Heisig_GmbH/campro_tool_library
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This commit is contained in:
Matthias Heisig
2026-02-22 14:16:24 +01:00
commit 1692d191fa
3684 changed files with 10817616 additions and 0 deletions
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machine/installed_machines/ABB_IRB_6640_235_255/ABB_IRB_6640_235_255.dat Normal file
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ABB RAPID,${UGII_CAM_LIBRARY_INSTALLED_MACHINES_DIR}ABB_IRB_6640_235_255\postprocessor\ABB_RAPID\ABB_RAPID_post.tcl,${UGII_CAM_LIBRARY_INSTALLED_MACHINES_DIR}ABB_IRB_6640_235_255\postprocessor\ABB_RAPID\ABB_RAPID_post.def
CSE_FILES, ${UGII_CAM_LIBRARY_INSTALLED_MACHINES_DIR}ABB_IRB_6640_235_255\cse_driver\ABB_RAPID\ABB_IRB_6640_235_255.MCF

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machine/installed_machines/ABB_IRB_6640_235_255/cse_driver/ABB_RAPID/ABB_IRB_6640_235_255-Main.ini Normal file
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<robotic_to_ini_Main>

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machine/installed_machines/ABB_IRB_6640_235_255/cse_driver/ABB_RAPID/subprog/ToolChange.mod Normal file
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##LANGUAGE AC
// In robots we generate an additional ini subprog on post per robot channel.
// There we store all robotic tool carrier data.
INT nCurrentIndex;
INT nNextIndex;
nCurrentIndex = GetRobotCurrentToolCarrierIndex();
nNextIndex = GetRobotNextToolCarrierIndex();
// 1. Release current tool
// When working with kinematically modeled magazine of tools and/or heads
// the tool has to be positioned back to the original static holder.
IF(nCurrentIndex >= 0);
STRING sToolName;
STRING sToolInitialKinCarrier;
sToolName = GetRobotTool(nCurrentIndex);
sToolInitialKinCarrier = GetRobotToolInitialKinCarrier(nCurrentIndex);
IF((sToolName != "") AND exists(sToolName));
IF(sToolInitialKinCarrier == "");
visibility(sToolName,OFF,TRUE);
release(sToolName);
ELSE;
release(sToolName,sToolInitialKinCarrier);
position(sToolName, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
ENDIF;
ENDIF;
ENDIF;
// 2. Release current head
// When working with kinematically modeled magazine of tools and/or heads
// the head has to be positioned back to the original static holder.
IF(nCurrentIndex >= 0);
STRING sHeadName;
STRING sHeadInitialKinCarrier;
STRING sHeadTargetKinCarrier;
sHeadName = GetRobotHead(nCurrentIndex);
sHeadInitialKinCarrier = GetRobotHeadInitialKinCarrier(nCurrentIndex);
sHeadTargetKinCarrier = GetRobotHeadTargetKinCarrier(nCurrentIndex);
IF((sHeadName != "") AND exists(sHeadName));
IF ((sHeadInitialKinCarrier != ""));
release(sHeadName,sHeadInitialKinCarrier);
position(sHeadName, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
ELSE;
visibility(sHeadName,OFF,TRUE);
unmountHead(sHeadTargetKinCarrier);
ENDIF;
ENDIF;
ENDIF;
// 3. Mount next head to the desired kinematic carrier
STRING sNextHeadName;
STRING sNextHeadTargetKinCarrier;
sNextHeadName = GetRobotHead(nNextIndex);
sNextHeadTargetKinCarrier = GetRobotHeadTargetKinCarrier(nNextIndex);
IF(sNextHeadName != "");
IF(getCurrentHead(sNextHeadTargetKinCarrier) != "");
visibility(getCurrentHead(sNextHeadTargetKinCarrier),OFF,TRUE);
unmountHead(sNextHeadTargetKinCarrier);
ENDIF;
mountHead (sNextHeadName, sNextHeadTargetKinCarrier);
grasp (sNextHeadName, sNextHeadTargetKinCarrier);
