Looking for a way to simplify the main module for my robot

HaydenW29

Hello,

I'm looking for a way to simplify my main module as right now it is very lengthy. For reference, I have over 100 different part programs, and for each new part, I'm having to add a new section to the main module as well as put the routine in our PC.

Here is how we are currently calling part routines: 

                IF Part_Number=3 THEN

                    

                    StartLoad \Dynamic, "pc:" \File:="m_2YD_SLANT_FR_SHT.mod",load3;

                    WaitLoad load3;

                    %"r_2YD_SLANT_FR_SHT"%;

                    Save "m_2YD_SLANT_FR_SHT" \Filepath:="pc:m_2YD_SLANT_FR_SHT.mod";

                    UnLoad "pc:/m_2YD_SLANT_FR_SHT.mod";

                    GOTO Program_Start;

                ENDIF  

It would be important to note that we have an FTP server setup and we are loading modules/routines from a PC and dumping them after the run. 

Also I would like to know if there are any advantages to using TEST/CASE/ENDTEST vs doing an IF/ENDIF.

I know this is a lot, but thanks. Let me know if I need to give any more information. 

Tompanhuhu

Create an array with the program name at each index that corresponds to the program number.
You can make the array longer with more programs.

MODULE NewModule
    
    PERS string ProgramList{4}:=[
    "2YD_SLANT_FR_SHT",
        "2YD_SLANT_FR_SHT_2",
        "2YD_SLANT_FR_SHT_3",
        "2YD_SLANT_FR_SHT_4"
    ];
    
    FUNC string fGetModuleName()
        RETURN "m_"+ProgramList{Part_Number};
    ENDFUNC
    
    FUNC string fGetModuleNameWithExtension()
        RETURN "m_"+ProgramList{Part_Number}+".mod";
    ENDFUNC
    
    FUNC string fGetRoutineName()
        RETURN "r_"+ProgramList{Part_Number};
    ENDFUNC
    
    PROC main()
        !Add your code here
        StartLoad \Dynamic, "pc:" \File:=fGetModuleNameWithExtension(),load3;
        WaitLoad load3;
        %fGetRoutineName()%;
        Save fGetModuleName() \Filepath:="pc:"+fGetModuleNameWithExtension();
        UnLoad "pc:/"+fGetModuleNameWithExtension();
        GOTO Program_Start;
    ENDPROC
    
ENDMODULE

This is just an example, there are many ways of doing this. 

lemster68

Here is a snippet of how we handled loading and unloading different program modules:

! get part program from operator
        itemSelected:=UIListView(\Result:=buttonAnswer,\Header:="Part Selected",partProgram,\Buttons:=btnOKCancel,\Icon:=iconInfo,\DefaultIndex:=1);

        IF buttonAnswer=resOK THEN
            IF itemSelected=1 THEN
              UnLoad diskhome\File:=currentfile;
              Load diskhome\File:="FSNA0044.MOD";
              currentfile:="FSNA0044.MOD";
              %"FSNA0044:main"%;
            ELSEIF itemSelected=2 THEN
              UnLoad diskhome\File:=currentfile;
              Load diskhome\File:="FSNA0048.MOD";
              currentfile:="FSNA0048.MOD";
              %"FSNA0048:main"%;
            ELSEIF itemSelected=3 THEN
              UnLoad diskhome\File:=currentfile;
              Load diskhome\File:="FSNA0051.MOD";
              currentfile:="FSNA0051.MOD";
              %"FSNA0051:main"%;
            ELSEIF itemSelected=4 THEN
              UnLoad diskhome\File:=currentfile;
              Load diskhome\File:="FSNA0114.MOD";
              currentfile:="FSNA0114.MOD";
              %"FSNA0114:main"%;
			      ELSEIF itemSelected=5 THEN
              UnLoad diskhome\File:=currentfile;
              Load diskhome\File:="FSNA0061.MOD";
              currentfile:="FSNA0061.MOD";
              %"FSNA0061:main"%;
            ELSEIF itemSelected=6 THEN
              UnLoad diskhome\File:=currentfile;
              Load diskhome\File:="FSNA0106.MOD";
              currentfile:="FSNA0106.MOD";
              %"FSNA0106:main"%;
            ELSEIF itemSelected=7 THEN
              UnLoad diskhome\File:=currentfile;
              Load diskhome\File:="FSNA0086.MOD";
              currentfile:="FSNA0086.MOD";
              %"FSNA0086:main"%;
            ELSEIF itemSelected=8 THEN
              UnLoad diskhome\File:=currentfile;
              Load diskhome\File:="FSNA0012.MOD";
              currentfile:="FSNA0012.MOD";
              %"FSNA0012:main"%;
            ELSEIF itemSelected=9 THEN
              UnLoad diskhome\File:=currentfile;
              Load diskhome\File:="FSNA0117.MOD";
              currentfile:="FSNA0117.MOD";
              %"FSNA0117:main"%;
            ELSEIF itemSelected=10 THEN
              UnLoad diskhome\File:=currentfile;
              Load diskhome\File:="AT0015.MOD";
              currentfile:="AT0015.MOD";
              %"AT0015:main"%;
            ELSEIF itemSelected=11 THEN
              UnLoad diskhome\File:=currentfile;
              Load diskhome\File:="AT0016.MOD";
              currentfile:="AT0016.MOD";
              %"AT0016:main"%;
            ELSEIF itemSelected=12 THEN
              UnLoad diskhome\File:=currentfile;
              Load diskhome\File:="AT0018.MOD";
              currentfile:="AT0018.MOD";
              %"AT0018:main"%;
            ELSEIF itemSelected=13 THEN
              UnLoad diskhome\File:=currentfile;
              Load diskhome\File:="AT0045.MOD";
              currentfile:="AT0045.MOD";
              %"AT0045:main"%;
            ELSEIF itemSelected=14 THEN
                GOTO StopCycle;
            ELSE
                GOTO StopCycle;
            ENDIF
        ELSE
            ! if user selects cancel then stop cycle
            GOTO StopCycle;
        ENDIF</code>CONST listitem partProgram{14}:=[[stEmpty,"FSNA0044 - PCS 1.5 baskets"],[stEmpty,"FSNA0048 - 33K baskets"],
        [stEmpty,"FSNA0051 - GE 7FA Liner"],[stEmpty,"FSNA0114 - GE 7FA Flex Liner"],[stEmpty,"FSNA0061 - GE 9FA Liner"],
        [stEmpty,"FSNA0106 - PCS 2.1 baskets"],[stEmpty,"FSNA0086 - VLM 1.1 baskets"],[stEmpty,"FSNA0012 - 25K baskets"],
        [stEmpty,"FSNA0117 - PCS 1.5 H282 baskets"],[stEmpty,"AT0015 - 33K basket assy respray"],
        ["","AT0016 - 2.1 basket assy respray"],["","AT0018 - Siemens prototype"],["","AT0045 - liner samples"],[stEmpty,"Stop"]];
        PERS string currentfile;</pre><div><br><pre class="CodeBlock"><code>

mandolas

HI ...
The vector solution is very good ... my suggestion for Load is that the load instruction is already saved in the program, so when the program loads it already loads the load.

If this is not possible, I suggest creating a RECORD vector, so you can pass an object that, in addition to the name of the program to be loaded, also contains the LOAD information.

Good job.

HaydenW29

Looks good, thanks! I've also seen that there is an instruction that is just Load instead of Load/WaitLoad. Is there any difference? Also would I need to declare each load (load1, load2, load3, etc.)? That's the way it was setup, so as of now, there are 100+ loads declared at the top of the main module.