(filesave_dat, "w")
fid2.write('&ACCESS RVP\n')
fid2.write('&REL 1\n')
fid2.write("&COMMENT Generated by RoboDK\n")
fid2.write('&PARAM TEMPLATE = C:\\KRC\\Roboter\\Template\\vorgabe\n')
fid2.write('&PARAM EDITMASK = *\n')
fid2.write('DEFDAT %s\n\n' % self.PROG_NAME)
fid2.write('EXT BAS (BAS_COMMAND :IN,REAL :IN )\n')
for prog_nm in self.PROG_CALLS:
fid2.write("EXT %s()\n" % prog_nm)
fid2.write('\n')
fid2.write(self.PROG_DAT)
fid2.write('\nENDDAT\n\n')
fid2.close()
print('SAVED: %s\n' % filesave_dat) # tell RoboDK the path of the saved file
self.PROG_FILES = [filesave, filesave_dat]
# open file with default application
if show_result:
if type(show_result) is str:
# Open file with provided application
import subprocess
p = subprocess.Popen([show_result, filesave_dat, filesave])
elif type(show_result) is list:
import subprocess
p = subprocess.Popen(show_result + [filesave])
else:
# open file with default application
import os
os.startfile(filesave)
os.startfile(filesave_dat)
if len(self.LOG) > 0:
mbox('Program generation LOG:\n\n' + self.LOG)
def ProgSendRobot(self, robot_ip, remote_path, ftp_user, ftp_pass):
"""Send a program to the robot using the provided parameters. This method is executed right after ProgSave if we selected the option "Send Program to Robot".
The connection parameters must be provided in the robot connection menu of RoboDK"""
UploadFTP(self.PROG_FILES, robot_ip, remote_path, ftp_user, ftp_pass)
def MoveJ(self, pose, joints, conf_RLF=None):
"""Add a joint movement"""
self.nPosDat = self.nPosDat + 1
vname = '%i' % self.nPosDat
# Write SRC information ---------------------------
#;FOLD PTP P1 Vel=70 % PDAT1 Tool[1]:graco_negra Base[0];%{PE}%R 8.3.42,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:, 5:70, 7:PDAT1
#;FOLD PTP P1 Vel=70 % PDAT1 Tool[1]:graco_negra Base[0];%{PE}%R 8.3.32,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:, 5:70, 7:PDAT1
#$BWDSTART=FALSE
#PDAT_ACT=PPDAT1
#FDAT_ACT=FP1
#BAS(#PTP_PARAMS,70)
#PTP XP1
str_cont = ''
str_cdis = ''
if self.APO_VALUE >= 0:
str_cdis = 'C_PTP'
str_cont = 'CONT '
self.addline(';FOLD PTP P%s %sVel=%.0f %% PDAT%s Tool[%i] Base[%i];%%{PE}%%R 5.5.31,%%MKUKATPBASIS,%%CMOVE,%%VPTP,%%P 1:PTP, 2:P%s, 3:%s, 5:%.0f, 7:PDAT%s' % (vname, str_cont, self.VEL_PTP, vname, self.TOOL_ID, self.BASE_ID, vname, str_cdis, self.VEL_PTP, vname))
self.addline('$BWDSTART=FALSE')
self.addline('PDAT_ACT=PPDAT%s' % vname)
self.addline('FDAT_ACT=FP%s' % vname)
self.addline('BAS(#PTP_PARAMS,%.0f)' % self.VEL_PTP)
self.addline('PTP XP%s%s' % (vname,self.C_PTP))
self.addline(';ENDFOLD')
# Write DAT information ---------------------------
#DECL E6POS XP1={X 27.0236969,Y 1220.23962,Z 669.846619,A -90.0563354,B 53.4202652,C -178.565933,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
#DECL FDAT FP1={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
#DECL PDAT PPDAT1={VEL 100.000,ACC 100.000,APO_DIST 100.000,GEAR_JERK 50.0000,EXAX_IGN 0}
self.addDAT('DECL E6AXIS XP%s={%s}' % (vname, angles_2_str(joints)))
self.addDAT('DECL FDAT FP%s={TOOL_NO %i,BASE_NO %i,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}' % (vname, self.TOOL_ID, self.BASE_ID))
self.addDAT('DECL PDAT PPDAT%s={VEL %.3f,ACC 100.000,APO_DIST %.3f,APO_MODE #CPTP}' % (vname, self.VEL_PTP, max(self.APO_VALUE,1)))
def MoveL(self, pose, joints, conf_RLF=None):
"""Add a linear movement"""
self.nPosDat = self.nPosDat + 1
vname = '%i' % self.nPosDat