position (sNextHeadName, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
visibility (sNextHeadName, ON, TRUE);
ENDIF;
// 4. Mount next tool to the desired kinematic carrier
STRING sNextToolName;
STRING sToolTargetKinCarrier;
sNextToolName = GetRobotTool(nNextIndex);
sToolTargetKinCarrier = GetRobotToolTargetKinCarrier(nNextIndex);
generateTool (sNextToolName,sToolTargetKinCarrier);
IF(exist (getCurrentTool(sToolTargetKinCarrier)));
visibility (getCurrentTool(sToolTargetKinCarrier),OFF,TRUE);
release (getCurrentTool(sToolTargetKinCarrier));
ENDIF;
IF (exist (getNextTool(sToolTargetKinCarrier)));
grasp (getNextTool(sToolTargetKinCarrier), sToolTargetKinCarrier);
position (getNextTool (sToolTargetKinCarrier), 0, 0, 0, 0, 0, 0);
visibility (getNextTool(sToolTargetKinCarrier), ON, TRUE);
activateNextTool (sToolTargetKinCarrier);
ENDIF;
IF(exist (getCurrentTool(sToolTargetKinCarrier)));
IF (getToolParameter(getCurrentTool(sToolTargetKinCarrier), "purpose") == "additive");
SetToolMode(getCurrentTool(sToolTargetKinCarrier), "addmaterial");
ENDIF;
IF (getToolParameter(getCurrentTool(sToolTargetKinCarrier), "purpose") == "coloring");
SetToolMode(getCurrentTool(sToolTargetKinCarrier), "colormaterial");
ENDIF;
ENDIF;
//activate the chain for the next tool carrier
ActivateNextRobotToolCarrier();
##LANGUAGE NATIVE

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machine/installed_machines/ABB_IRB_6640_235_255/postprocessor/ABB_RAPID/ABB_RAPID_post.def Normal file
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MACHINE Default
INCLUDE {
$POST_LIB_CURRENT_MACH_DIR/nx_olp_util_base.def
$POST_LIB_CURRENT_MACH_DIR/../../robots/Robotics.cdl
$POST_LIB_CURRENT_MACH_DIR/Controller/ABB_RAPID_ctrl.def
}

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machine/installed_machines/ABB_IRB_6640_235_255/postprocessor/ABB_RAPID/ABB_RAPID_post.psc Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<Configuration>
<Copyright>Siemens Digital Industry Software</Copyright>
<Version>2.0</Version>
<MachineName>ABB_RAPID</MachineName>
<Sourcing>
<Sequence>
<Layer Name="Libraries" ReadOnly="true" SubFolder="Libraries">
<Copyright>Siemens Digital Industry Software</Copyright>
<Template>${UGII_CAM_RESOURCE_DIR}post_configurator/post_template/libraries/libraries.psl</Template>
<Version>1.00</Version>
<Order>1001</Order>
<Scripts>
<Filename Name="lib_sourcing" Processing="auto"/>
<Filename Name="lib_general" Processing="auto"/>
<Filename Name="lib_xml_handling" Processing="auto"/>
<Filename Name="lib_msg" Processing="true"/>
<Filename Name="lib_file_handling" Processing="true"/>
<Filename Name="lib_standard_post_func" Processing="true"/>
<Filename Name="lib_document" Processing="true"/>
<Filename Include="pretreatment" Name="lib_pretreatment" Processing="auto"/>
<Filename Include="pretreatment" Name="lib_pretreatment_post" Processing="auto"/>
</Scripts>
<DefinedEvents>
<Filename Include="pretreatment" Name="lib_pretreatment" Processing="auto"/>
</DefinedEvents>
<CustomerDialogs>
</CustomerDialogs>
<Functions>
</Functions>
<Comments>
<Comment>
<User>Siemens Digital Industry Software</User>
<Date>01.01.2019 12:00:00</Date>
<Text>Initial generated by Post Configurator</Text>
</Comment>
</Comments>
</Layer>
<Layer Name="Robotic Standard Layer" ReadOnly="false">
<Copyright>Siemens Digital Industry Software</Copyright>
