Post-Pro Delmia V5/V6 IRB1400/2400

Robot Controller
1

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

2

Hi,

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

Regards
Graeme

3

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

4

Hi,

Thanks for your comments
regards
Julien

5

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