# Write SRC information ---------------------------
#;FOLD LIN P56 Vel=2 m/s CPDAT37 Tool[1]:graco_negra Base[1]:vol1;%{PE}%R 8.3.42,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P56, 3:, 5:2, 7:CPDAT37
#$BWDSTART=FALSE
#LDAT_ACT=LCPDAT37
#FDAT_ACT=FP56
#BAS(#CP_PARAMS,2)
#LIN XP56
# If ARC information is provided:
#;FOLD LIN P5 CPDAT4 ARC Pgno= 108 W3 Tool[1]:ArcGun Base[0];%{PE}%R 5.5.0,%MKUKATPA20,%CARC_SWI,%VLIN,%P 1:LIN, 2:P5, 3:, 5:0.2, 7:CPDAT4, 10:108, 11:W3
#$BWDSTART=FALSE
#LDAT_ACT=LCPDAT4
#FDAT_ACT=FP5
#BAS(#CP_PARAMS,LDEFAULT.VEL)
#A20(ARC_SWIP,ADEFAULT,MW3,108)
#LIN XP5
#;ENDFOLD
str_cont = ''
str_cdis = ''
if self.APO_VALUE >= 0:
str_cdis = 'C_DIS'
str_cont = 'CONT '
wid = ''
if not self.ARC_ON:
self.addline(';FOLD LIN P%s %sVel=%.3f m/s CPDAT%s Tool[%i] Base[%i];%%{PE}%%R 5.5.0,%%MKUKATPA20,%%CARC_SWI,%%VLIN,%%P 1:LIN, 2:P%s, 3:%s, 5:%.0f, 7:CPDAT%s' % (vname, str_cont, self.speed_ms, vname, self.TOOL_ID, self.BASE_ID, vname, str_cdis, self.speed_ms, vname))
else:
self.nArcId = self.nArcId + 1
wid = 'W%i' % self.nArcId
self.addline(';FOLD LIN P%s CPDAT%s ARC Pgno= %i %s Tool[%i] Base[%i];%%{PE}%%R 5.5.0,%%MKUKATPBASIS,%%CMOVE,%%VLIN,%%P 1:LIN, 2:P%s, 3:%s, 5:%.0f, 7:CPDAT%s, 10:%i, 11:%s' % (vname, str_cont, self.ARC_Pgno, wid, self.TOOL_ID, self.BASE_ID, vname, str_cdis, self.speed_ms, vname, self.ARC_Pgno, wid))
self.addline('$BWDSTART=FALSE')
self.addline('LDAT_ACT=LCPDAT%s' % vname)
self.addline('FDAT_ACT=FP%s' % vname)
if not self.ARC_ON:
self.addline('BAS(#CP_PARAMS,%.0f)' % self.speed_ms)
else:
self.addline('BAS(#CP_PARAMS,LDEFAULT.VEL)')
self.addline('A20(ARC_SWIP,ADEFAULT,M%s,%i)' % (wid, self.ARC_Pgno))
self.addline('LIN XP%s%s' % (vname,self.C_DIS))
self.addline(';ENDFOLD')
# Write DAT information ---------------------------
#DECL E6POS XP56={X -293.060028,Y 165.117493,Z 18.0715256,A -64.8358612,B 39.9032936,C -161.694565,S 2,T 3,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
#DECL FDAT FP56={TOOL_NO 1,BASE_NO 1,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
#DECL LDAT LCPDAT37={VEL 2.00000,ACC 100.000,APO_DIST 100.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 50.0000,EXAX_IGN 0}
# with arc information:
#DECL E6POS XP3={X 663.532104,Y -614.288025,Z 2346.43799,A 171.796906,B -55.8371086,C 6.86900616,S 0,T 14,E1 -2848.03809,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
#DECL FDAT FP3={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
#DECL LDAT LCPDAT2={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
#DECL WELD_FI MW1={PRG_NO 1,VELOCITY 0.109999999,WEAVFIG_MECH 1,WEAVLEN_MECH 6.0,WEAVAMP_MECH 7.0,WEAVANG_MECH 180.0,END_TIME 0.0149999997}
self.addDAT('DECL E6POS XP%s={%s}' % (vname, pose_2_str_ext(pose,joints)))
self.addDAT('DECL FDAT FP%s={TOOL_NO %i,BASE_NO %i,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}' % (vname, self.TOOL_ID, self.BASE_ID))
self.addDAT('DECL LDAT LCPDAT%s={VEL %.5f,ACC 100.000,APO_DIST %.3f,APO_FAC 50.0000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000}' % (vname, self.speed_ms, max(self.APO_VALUE,1)))
if not self.ARC_ON:
pass
else:
self.addDAT('DECL WELD_FI M%s={PRG_NO 1,VELOCITY %.3f,WEAVFIG_MECH 1,WEAVLEN_MECH 6.0,WEAVAMP_MECH 7.0,WEAVANG_MECH 180.0,END_TIME 0.015}' % (wid, self.speed_ms))
def MoveC(self, pose1, joints1, pose2, joints2, conf_RLF_1=None, conf_RLF_2=None):
"""Add a circular movement"""
self.addline('CIRC {' + pose_2_str_ext(pose1,joints1) + '},{' + pose_2_str_ext(pose2,joints2) + '}' + self.C_DIS)
def setFrame(self, pose, frame_id=None, frame_name=None):