<Template>${UGII_CAM_RESOURCE_DIR}post_configurator/post_template/nx_olp_util/robotic_standard_layer.psl</Template>
<Version>1.00</Version>
<Order>1999</Order>
<Scripts>
<Filename Name="nx_olp_util_init" Processing="true"/>
<Filename Name="nx_olp_util_robot_init" Processing="true"/>
<Filename Name="nx_olp_util_maths" Processing="true"/>
<Filename Name="nx_olp_util_robotics" Processing="true"/>
<Filename Name="nx_olp_util_cse_simulation_ini" Processing="true"/>
</Scripts>
<DefinedEvents>
<Filename Include="true" Name="nx_olp_util_base" Processing="true"/>
</DefinedEvents>
<CustomerDialogs>
<Filename Name="Robotics" Processing="true"/>
</CustomerDialogs>
<Functions>
</Functions>
<Comments>
<Comment>
<User>Siemens Digital Industry Software</User>
<Date>01.01.2019 12:00:00</Date>
<Text>Initial generated by Post Configurator</Text>
</Comment>
</Comments>
</Layer>
<Layer Name="ABB RAPID Layer" ReadOnly="false">
<Copyright>Siemens Digital Industry Software</Copyright>
<Template>${UGII_CAM_RESOURCE_DIR}post_configurator/post_template/controller/ABB_RAPID/base/ABB_RAPID_base.psl</Template>
<Version>1.00</Version>
<Order>8002</Order>
<Scripts>
<Filename Name="ABB_RAPID_ctrl" Processing="true"/>
<Filename Name="ABB_RAPID_ctrl_msg" Processing="true"/>
<Filename Name="ABB_RAPID_user_custom" Processing="true"/>
</Scripts>
<DefinedEvents>
<Filename Name="ABB_RAPID_ctrl" Processing="true"/>
</DefinedEvents>
<CustomerDialogs>
</CustomerDialogs>
<Functions>
</Functions>
<Comments>
<Comment>
<User>Siemens Digital Industry Software</User>
<Date>01.01.2019 12:00:00</Date>
<Text>Initial generated by Post Configurator</Text>
</Comment>
</Comments>
</Layer>
<Layer Name="Customer" ReadOnly="true">
<Copyright>Siemens Digital Industry Software</Copyright>
<Version>1.00</Version>
<Order>9001</Order>
<Scripts>
<Filename Name="ABB_RAPID_post_custom" Processing="true"/>
</Scripts>
<DefinedEvents>
</DefinedEvents>
<CustomerDialogs>
</CustomerDialogs>
<Functions>
</Functions>
<Comments>
<Comment>
<User>Siemens Digital Industry Software</User>
<Date>01.01.2019 12:00:00</Date>
<Text>Initial generated by Post Configurator</Text>
</Comment>
</Comments>
</Layer>
</Sequence>
</Sourcing>
<History>
<Comments>
<Comment>
<User>xd2oht</User>
<Date>21.07.2020 11:55:25</Date>
<Text>Initial generated by Post Configurator</Text>
</Comment>
<Comment>
<User>xd2oht</User>
<Date>21.07.2020 11:55:25</Date>
<Text>Postprocessor successfully upgraded from version 4.7.1 to version 5.3.0</Text>
</Comment>
</Comments>
<Customer>
<Company/>
<Address/>
<Contact/>
<Phone/>
<Fax/>
<Mail/>
</Customer>
</History>
<Units>Millimeters and Inches</Units>
</Configuration>

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machine/installed_machines/ABB_IRB_6640_235_255/postprocessor/ABB_RAPID/ABB_RAPID_post.pui Normal file
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# this file is intentionally left empty

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machine/installed_machines/ABB_IRB_6640_235_255/postprocessor/ABB_RAPID/ABB_RAPID_post.tcl Normal file
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#############################################################################################
#
# Customer Data
#
# Company :
# Address :
# Contact person :
# Phone :
# Fax :
# Mail :
#
#############################################################################################
