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ProgramMaker

User's Guide

version 3.

ABB Flexible Automation

©1998 ABB Flexible Automation

All rights reserved. Printed in the United States of America Jun-

The information in this document is subject to change without notice and should not be construed as a commitment by ABB Flexible Automation Inc. ABB Flexible Automation Inc. assumes no responsibility for any errors that may appear in this document.

In no event shall ABB Flexible Automation Inc. be liable for incidental or consequential damages arising from use of this document or of the software and hardware described in this document.

This document and parts thereof must not be reproduced or copied without ABB Flexible Automation Inc.’s permission, and contents thereof must not be imparted to a third party nor be used for any unatuhorized purpose. Contravention will be prosecuted.

© 1998 ABB Flexible Automation Inc. All rights reserved. Printed in the United States of America June, 98

• Chapter 1 Getting Started 1- Table of Contents
  • INTRODUCTION 1-
  • WHAT IS PROGRAMMAKER? 1-
  • SETUP AND INSTALLATION 1-
  • RUNNING PROGRAMMAKER.................................................................................................................. 1-
    • Configuring ProgramMaker 1-
    • Quitting ProgramMaker 1-
    • ProgramMaker Help 1-
  • BASIC CONCEPTS 1-
    • Screen Layout 1-
    • Modifying the Screen Layout 1-
    • Hiding Screen Elements.................................................................................................................... 1-
• Chapter 2 Main Concepts 2-
  • OVERVIEW 2-
  • PROGRAMMAKER ARCHITECTURE......................................................................................................... 2-
    • Configuring ProgramMaker 2-
  • THE PROGRAM TREE............................................................................................................................. 2-
  • VIEWING RAPID INSTRUCTIONS 2-
    • To View a Module 2-
    • To view a Routine............................................................................................................................. 2-
    • The Code View 2-
    • Viewing Multiple Modules 2-
  • VIEWING DATA DECLARATIONS IN SPREADSHEET FORM 2-
    • To View Module Data.................................................................................................................... 2-
    • To View Routine Data 2-
    • The Data Spreadsheet Window 2-
    • Viewing Data in Multiple Modules.................................................................................................. 2-
  • VIEWING DATA DECLARATIONS IN GRAPHICAL FORM 2-
    • To View Module Data Graphically 2-
    • To View Routine Data Graphically 2-
    • The Graph Window 2-
    • Viewing Data in Multiple Modules.................................................................................................. 2-
  • VIEWING SYMBOL INFORMATION 2-
    • To View Symbol Information.......................................................................................................... 2-
    • The Symbol Window 2-
    • Viewing Data in Background Tasks 2-
• Chapter 3 Basic Operations..................................................................................................... 3-
  • OVERVIEW 3-
    • About Modules… 3-
  • CREATING A NEW PROGRAM 3-
  • LOADING EXISTING PROGRAMS OR MODULES........................................................................................ 3-
    • Loading Programs or Modules with Syntax Errors............................................................................ 3-
  • CREATING A NEW MODULE................................................................................................................... 3-
    • Viewing Module Attributes 3-
    • Deleting Loaded Modules................................................................................................................. 3-
  • SAVING PROGRAMS OR MODULES 3-
  • CLOSING A PROGRAM 3-
  • WORKING WITH ROUTINES 3- ii
    • Creating New Routines .....................................................................................................................3-
    • Viewing Routine Attributes................................................................................................................3-
    • Cutting and Pasting Routines.......................................................................................................... 3-
    • Deleting Routines 3-
• Chapter 4 Program Editing 4-
  • OVERVIEW............................................................................................................................................ 4-
    • Changing the Font ............................................................................................................................4-
    • How ProgramMaker handles Instructions .........................................................................................4-
    • The Selection Cursor ........................................................................................................................4-
  • CREATING RAPID INSTRUCTIONS.......................................................................................................... 4-
    • The Instruction Picklist .....................................................................................................................4-
    • Inserting Instructions with the Instruction Picklist .............................................................................4-
    • Inserting Instructions as Text 4-
    • How Errors in Text are handled...................................................................................................... 4-
  • EDITING RAPID INSTRUCTIONS........................................................................................................... 4-
    • Default Parameter Handling........................................................................................................... 4-
    • Editing with Instruction Dialogs...................................................................................................... 4-
    • Editing Instructions as Text............................................................................................................. 4-
    • Search and Replace 4-
    • Cutting and Pasting 4-
    • Deleting Items 4-
  • CHECKING THE PROGRAM FOR ERRORS 4-
  • PRINTING RAPID PROGRAMS.............................................................................................................. 4-
• Chapter 5 The Data Spreadsheet............................................................................................. 5-
  • OVERVIEW............................................................................................................................................ 5-
