Post-Pro Delmia V5/V6 IRB1400/2400

JUL57

Hi everybody,

I a new user of this forum

I custom an ABB post-processor for Delmia V5/V6

I'v got two robot IRB1400 and IRB2400

I've a problem of syntax into the program

Can you help me please ?

Thanks

Julien

Here is an example of program

error message controler : 40705(syntax error)

error main error syntax

expected 'trap' found "-"

line 5 column 15

***************************

%%%

  VERSION:1

  LANGUAGE:ENGLISH

%%%

MODULE IRB2400-JZ1

  ViaPoint1:=[[1480.15,-6.276,1526.357],[0.497619,-0.502369,0.497641,-0.502348],[0,-2,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E09]];

  ViaPoint2:=[[1429.881,-571.484,1526.742],[0.208171,-0.212251,0.67248,-0.677779],[-1,-3,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E09]];

  ViaPoint3:=[[1260.973,-687.297,1627.984],[0.208171,-0.212251,0.672481,-0.677779],[-1,-3,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E09]];

  ViaPoint4:=[[1291.407,-731.429,1628.275],[0.208171,-0.212251,0.672481,-0.677779],[-1,-3,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E09]];

  ViaPoint5:=[[1289.521,-736.526,1053.619],[0.208171,-0.212251,0.672481,-0.677779],[-1,-4,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E09]];

  ViaPoint6:=[[886.152,-1014.669,1057.408],[0.208172,-0.21225,0.672481,-0.677778],[-1,-4,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E09]];

  ViaPoint7:=[[1214.444,-784.8,1584.717],[0.53199,0.170927,0.68416,-0.468717],[-1,-3,7,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E09]];

  Prehenseur IRB2400_4_Tool1:=[TRUE,[[58.622,-6.275,225.211],[0.703756,0,0,-0.710442]],[0,[0,0,0],[1,0,0,0],0,0,0]];

PROC IRB2400-JZ1()

  MoveJ ViaPoint1,v1000,z50,Prehenseur IRB2400_4_Tool1;

  MoveJ ViaPoint2,vmax,z50,Prehenseur IRB2400_4_Tool1;

  MoveJ ViaPoint3,v1000,z1,Prehenseur IRB2400_4_Tool1;

  SetDO 1,on;

  MoveL ViaPoint4,v1000,z50,Prehenseur IRB2400_4_Tool1;

  MoveJ ViaPoint5,v1000,z50,Prehenseur IRB2400_4_Tool1;

  MoveJ ViaPoint6,v10,z50,Prehenseur IRB2400_4_Tool1;

  SetDO 1,off;

  MoveL ViaPoint7,vmax,z50,Prehenseur IRB2400_4_Tool1;

ENDPROC

ENDMODULE

graemepaulin

Hi,

 

Try replacing the hyphen (-) with a underscore (_) in your module and procedure names.

 

Regards

Graeme

Marcel

Hi

 

RobotStudio tells you all the errors when you check the program:

Not allowed in a name: -

Same module and routine name is not allowed.

Data have to be defined.

Name with space is not allowed.

Output name need to be more then only a 1.

 

%%%

VERSION:1

LANGUAGE:ENGLISH

%%%

MODULE IRB2400_JZ1

CONST robtarget ViaPoint1:=[[1480.15,-6.276,1526.357],[0.497619,-0.502369,0.497641,-0.502348],[0,-2,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E09]];

CONST robtarget ViaPoint2:=[[1429.881,-571.484,1526.742],[0.208171,-0.212251,0.67248,-0.677779],[-1,-3,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E09]];

CONST robtarget ViaPoint3:=[[1260.973,-687.297,1627.984],[0.208171,-0.212251,0.672481,-0.677779],[-1,-3,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E09]];

CONST robtarget ViaPoint4:=[[1291.407,-731.429,1628.275],[0.208171,-0.212251,0.672481,-0.677779],[-1,-3,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E09]];

CONST robtarget ViaPoint5:=[[1289.521,-736.526,1053.619],[0.208171,-0.212251,0.672481,-0.677779],[-1,-4,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E09]];