#
# Copyright 2014-2019 Siemens Product Lifecycle Management Software Inc.
# All Rights Reserved.
#
#############################################################################################
#____________________________________________________________________________________________
#
# Procedure debugger
#____________________________________________________________________________________________
#
set lib_ge_debug(on) 0
set lib_ge_debug(proc_watch_list) "MOM* PPLIB* PROC*"
set lib_ge_debug(var_write_trace_list) "mom_group_name"
set lib_ge_debug(proc_watch_exclude_list) "MOM_SMART* MOM_evaluate_arg MOM_before_each_add_var MOM_before_load_address"
#____________________________________________________________________________________________
set lib_debug_source_of_proc_list ""
if {![info exists lib_ge_platform]} {
if {[string match "*windows*" $tcl_platform(platform)]} {
set lib_ge_platform 1
set lib_ge_slash "\\"
if {[info exists env(TEMP)]} {
set lib_ge_temppath $env(TEMP)
} elseif {[info exists env(TMP)]} {
set lib_ge_temppath $env(TMP)
}
} else {
set lib_ge_platform 0
set lib_ge_slash "/"
if {[info exists env(TMPDIR)]} {
set lib_ge_temppath $env(TMPDIR)
}
if {![string length $lib_ge_temppath]} {
set lib_ge_temppath "${lib_ge_slash}var${lib_ge_slash}tmp"
}
}
}
if {![info exists lib_ge_env(tmp_dir)]} {
set lib_ge_env(tmp_dir) [MOM_ask_env_var "UGII_TMP_DIR"]
}
if {![string length $lib_ge_env(tmp_dir)]} {
set lib_ge_env(tmp_dir) $lib_ge_temppath
}
#____________________________________________________________________________________________
# <Documentation>
#
# Handling for the default environment variables
#
# <Example>
#
#____________________________________________________________________________________________
proc LIB_Shell_environment_handling {} {
eval global [uplevel #0 info vars]
# Language file and OS specific values
if {![info exists lib_ge_slash]} {global lib_ge_slash}
if {![info exists lib_ge_env]} {global lib_ge_env}
set lib_ge_env(post_pool_dir) [LIB_Shell_format_path_names [MOM_ask_env_var "UGII_POST_POOL_DIR_NG"]]
set lib_ge_env(cam_post_dir) [LIB_Shell_format_path_names [MOM_ask_env_var "UGII_CAM_POST_DIR"]]
set lib_ge_env(tmp_dir) [LIB_Shell_format_path_names [MOM_ask_env_var "UGII_TMP_DIR"]]
if {$lib_ge_env(tmp_dir) == ""} {set lib_ge_env(tmp_dir) $lib_ge_temppath}
global lib_ge_installed_machines
set lib_ge_installed_machines [info script]
set lib_ge_env(installed_machines_dir) [LIB_Shell_format_path_names [file dirname $lib_ge_installed_machines]]
set lib_ge_env(installed_machines_dir,recursively) ""
lappend lib_ge_env(installed_machines_dir,recursively) $lib_ge_env(installed_machines_dir)
set current_dir [pwd]
if {![catch {cd [lindex $lib_ge_env(installed_machines_dir,recursively) 0]}]} {
if {![catch {set dir [string tolower [glob *]]}]} {
foreach e {libraries controller bin} {
set index [lsearch -exact $dir $e]
if {$index > -1} {
set directory [lindex $dir $index]
set directory [string toupper [string index $directory 0]][string range $directory 1 end]
lappend lib_ge_env(installed_machines_dir,recursively) [LIB_Shell_format_path_names "[lindex $lib_ge_env(installed_machines_dir,recursively) 0]$lib_ge_slash$directory"]
}
}
}
}
cd $current_dir
if {![regexp -nocase -- {\w+} $lib_ge_env(post_pool_dir)]} {set lib_ge_env(post_pool_dir) $lib_ge_env(installed_machines_dir)}