  • VIEWING DATA DECLARATIONS 5-
    • The DataView Window......................................................................................................................5-
    • The DataView ToolBar .....................................................................................................................5-
    • Moving Around the Data Window .....................................................................................................5-
  • CREATING DATA.................................................................................................................................... 5-
  • EDITING DATA....................................................................................................................................... 5-
    • Editing Data Declarations ................................................................................................................5-
    • Editing Data Components 5-
    • Cutting, Copying and Pasting Data................................................................................................. 5-
    • Deleting data.................................................................................................................................. 5-
  • SETTING DATA OPTIONS...................................................................................................................... 5-
  • PRINTING DATA 5-
• Chapter 6 The Graphical View 6-
  • OVERVIEW............................................................................................................................................ 6-
  • VIEWING POSITIONS IN 3D.................................................................................................................... 6-
    • Selecting a routine or module............................................................................................................6-
    • The GraphView’s features.................................................................................................................6-
    • Positions displayed in the GraphView ...............................................................................................6-
  • EDITING POSITION DATA 6-
    • Editing Defined Positions..................................................................................................................6-
    • Editing instructions...........................................................................................................................6-
  • TOOLBAR BUTTONS 6-
  • THE WORKPIECE FILE FORMAT 6-
    • Creating and editing workpiece files............................................................................................... 6- iii
• Chapter 7 The SymbolView...................................................................................................... 7-
  • OVERVIEW 7-
  • VIEWING PROGRAM SYMBOLS............................................................................................................... 7-
    • The SymbolView Window.................................................................................................................. 7-
    • Editing Symbols 7-
  • PRINTING THE SYMBOLVIEW 7-
• Appendix A: Customizing ProgramMaker: Options ...............................................................A-
  • OVERVIEW - THE PROGRAMMAKER OPTIONS DIALOG ...........................................................................A-
  • GENERAL PAGE ....................................................................................................................................A-
  • DATA PAGE ..........................................................................................................................................A-
  • FORMAT PAGE ......................................................................................................................................A-
  • PICK LIST PAGE ....................................................................................................................................A-
  • SYMBOL PAGE ......................................................................................................................................A-
    • Regular Expression Syntax ...............................................................................................................A-
• Appendix B: ProgramMaker Dialogs.......................................................................................B-
  • ASSIGNMENT EDIT DIALOG ...................................................................................................................B-
  • EXPRESSION EDITOR DIALOG ................................................................................................................B-
  • FUNCTION DIALOG ...............................................................................................................................B-
  • FOR… ENDFOR EDIT DIALOG.............................................................................................................B-
  • COMPACT IF EDIT DIALOG....................................................................................................................B-
  • IF… THEN… ELSE EDIT DIALOG.........................................................................................................B-
  • PROCEDURE CALL DIALOG.................................................................................................................. B-
  • RAISE EDIT DIALOG B-
  • RETURN EDIT DIALOG...................................................................................................................... B-
  • TEST… ENDTEST EDIT DIALOG B-
  • WHILE… ENDWHILE EDIT DIALOG B-
  • SEARCH DIALOG................................................................................................................................. B-
  • SEARCH AGAIN................................................................................................................................... B-
  • REPLACE DIALOG B-
  • TEXT EDIT DIALOG............................................................................................................................. B-
  • RAPID SYNTAX ERROR DIALOGS B-
  • RAPID SEMANTIC ERROR DIALOG...................................................................................................... B-
  • PROGRAMMAKER ERROR DIALOG B-
  • MODULE DECLARATION DIALOG......................................................................................................... B-
  • ROUTINE DECLARATION DIALOG......................................................................................................... B-
  • ROUTINE PARAMETER DIALOG B-
  • DATA PROPERTIES DIALOG-................................................................................................................ B-

