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KUKA_KRC2_DAT_Arc.py
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KUKA_KRC2_DAT_Arc.py
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# 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
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD ARCTECH_ANALOG INI
IF A10_OPTION==#ACTIVE THEN
INTERRUPT DECL A_Arc_Control_Intr WHEN $CYCFLAG[A_CycFlagIndex1]==FALSE DO A10 (#APPL_ERROR)
INTERRUPT DECL A_Arc_Swi_Intr WHEN A_ARC_SWI==#ACTIVE DO A10 (#ARC_SEAM)
INTERRUPT DECL A_Arc_HPU_Intr WHEN A_FLY_ARC==TRUE DO A10 (#HPU_ARC)
INTERRUPT ON A_Arc_HPU_Intr
A10_INI ( )
ENDIF
;ENDFOLD (ARCTECH_ANALOG INI)
;FOLD USER INI
;FOLD SAFETY HOLDER INI
GLOBAL INTERRUPT DECL 5 WHEN $IN[5]==FALSE DO SAFETY_HOLDER()
INTERRUPT ON 5
;ENDFOLD (SAFETY HOLDER INI)
;Make your modifications here
;ENDFOLD (USER INI)
;ENDFOLD (INI)
;FOLD PTP HOME Vel=20 % DEFAULT;%{PE}%R 5.6.13,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:HOME, 3:, 5:20, 7:DEFAULT
$BWDSTART=FALSE
PDAT_ACT=PDEFAULT
FDAT_ACT=FHOME
BAS(#PTP_PARAMS,20)
$H_POS=XHOME
PTP XHOME
;ENDFOLD
'''
# ----------------------------------------------------
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
tmId = 0
ARC_MOVE_FIRST = False
ARC_MOVE_LAST = False
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(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
#$BWDSTART=FALSE
#PDAT_ACT=PPDAT1
#FDAT_ACT=FP1
#BAS(#PTP_PARAMS,70)
#PTP XP1
str_cont = ''
str_cdis = ''
if self.APO_VALUE >= 0:
str_cdis = 'C_PTP'
str_cont = 'CONT '
self.addline(';FOLD PTP P%s %sVel=%.3f %% PDAT%s Tool[%i] Base[%i];%%{PE}%%R 5.5.31,%%MKUKATPBASIS,%%CMOVE,%%VPTP,%%P 1:PTP, 2:P%s, 3:%s, 5:%.3f, 7:PDAT%s' % (vname, str_cont, self.VEL_PTP, vname, self.TOOL_ID, self.BASE_ID, vname, str_cdis, self.VEL_PTP, vname))
self.addline('$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')
self.addline('')
# 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:%.3f, 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,%.3f)' % 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('BAS(#CP_PARAMS,%.3f)' % self.speed_ms)
self.tmId = self.tmId + 1
tmname = 'TM%i' % self.tmId
self.addline('TQM_FIFO_READ(%s)' % tmname)
self.addline('TRIGGER WHEN DISTANCE=0 DELAY=0 DO iTQM_TRIGGERID=%i' % self.tmId)
self.addline('TRIGGER WHEN DISTANCE=0 DELAY=0 DO TQM_START_MON(%s) PRIO = -1' % tmname)
self.addline('TRIGGER WHEN DISTANCE=1 DELAY=0 DO TQM_SWAP_VALUES(%s) PRIO = -1' % tmname)
self.addDAT('DECL TQM_TQDAT_T %s={T11 3,T12 3,T13 8,T14 8,T15 6,T16 6,T21 41,T22 27,T23 141,T24 78,T25 63,T26 58,K1 301,K2 304,K3 303,K4 306,K5 303,K6 304,O1 20,O2 30,ID 6,OVM 10,TMF 1.0}' % tmname)
if self.ARC_MOVE_FIRST:
self.addline('A10(#PRE_ARC_ON,A_S_PARA_ACT,A_W_PARA_ACT,A_E_PARA_ACT,1)')
#self.addDAT('DECL A_WELD_T A10WW11={VEL 0.300000012,ANA1 6.0,ANA2 10.0,ANA3 5.0,ANA4 0.0,ANA5 0.0,ANA6 0.0,ANA7 0.0,ANA8 5.0,WEAVFIG_MECH 7,WEAVLEN_MECH 4.0,WEAVAMP_MECH 2.0,WEAVANG_MECH 0.0,WEAVFIG_THER 0,ANA1_THERM 0.0,ANA2_THERM 0.0,WEAVLEN_THER 4.0,BURNBACK_T 0.0,ANA1_BB 24.0,ANA2_BB 400.0,ANA3_BB 0.0,ANA4_BB 0.0,ANA5_BB 0.0,ANA6_BB 0.0,ANA7_BB 0.0,ANA8_BB 0.0,DelayLeft 0.0,DelayRight 0.0}')
#self.addDAT('DECL A_STRT_T A10BS={GAS_PRE_T 1.0,START_T 0.5,ANA1 6.0,ANA2 10.0,ANA3 10.0,ANA4 0.0,ANA5 0.0,ANA6 0.0,ANA7 0.0,ANA8 0.0}')
elif self.ARC_MOVE_LAST:
self.addline('A10(#PRE_ARC_OFF,A_S_PARA_ACT,A_W_PARA_ACT,A_E_PARA_ACT,1)')
self.addline('LIN XP%s%s' % (vname,self.C_DIS))
if self.ARC_MOVE_FIRST:
self.ARC_MOVE_FIRST = False
self.addline('A10(#ARC_STRT)')
elif self.ARC_MOVE_LAST:
self.ARC_MOVE_LAST = False
self.addline('A10(#ARC_OFF)')
self.addline(';ENDFOLD')
self.addline('')
# 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))
self.addDAT('DECL A_WELD_T A10W%s={VEL %.3f,ANA1 1.0,ANA2 0.0,ANA3 0.0,ANA4 0.0,ANA5 0.0,ANA6 0.0,ANA7 0.0,ANA8 5.0,WEAVFIG_MECH 0,WEAVLEN_MECH 14.0,WEAVAMP_MECH 2.0,WEAVANG_MECH 0.0,WEAVFIG_THER 0,ANA1_THERM 0.0,ANA2_THERM 0.0,WEAVLEN_THER 4.0,BURNBACK_T 0.0,ANA1_BB 24.0,ANA2_BB 400.0,ANA3_BB 0.0,ANA4_BB 0.0,ANA5_BB 0.0,ANA6_BB 0.0,ANA7_BB 0.0,ANA8_BB 0.0,DelayLeft 0.0,DelayRight 0.0}' % (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('$VEL.CP = %.3f' % (self.speed_ms))
def setAcceleration(self, accel_mmss):
"""Changes the current robot acceleration"""
self.accel_mss = accel_mmss/1000.0
self.addline('$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 $TIMER_FLAG[1]== TRUE THEN')
self.addline(' HALT ; Timed out!')
self.addline(' GOTO START_TIMER')
self.addline('ENDIF')
def RunCode(self, code, is_function_call = False):
"""Adds code or a function call"""
if is_function_call:
code.replace(' ','_')
if not code.endswith(')'):
code = code + '()'
if code.startswith('ARC_ON'):
self.ARC_ON = True
self.ARC_MOVE_FIRST = True
elif code.startswith('ARC_OFF'):
self.ARC_ON = False
self.ARC_MOVE_LAST = True
else:
self.addline(code)
else:
self.addline(code)
def RunMessage(self, message, iscomment = False):
"""Add a joint movement"""
if iscomment:
self.addline('; ' + message)
else:
self.addline('Wait for StrClear($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()