Defining new RAPID instructions and appending code to an existing module

abnha · January 2017

Hi!

I have just started working with the RobotStudio SDK so my knowledge is quite limited. At the moment, I try to figure out what are the possibilities and limitations.

What I want to design is the combination of an addin and a RAPID library that is used together. The addin is used to autogenerate some code (including robtarget and procedures) that results in a module file (.mod) which is synhcronized to the station and executed on the robot. The procedures are defined in my RAPID library.

Image: https://us.v-cdn.net/5020483/uploads/editor/th/90m73822iv35.png

In that respect, I have two questions:

Is it possible to define and compile new "core" RAPID instructions based on code written in for instance C#? The reason I want to do so is because my RAPID library is going to contain some mathematically cumbersome functionality requiring linear algebra and the like. This would be a lot easier to implement if I could make use of existing linear algebra libraries implemented in .NET or other frameworks.
What is the best way of writing robtargets and PROC-calls to a module file using C#? Lets say I have an existing module file called mymodule.mod that I want to append
some robtargets and PROC-calls to.

Best Regards,

Andreas

Pavel Riabichev · January 2017

Hello
1. The RAPID instructions are in the RobotWare and cannot be modified. However you can create something called RW addins using the Addin packaging tool. As this RW addin is added to the system, modules with your custom instructions can be loaded. Check for instance LincolnArc addin in RobotStudio > Add-ins > RobotWare add-ins.

2. See this example on syncing between station and RAPID
http://developercenter.robotstudio.com/Index.aspx?DevCenter=RobotStudio&OpenDocument&Url=html/9c077d11-de91-a3ac-c026-fe157cbd73c7.htm

/Pavel

Defining new RAPID instructions and appending code to an existing module

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