Chapter 1

Getting Started

INTRODUCTION

Welcome to ProgramMakerTM. This guide will familiarize you with ProgramMaker and provide the information you need to develop RAPID programs for the ABB S robot controller.

WHAT IS PROGRAMMAKER?

ProgramMaker, an ABB DeskWareTM^ application, is a development environment for creating, editing, and debugging RAPID programs for the S4 robot controller. ProgramMaker is unique compared to other offline programming systems as it embeds the functionality of the Virtual Controller (the S4 controller running on your PC) and uses this capability to perform all robot controller-specific tasks. You can, for example, configure the Virtual Controller so that it represents the same I/O setup as your real robot. Then, when you program I/O statements, ProgramMaker checks to ensure that you refer only to those signals that are defined on your real robot. The Virtual Controller can also be configured with various memory and software options just like an actual S4 controller.

ProgramMaker can assume the functionality of different versions of the Virtual Controller – for example, V2.1, V3.0, or V3.1 and behave according to the features specific to that version of controller. This means you will see that same status and error messages in ProgramMaker as you see on the real robot.

ProgramMaker implements an advanced WindowsTM^ user interface that permits you to develop RAPID programs quickly, easily, and without error. Unlike using a conventional text editor, ProgramMaker helps you write RAPID programs by creating instructions with a single command, providing default parameters in many cases automatically. For beginning programmers, ProgramMaker provides instruction- sensitive dialogs that make programming even complex statements easy. For experts, ProgramMaker also offers the more conventional approach of text-based entry of RAPID program statements. In either method, programming using ProgramMaker guarantees that your programs will be correct when you load them into your robot.

SETUP AND INSTALLATION

In order to run ProgramMaker, you must first install the DeskWare .ProgramMaker package. See your DeskWare User’s Guide for further details.

ProgramMaker User’s Guide

RUNNING PROGRAMMAKER

You start ProgramMaker using the Windows Start Menu. See your DeskWare User’s Guide for further details. Once started, the ProgramMaker window appears as shown in the following diagram.

Note: The name and version of the currently selected robot appears in the lower right corner of the status bar in ProgramMaker.

Note: Screen-captured images of ProgramMaker have been sized to fit within the margins of this User’s Guide. As with almost any application written for Microsoft Windows, you can control the actual size of the ProgramMaker window. See your Microsoft Windows User’s Guide if you need to learn more about working with Windows-based software applications.

CONFIGURING PROGRAMMAKER

Note: You will not be able to program ArcWare statements using ProgramMaker unless you select or create a configuration that includes the ArcWare option. Similarly, you must select or create a configuration containing the SpotWare option if you intend to program SpotWare instructions.

You can setup ProgramMaker to assume the configuration of a specific Virtual Controller. You do this using the DeskWare Preferences utility. See the DeskWare User’s Guide for more information on using the Preferences utility.

ProgramMaker User’s Guide

You use ProgramMaker by selecting various commands from the Menubar and Toolbar. When you select a command from a menu, the Statusbar’s Status Pane changes to show a more detailed description of the selected command, as shown in the following diagram.

Chapter 1: Getting Started

The various menu items appear disabled at certain times, depending on what you are doing. In the picture above, for example, the Save command is disabled since no program is selected. When a menu item appears disabled, it means that the associated command is not currently available.