CONST robtarget ViaPoint6:=[[886.152,-1014.669,1057.408],[0.208172,-0.21225,0.672481,-0.677778],[-1,-4,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E09]];

CONST robtarget ViaPoint7:=[[1214.444,-784.8,1584.717],[0.53199,0.170927,0.68416,-0.468717],[-1,-3,7,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E09]];

PERS tooldata tIRB2400_4_Tool1:=[TRUE,[[58.622,-6.275,225.211],[0.703756,0,0,-0.710442]],[0,[0,0,0],[1,0,0,0],0,0,0]];

PROC rIRB2400_JZ1() MoveJ ViaPoint1,v1000,z50,tIRB2400_4_Tool1;

  MoveJ ViaPoint2,vmax,z50,tIRB2400_4_Tool1;

  MoveJ ViaPoint3,v1000,z1,tIRB2400_4_Tool1;

  ! you need to have an output called something like: do1 -> SetDO do1,1;

  MoveL ViaPoint4,v1000,z50,tIRB2400_4_Tool1;

  MoveJ ViaPoint5,v1000,z50,tIRB2400_4_Tool1;

  MoveJ ViaPoint6,v10,z50,tIRB2400_4_Tool1;

  ! you need to have an output called something like: do1 -> SetDO do1,0;

  MoveL ViaPoint7,vmax,z50,tIRB2400_4_Tool1;

ENDPROC

 

Best regards

Marcel

JUL57

Hi,

Thanks for your comments

regards

Julien

JUL57

Hi,

here is the good code !

Modification list :

- necessity the good I/0 adress "DO10_1"

- Define the center gravity, the inertie of the tool and define a short name like tool1

- add PROC main() behind the mov list

- add "ENDMODULE" at the end

Thanks for your help!

regards

%%%

  VERSION:1

  LANGUAGE:ENGLISH

%%%

MODULE jul7

  PERS robtarget ViaPoint1:=[[1480.15,-6.276,1526.357],[0.497619,-0.502369,0.497641,-0.502348],[0,-2,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E09]];

  PERS robtarget ViaPoint2:=[[1429.881,-571.484,1526.742],[0.208171,-0.212251,0.67248,-0.677779],[-1,-3,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E09]];

  PERS robtarget ViaPoint3:=[[1260.973,-687.297,1627.984],[0.208171,-0.212251,0.672481,-0.677779],[-1,-3,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E09]];

  PERS robtarget ViaPoint4:=[[1291.407,-731.429,1628.275],[0.208171,-0.212251,0.672481,-0.677779],[-1,-3,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E09]];

  PERS robtarget ViaPoint5:=[[1289.521,-736.526,1053.619],[0.208171,-0.212251,0.672481,-0.677779],[-1,-4,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E09]];

  PERS robtarget ViaPoint6:=[[886.152,-1014.669,1057.408],[0.208172,-0.21225,0.672481,-0.677778],[-1,-4,3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E09]];

  PERS robtarget ViaPoint7:=[[1214.444,-784.8,1584.717],[0.53199,0.170927,0.68416,-0.468717],[-1,-3,7,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E09]];

  PERS tooldata tool1:=[TRUE,[[58.622,-6.275,225.211],[0.703756,0,0,-0.710442]],[2.066,[2.91,-7.017,-42.395],[1,0,0,0],0.008,0.009,0.005]];

PROC main()

  MoveJ ViaPoint1,v1000,z50,tool1;

  MoveJ ViaPoint2,vmax,z50,tool1;

  MoveJ ViaPoint3,v1000,z1,tool1;

  SetDO DO10_1,1;

  MoveL ViaPoint4,v1000,z50,tool1;

  MoveJ ViaPoint5,v1000,z50,tool1;

  MoveJ ViaPoint6,v10,z50,tool1;

  SetDO DO10_1,0;

  MoveL ViaPoint7,vmax,z50,tool1;

ENDPROC

ENDMODULE