Easy-Rob-Program-Language.pdf

EASY-ROB - Program Language

EASY-ROB Program and Command Language

Overview

(70KB)

ERPL

EASY-ROB Program Language

Covers all necessary motion commands, such as

speed_cp, to set the speed for cp motion

LIN x y z A B C, to move the robots TCP to this locaton in

CP linear mode

ERCL

EASY-ROB Command Language

Extension of ERPL, to automate all user interaction

Example

Program

Example Program: "arc.prg" from Workcel file

"arc.cel" in folder ./proj/

MATH

Mathematical and Trigonomic Functions

The Parser for algebraic expressions allows to use

formulars.

Useful for mathematical dependences for passive robot

joints for example, as well when you enter a number in every

dialog.

ERPL - EASY-ROB Program Language

Teach Window

Easy program generation with the

TeachWindow. No special knowledge

of any EASY-ROB Program Syntax is

necessary.

A click on the

button,

activates the

MotionCommands dialog.

A click on the

button,

activates the

ControlCommands dialog.

Single Step Simulation

Every single motion

command can be executed directly

from the TeachWindow, forward and

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EASY-ROB - Program Language

from the TeachWindow, forward and

backwards.

Robot Motion Commands

OV_PRO x [%]

SPEED_CP dx dxe[m/s]

SPEED_PTP v ve[m,deg]

CONFIG n []

TOOL X Y Z A B C [m,deg]

TOOL tagname

EXT_TCP X Y Z A B C [m,deg]

EXT_TCP tagname

BASE X Y Z A B C [m,deg]

BASE tagname

BASE_REL X Y Z A B C [m,deg]

BASE_PRG X Y Z A B C [m,deg]

BASE_PRG_REL X Y Z A B C [m,deg]

HOME n []

PTP X Y Z A B C [m,deg]

PTP_AX q1 .. qn [m,deg]

PTP_AX_REL q1 .. qn [m,deg]

PTP_REL dX dY dZ dA dB dC [m,deg]

PTP tagname

LIN_ORI VARIABLE, FIX, TANGENTIAL, AUX, VARIABLE2, QUATERNION

LIN X Y Z A B C [m,deg]

LIN_REL dX dY Dz dA dB dC [m,deg]

LIN TagName

CIRC_ORI VARIABLE, FIX, TANGENTIAL, AUX, VARIABLE2, QUATERNION

VIA_POS X Y Z A B C [m,deg]

VIA_POS_REL dX dY dZ dA dB dC [m,deg]

VIA_POS TagName

CIRC X Y Z A B C [X2 Y2 Z2] [m,deg]

[X2 Y2 Z2] via point

CIRC_REL dX dY dZ dA dB dC [dX2 dY2 dZ2] [m,deg]

[dX2 dY2 dZ2] via point

CIRC TagName [TagName2]

[TagName2] via point

MSG ""

WAIT x [sec]

CALL fct_name()

FCT fct_name()

ENDFCT

CALL FILE filename

ERCL - EASY-ROB Command Language

ERCL is an extension of the standard ERPL available in the BASIC Modul

and is useful to create more advanced and effective simulations.

The goal with ERCL is to automate all user interaction, such as enable the

TCP track, enable collision detection, set the simulation and interpolation

step size, render bodies to flat, wire or invisible, move bodies absolute or

relative, change colors, etc.

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EASY-ROB - Program Language

A click on the button,

activates the dialog to insert

ERC commands.