"""Change the robot reference frame"""
if frame_name is not None and frame_name.endswith("Base"): # robot base frame
frame_id = 0
self.BASE_ID = frame_id
self.addline('BASE_DATA[%i] = {FRAME: %s}' % (self.BASE_ID, pose_2_str(pose)))
elif frame_id is not None and frame_id >= 0: # specified ID reference frame
self.BASE_ID = frame_id
self.addline('BASE_DATA[%i] = {FRAME: %s}' % (self.BASE_ID, pose_2_str(pose)))
else: # unspecified ID reference frame
self.BASE_ID = 1
self.addline('BASE_DATA[%i] = {FRAME: %s}' % (self.BASE_ID, pose_2_str(pose)))
def setTool(self, pose, tool_id=None, tool_name=None):
"""Change the robot TCP"""
if tool_id is not None and tool_id >= 0:
self.TOOL_ID = tool_id
self.addline('TOOL_DATA[%i] = {FRAME: %s}' % (self.TOOL_ID, pose_2_str(pose)))
else:
self.TOOL_ID = 1
self.addline('TOOL_DATA[%i] = {FRAME: %s}' % (self.TOOL_ID, pose_2_str(pose)))
#self.addline('$TOOL = {FRAME: ' + pose_2_str(pose) + '}')
def Pause(self, time_ms):
"""Pause the robot program"""
if time_ms <= 0:
self.addline('HALT')
else:
self.addline('WAIT SEC %.3f' % (time_ms*0.001))
def setSpeed(self, speed_mms):
"""Changes the robot speed (in mm/s)"""
self.speed_ms = speed_mms/1000.0
self.addline('$VEL.CP = %.5f' % (self.speed_ms))
def setAcceleration(self, accel_mmss):
"""Changes the current robot acceleration"""
self.accel_mss = accel_mmss/1000.0
self.addline('$ACC.CP = %.5f' % (self.accel_mss))
def setSpeedJoints(self, speed_degs):
"""Changes the robot joint speed (in deg/s)"""
self.speed_degs = speed_degs
self.addline('$VEL.ORI1 = %.5f' % speed_degs)
self.addline('$VEL.ORI2 = %.5f' % speed_degs)
def setAccelerationJoints(self, accel_degss):
"""Changes the robot joint acceleration (in deg/s2)"""
self.accel_degss = accel_degss
self.addline('$ACC.ORI1 = %.5f' % accel_degss)
self.addline('$ACC.ORI2 = %.5f' % accel_degss)
def setZoneData(self, zone_mm):
"""Changes the zone data approach (makes the movement more smooth)"""
self.APO_VALUE = zone_mm
if zone_mm >= 0:
self.addline('$APO.CPTP = %.3f' % zone_mm)
self.addline('$APO.CDIS = %.3f' % zone_mm)
C_DIS = ' C_DIS'
C_PTP = ' C_PTP'
else:
C_DIS = ''
C_PTP = ''
def setDO(self, io_var, io_value):
"""Sets a variable (output) to a given value"""
if type(io_var) != str: # set default variable name if io_var is a number
io_var = '$OUT[%s]' % str(io_var)
if type(io_value) != str: # set default variable value if io_value is a number
if io_value > 0:
io_value = 'TRUE'
else:
io_value = 'FALSE'
# at this point, io_var and io_value must be string values
self.addline('%s=%s' % (io_var, io_value))
def waitDI(self, io_var, io_value, timeout_ms=-1):
"""Waits for an input io_var to attain a given value io_value. Optionally, a timeout can be provided."""
if type(io_var) != str: # set default variable name if io_var is a number
io_var = '$IN[%s]' % str(io_var)
if type(io_value) != str: # set default variable value if io_value is a number
if io_value > 0:
io_value = 'TRUE'
else:
io_value = 'FALSE'
# at this point, io_var and io_value must be string values
if timeout_ms < 0:
self.addline('WAIT FOR (%s==%s)' % (io_var, io_value))
else:
self.addline('START_TIMER:')
self.addline('$TIMER_STOP[1]=TRUE')
self.addline('$TIMER_FLAG[1]=FALSE')
self.addline('$TIMER[1]=%.3f' % (float(timeout_ms)*0.001))
self.addline('$TIMER_STOP[1]=FALSE')
self.addline('WAIT FOR (%s==%s OR $TIMER_FLAG[1])' % (io_var, io_value))
self.addline('$TIMER_STOP[1]=TRUE')
self.addline('IF $TIMER_FLAG[1]== TRUE THEN')
self.addline(' HALT ; Timed out!')