Note that some menu entries, such as New , are followed by text which shows their associated keyboard accelerators (in this case Ctrl+N ). Keyboard accelerators provide a convenient means of accessing common menu commands directly from the keyboard without using the mouse. This means you can invoke the New command by simultaneously pressing the Ctrl and N keys together.

Each button on the Toolbar has an associated menu command; the commands assigned to the Toolbar buttons correspond to the most frequently used commands; thereby making them easier to access and use. As with selecting items from the Menubar, when you place the mouse cursor over a Toolbar button, the Statusbar’s Status Pane shows a detailed description of the corresponding command. In addition, when you pause the cursor over a Toolbar button for more than one second, a small pop-up window appears with a brief description of the command.

Also as with menu entries, Toolbar buttons appear grayed at times to indicate that the associated command is not currently available.

Chapter 1: Getting Started

Screen layouts are persistent. When you exit ProgramMaker, the position of the various screen elements is stored so that when you next run ProgramMaker, the screen layout will be recalled.

HIDING SCREEN ELEMENTS

You can hide the Picklist, Program Tree, Toolbar, and Statusbar. The menu commands to display and hide the docking windows exists in the View menu; for example you can hide the Picklist by un-checking the Picklist command. To cause the Picklist to reappear, re-select the Picklist command.

If the Picklist window is floating, you can, alternately, hide it by clicking the Close button on the Picklist titlebar.

ProgramMaker User’s Guide

pass it through the Compiler again. You repeat the process again and again until all errors are addressed.

Within the last few years, we have seen the emergence of a new generation of programming tools aimed at “lowering the bar” to make programming easier. These tools, such as Microsoft Visual Basic, present many elements of programming graphically, aimed at turning the programming task into one of simply dragging graphical elements that represent program components onto a program “canvas”, where the entire program is assembled. But, as any Visual Basic programmer can attest, there is still plenty of “glue” in the form of Visual Basic language statements, that serve to hold these components onto the canvas. Nevertheless, because of the graphical nature of the environment, it is still much easier to see what the “glue” does.

RAPID, because of its nature, is easily able to join the ranks already occupied by its notable relatives, such as C, C++, and Pascal as one of those languages where you can easily miss sight of the forest because of all the trees. Sure, you could write all your RAPID programs with a text editor, but do you really want to? Face it, robot programs are no child’s play, and when your robot rams its gripper into your expensive fixture, you don’t want to be lost in the deep woods of RAPID code. When you have features available to you like global data, local routines, error traps, and backward execution handlers, do you really want to try to wade through your program with a simple text editor?

PROGRAMMAKER ARCHITECTURE

With ProgramMaker, the goal has been provide an environment that presents RAPID programs in such a manner that you can see the forest, not just the trees. We have taken an alternate approach in ProgramMaker so that you can easily see your program’s structure – what modules comprise it, what routines comprise what module. ProgramMaker presents this information graphically in a form that is easily understood.

Similarly, when you want to change the characteristics of a particular module or routine, ProgramMaker presents the information as a form you fill in. ProgramMaker attempts to cloak the underlying RAPID code in places we felt was most beneficial. Data declarations, for example, can be edited in spreadsheet format, because when you modify data, you usually do it in groups. ProgramMaker also lets you graphically examine data that represents the robot motion target locations, so that you can get a feel for where all those points are in space.

You can, however, bypass the various aides provided by ProgramMaker and directly edit the raw RAPID code if that is what you prefer. When ProgramMaker does present RAPID code, it is in a format that is easily accessible and modifiable. ProgramMaker also provides extensive guidance so that the RAPID instructions you create and edit are correct.

ProgramMaker is unique compared to other programming environments as it uses the Virtual Controller – the embedded functionality of the S4 robot controller – as the engine that actually carries out the editing task. The implementation is that of a client- server architecture; ProgramMaker is the client while the Virtual Controller is the server.