EASY-ROB Command Language

ERC SET_DEFAULTS

ERC SIM_STEP x [sec]

ERC CNTRL_STEP x [sec]

ERC SYSTEM_STEP x [sec]

ERC IPO_STEP x [sec]

ERC IPO_LEAD_TIME x [sec]

ERC IPO_LAG_TIME x [sec]

ERC TRACK ON,OFF

ERC DYNAMICS ON,OFF

ERC STOP_SWE ON,OFF

ERC COLLISION ON,OFF

ERC STOP_COLLISION ON,OFF

ERC ROBOTJOINTS ON,OFF

ERC ROBOTPOSITIONS ON,OFF

ERC PRG_WIN ON,OFF

ERC FLOOR ON,OFF

ERC FLOOR_RENDER ON,OFF

ERC EXT_TCP ON,OFF

ERC ORTHOGRAFIC ON,OFF

ERC DISPLAY_ROBOT ON,OFF

ERC DISPLAY_ROBOT_COORSYS ON,OFF

ERC DISPLAY_TOOL ON,OFF

ERC DISPLAY_BODYS ON,OFF

ERC TCP_COORSYS ON,OFF

ERC BASE_COORSYS ON/OFF

ERC CREATE_TARGET_TAGS ON/OFF

ERC RESET_ALL_POSITIONS_JOINTS ON/OFF

ERC NO_DECEL ON/OFF

ERC GRAFIC_UPDATE ON/OFF

ERC DISPLAY_TAGS ON/OFF

ERC STATUS_OUTPUT ON/OFF [1-at simstep,2-at target pose] [flnname] [fct# 0-12]

ERC RENDER FLAT

ERC RENDER WIRE

ERC RENDER BBOX ON,OFF

ERC RENDER BODY [ROBOT,TOOL] bodyname WIRE

[FLAT,BBOXWIRE,BBOXFLAT,INVISIBLE]

ERC RENDER BODY_GRP [ROBOT_GRP,TOOL_GRP] WIRE

[FLAT,BBOXWIRE,BBOXFLAT,INVISIBLE]

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EASY-ROB - Program Language

ERC COLOR BODY [ROBOT,TOOL] bodyname color

ERC COLOR BODY_GRP [ROBOT_GRP,TOOL_GRP] color

ERC COLOR TRACK [TRACK_DYN] color

ERC COLOR TAG color

color = [BLUE, GREEN, CYAN, RED, MAGENTA, BROWN, LIGHTGRAY, DARKGRAY,

LIGHTBLUE,

LIGHTGREEN, LIGHTCYAN, LIGHTRED, LIGHTMAGENTA, YELLOW, WHITE]

ERC STOP

ERC RESET JOINTPOSITION

ERC SAVE JOINTPOSITION

ERC LOAD TOOL fln

ERC LOAD VIEW fln

ERC LOAD ROBOT fln

ERC LOAD BODY fln

ERC LOAD RECORDING fln

ERC LOAD ENVIRONMENT fln | DEFAULT

ERC SHOW_IMAGE er_image.bat ""

ERC ESSI ON,OFF [speed scale value] [size scale value]

ERC EAI ON,OFF [speed scale value] [size scale value]

ERC RUN_RECORDING [recordingfile.rec]

ERC MOVE BODY bodyname XYZ ABC [m,deg]

ERC MOVE BODY bodyname TagName

ERC MOVE TOOL bodyname XYZ ABC [m,deg]

ERC MOVE TOOL bodyname TagName

ERC MOVE ROBOT bodyname XYZ ABC [m,deg]

ERC MOVE ROBOT bodyname TagName

ERC MOVE_REL BODY bodyname dXdYdZ dAdBdC [m,deg]

ERC MOVE_REL TOOL bodyname dXdYdZ dAdBdC [m,deg]

ERC MOVE_REL ROBOT bodyname dXdYdZ dAdBdC [m,deg]

ERC MOVE_REL BODY_GRP bodyname dXdYdZ dAdBdC [m,deg]

ERC MOVE_REL TOOL_GRP bodyname dXdYdZ dAdBdC [m,deg]

ERC MOVE_REL ROBOT_GRP bodyname dXdYdZ dAdBdC [m,deg]

ERC MOVE_REL LIST listname dXdYdZ dAdBdC [m,deg]

ERC BASE BODY bodyname

ERC BASE TCP

ERC VIEW steps n

ERC VIEW hither x

ERC VIEW yonder x

ERC VIEW screen x

ERC VIEW zweight x

ERC VIEW zoom x

ERC VIEW zoom_in x

ERC VIEW zoom_out x

ERC VIEW tcp_rot_tcp ABC

ERC VIEW tcp_rot_world ABC

ERC VIEW world_rot_base ABC

ERC VIEW world_rot_world ABC

ERC GRAB BODY ’bodyname’