self.addline(' GOTO START_TIMER')
self.addline('ENDIF')
def RunCode(self, code, is_function_call = False):
"""Adds code or a function call"""
if is_function_call:
code.replace(' ','_')
if not code.endswith(')'):
code = code + '()'
if code.startswith('ARC_ON'):
self.ARC_ON = True
self.ARC_REQUIRED = True
elif code.startswith('ARC_OFF'):
self.ARC_ON = False
else:
fcn_def = code
if '(' in fcn_def:
fcn_def = fcn_def.split('(')[0]
if not (fcn_def in self.PROG_CALLS):
self.PROG_CALLS.append(fcn_def)
self.addline(code)
else:
self.addline(code)
def RunMessage(self, message, iscomment = False):
"""Add a joint movement"""
if iscomment:
self.addline('; ' + message)
else:
self.addline('Wait for StrClear($LOOP_MSG[])')
self.addline('$LOOP_CONT = TRUE')
self.addline('$LOOP_MSG[] = "%s"' % message)
# ------------------ private ----------------------
def addline(self, newline):
"""Add a program line"""
self.PROG = self.PROG + newline + '\n'
def addDAT(self, newline):
self.PROG_DAT = self.PROG_DAT + newline + '\n'
def addlog(self, newline):
"""Add a log message"""
self.LOG = self.LOG + newline + '\n'
# -------------------------------------------------
# ------------ For testing purposes ---------------
def Pose(xyzrpw):
[x,y,z,r,p,w] = xyzrpw
a = r*math.pi/180
b = p*math.pi/180
c = w*math.pi/180
ca = math.cos(a)
sa = math.sin(a)
cb = math.cos(b)
sb = math.sin(b)
cc = math.cos(c)
sc = math.sin(c)
return Mat([[cb*ca, ca*sc*sb - cc*sa, sc*sa + cc*ca*sb, x],[cb*sa, cc*ca + sc*sb*sa, cc*sb*sa - ca*sc, y],[-sb, cb*sc, cc*cb, z],[0,0,0,1]])
def test_post():
"""Test the post with a basic program"""
robot = RobotPost('Kuka_custom', 'Generic Kuka')
robot.ProgStart("Program")
robot.RunMessage("Program generated by RoboDK", True)
robot.setFrame(Pose([807.766544, -963.699898, 41.478944, 0, 0, 0]))
robot.setTool(Pose([62.5, -108.253175, 100, -60, 90, 0]))
robot.MoveJ(Pose([200, 200, 500, 180, 0, 180]), [-46.18419, -6.77518, -20.54925, 71.38674, 49.58727, -302.54752] )
robot.MoveL(Pose([200, 250, 348.734575, 180, 0, -150]), [-41.62707, -8.89064, -30.01809, 60.62329, 49.66749, -258.98418] )
robot.MoveL(Pose([200, 200, 262.132034, 180, 0, -150]), [-43.73892, -3.91728, -35.77935, 58.57566, 54.11615, -253.81122] )
robot.RunMessage("Setting air valve 1 on")
robot.RunCode("TCP_On", True)
robot.Pause(1000)
robot.MoveL(Pose([200, 250, 348.734575, 180, 0, -150]), [-41.62707, -8.89064, -30.01809, 60.62329, 49.66749, -258.98418] )
robot.MoveL(Pose([250, 300, 278.023897, 180, 0, -150]), [-37.52588, -6.32628, -34.59693, 53.52525, 49.24426, -251.44677] )
robot.MoveL(Pose([250, 250, 191.421356, 180, 0, -150]), [-39.75778, -1.04537, -40.37883, 52.09118, 54.15317, -246.94403] )
robot.RunMessage("Setting air valve off")
robot.RunCode("TCP_Off", True)
robot.Pause(1000)
robot.MoveL(Pose([250, 300, 278.023897, 180, 0, -150]), [-37.52588, -6.32628, -34.59693, 53.52525, 49.24426, -251.44677] )
robot.MoveL(Pose([250, 200, 278.023897, 180, 0, -150]), [-41.85389, -1.95619, -34.89154, 57.43912, 52.34162, -253.73403] )
robot.MoveL(Pose([250, 150, 191.421356, 180, 0, -150]), [-43.82111, 3.29703, -40.29493, 56.02402, 56.61169, -249.23532] )
robot.ProgFinish("Program")
# robot.ProgSave(".","Program",True)
print(robot.PROG)
if len(robot.LOG) > 0:
mbox('Program generation LOG:\n\n' + robot.LOG)
input("Press Enter to close...")
if __name__ == "__main__":
"""Function to call when the module is executed by itself: test"""
test_post()