Using this approach, ProgramMaker can assume the functionality of different versions of the Virtual Controller – for example, V3.0V2.1, V3.0 or V3.1 – and behave

Chapter 2: Main Concepts

according to the features specific to that version of controller. For example, if the Virtual Controller represents the same I/O setup as your real robot, ProgramMaker ensures that you refer only to those signals when you program I/O statements. This also means you will see that same status and error messages in ProgramMaker as you see on the real robot.

ProgramMaker loads the programs and modules you edit into the Virtual Controller along with whatever system modules for which the system is configured. This allows you to edit and check the programs you create in the same context as when you load the program into the real robot.

CONFIGURING PROGRAMMAKER

Note: You will not be able to program ArcWare statements using ProgramMaker unless you select or create a configuration that includes the ArcWare option. Similarly, you must select or create a configuration containing the SpotWare option if you intend to program SpotWare instructions.

You setup ProgramMaker (and other DeskWare applications) to assume the configuration of a specific robot controller using the Preferences utility. See the DeskWare User’s Guide for more information on using the Preferences utility.

Note: The currently selected robot appears in the lower right corner of the status bar in ProgramMaker.

THE PROGRAM TREE

When you first start ProgramMaker, you see a display similar to the following:

Chapter 2: Main Concepts

Initially, the Program Tree displays the hierarchy of the structure of the system modules that are automatically loaded when ProgramMaker starts and the Virtual Controller is booted. Later, when you open program or module files, the content of those files are added to the tree. Opening additional programs and modules is described in Chapter 3.

Note: The contents of the robot’s system configuration file SYS.CFG also specifies which system modules (SWUSRC in this example) are loaded automatically when the controller is booted. System modules remain resident even when all other modules are deleted or new programs are loaded. Depending on the configuration you have selected (for example, SpotWare), you may see additional system modules in the list.

System modules do not get saved to program files like user modules. For further details, see the S User’s Guide that came with your robot.

The root node of the Program Tree is a robot controller icon that represents the robot for which ProgramMaker is configured. Recall that configurations are selected from the DeskWare Preferences Dialog (see the DeskWare User’s Guide for details). The name of the robot (in this case IRB_2400) appears to the right of the icon

Branching from the robot controller icon are the System Module and User Module nodes. A list of all system modules loaded in the controller descends from the System Module node, while user modules descend from the User Modules node. The module name appears to the right of each module node.

ProgramMaker User’s Guide

Note that different icons are used to distinguish between user and system modules; furthermore, visual cues are used to indicate the status of the module. The following icons are used:

represents a normal system module.

represents a system module with the Viewonly attribute

represents a system module with the Readonly attribute

represents a system module with the Noview attribute

represents a normal program module

represents a program module with the Viewonly attribute

represents a program module with the Readonly attribute

represents a program module with the Noview attribute

Finally, the list of all routines contained in a module are displayed below each module. The various routines – functions, procedures, and traps – each display a different icon. The name of the routine appears to the right of each routine. In the diagram above, you can see that USER contains a single routine called CallByVar while BASE contains four routines called RESTORE_IO , SYS_POWERON , SYS_RESET, and TestDI. Furthermore, the three different types of routines ( procedures, function, and traps ) are displayed with different icons; you can see the icons for procedures and functions above.

You collapse and expand each branch of the tree by clicking on the “+” and “-“ icons to the left of each node. Initially, all branches are shown expanded.

VIEWING RAPID INSTRUCTIONS

The primary means of accessing and editing programs in ProgramMaker occurs by manipulating the RAPID instructions that comprise the program. You edit RAPID instructions, or code, by first opening a view onto the code contained in a module or routine, as described here. You can learn more about editing RAPID instructions in Chapters 3 and 4.

TO VIEW A MODULE

To view the RAPID code contained in a module, do one of the following:

Select a module in the Program Tree with the mouse and select the Code command from the View menu.

1. Select a module in the Program Tree with the mouse by single-clicking on it. Next, display the context-sensitive popup menu by clicking the right mouse button , and select the View Code command from the popup menu. This menu