ERC GRAB BODY_GRP

ERC RELEASE BODY ’bodyname’

ERC RELEASE BODY_GRP

ERC ROBOT_BASE XYZ ABC [m,deg]

ERC ROBOT_BASE tagname

ERC ROBOT_BASE_REL XYZ ABC [m,deg]

ERC LIST NEW listname [bodyname]

ERC LIST DELETE listname

ERC LIST ADD listname bodyname

ERC LIST REMOVE listname bodyname

ERC JOINT_WEIGHT 0 or 1 for number of joints

ERC MASK_VECTOR [0,1] for X Y Z A B C

ERC SWE_NEG swe1 ... swen negative software endswitches [m,deg]

ERC SWE_POS swe1 ... swen positive software endswitches [m,deg]

ERC_CMD: ERC TAGS PREFIX prefixname

!ERC_CMD: ERC TAGS DELETE tagname

ERC_CMD: ERC TAGS DELETE ALL

ERC TRACK_TYPE LINE [POINT, LINE_Z_DIRECTION, Z_DIRECTION, X_DIRECTION,

Y_DIRECTION] Value

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EASY-ROB - Program Language

Y_DIRECTION] Value

// value is linewidth, or pointsize or approach length for direction setting

EASY-ROB Example Program

Program: arc.cel

PROGRAMFILE

! prgfln ..\proj\my_proj\arc.prg

Config 1

base_prg 0 0 0 0 0 0

base 0 0 0 0 0 0

speed_ptp 90.0

PTP 0.8800 -0.4750 0.3000 -0.0004 180.0000 60.00

PTP 0.8800 -0.4750 0.3000 180.0000 0.0000 55.00

PTP 0.7741 -0.9853 0.7619 97.0490 -11.65 -127.45

PTP 0.5000 0.0000 0.4600 180.0000 0.0000 -90.0000

wait 1.0

speed_cp 0.05

base 0 0 0.2275 0 0 0

LIN 0.5000 0.0000 0.10 180.0000 0.0000 -90.0000

LIN 0.9000 -0.5000 0.10 180.0000 0.0000 -90.0000

LIN 1.0 -0.5000 0.0 180.0000 0.0000 -90.0000

speed_cp 0.1

LIN 1.0 0.2000 0.0 180.0000 0.0000 -90.0000

LIN 1.0 0.3000 0.0 0.0000 180.0000 45.0000

LIN 1.0 0.3000 0.0 10.0000 170.0000 45.0000

speed_cp 0.05

LIN 1.0 0.3000 0.1 10.0000 170.0000 45.0000

! backside

LIN 1.0 0.3000 0.1 170.0000 -10.0000 45.0000

LIN 1.0 0.3000 -0.0275 170.0000 -10.0000 45.0000

LIN 1.0 0.3000 0.1 170.0000 -10.0000 45.0000

LIN 1.02 0.3000 0.1 10.0000 170.0000 45.0000

LIN 1.0 0.3000 0.1 10.0000 170.0000 45.0000

LIN 1.0 0.3200 0.1 10.0000 170.0000 45.0000

LIN 1.0 0.3000 0.1 10.0000 170.0000 45.0000

LIN 1.0 0.3000 0.0 10.0000 170.0000 45.0000

speed_cp 0.1

LIN 0.5000 0.3000 0.0 10.0000 180.0000 0.0000

wait 2.0

LIN 0.5000 0.200 0.1 0.0000 180.0000 0.0000

wait 1.0

ENDPROGRAMFILE

Mathematical and Trigonometric Functions

Important:

- All expressions starts with an ’=’ equal sign.

- Nesting of functions and white spaces are allowed

- All argument have to be in bracket ’(’ ’)’

- Upper and lower cases will be converted into upper cases

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