set lib_ge_env(version_bit) [MOM_ask_env_var "UGII_VERSION_BIT"]
set lib_ge_env(base_dir) [MOM_ask_env_var "UGII_BASE_DIR"]
set lib_ge_env(major_version) [MOM_ask_env_var "UGII_MAJOR_VERSION"]
set lib_ge_env(minor_version) [MOM_ask_env_var "UGII_MINOR_VERSION"]
set lib_ge_env(subminor_version) [MOM_ask_env_var "UGII_SUBMINOR_VERSION"]
if {![info exists lib_ge_dll_version]} {global lib_ge_dll_version}
if {$lib_ge_env(minor_version) > 0} {
set lib_ge_dll_version "nx$lib_ge_env(major_version)$lib_ge_env(minor_version)"
} else {
set lib_ge_dll_version "nx$lib_ge_env(major_version)"
}
regsub -all "/" $lib_ge_env(base_dir) "\\" lib_ge_env(base_dir)
}
#____________________________________________________________________________________________
# <Internal Documentation>
#
# This procedure may be used to format pathnames from unix format in windows
# format and delete double backslash
#
# Output:
# D:\Temp\mom\debug.out or \\Server\Temp\mom\debug.out
#
# e.g.
# set error [LIB_Shell_format_path_names "D:/Temp/mom/debug.out"]
#
# <Example>
# set error [LIB_Shell_format_path_names "D:/Temp/mom/debug.out"]
#____________________________________________________________________________________________
proc LIB_Shell_format_path_names {pathname} {
global lib_ge lib_ge_platform
binary scan $pathname H* pathbin
if {[info exists lib_ge(format_path,$pathbin,0,0,0)]} {
return $lib_ge(format_path,$pathbin,0,0,0)
}
if {[regexp -nocase -- {^[\\\\]|^[\/\/]} $pathname]} {
regsub -all "/" $pathname "\\" pathname
}
if {$lib_ge_platform} {
regsub -all "/" $pathname "\\" pathname
if {![regexp -nocase -- {^\\\\} $pathname]} {set unc 0} else {set unc 1}
while {[regsub -- "(?q)\\\\" $pathname "\\" pathname]} {}
if {$unc} {set pathname "\\$pathname"}
} elseif {!$lib_ge_platform} {
regsub -all "\\\\" $pathname "/" pathname
if {![regexp -nocase -- {^//} $pathname]} {set unc 0} else {set unc 1}
while {[regsub -- "(?q)//" $pathname "/" pathname]} {}
if {$unc} {set pathname "/$pathname"}
}
set lib_ge(format_path,$pathbin,0,0,0) [string trim $pathname]
return $lib_ge(format_path,$pathbin,0,0,0)
}
#____________________________________________________________________________________________
# <Documentation>
#
# Handling for the main shell
#
# <Example>
#
#____________________________________________________________________________________________
proc LIB_Shell_main {} {
global lib_ge_env lib_ge_slash
global lib_cycle_path sourcefile
LIB_Shell_environment_handling
lappend ::lib_ge_monitored_files [LIB_Shell_format_path_names [info script]]
if {[info commands LIB_GE_source] != "LIB_GE_source"} {
set lib_cycle_path 0
set searchpath $lib_ge_env(installed_machines_dir,recursively)
lappend searchpath $lib_ge_env(post_pool_dir)
foreach path $searchpath {
if {$lib_cycle_path} {break}
foreach ext {.tcl .tbc} {
set sourcefile [LIB_Shell_format_path_names "$path${lib_ge_slash}lib_sourcing$ext"]
if {[file exists $sourcefile]} {
if {[string match ".tbc" $ext]} {
MOM_output_to_listing_device "ByteCode Loader is not available, cannot process lib_sourcing$ext (Provid this file not encrypted)"
MOM_log_message "ByteCode Loader is not available, cannot process lib_sourcing$ext (Provid this file not encrypted)"
MOM_abort "ByteCode Loader is not available, cannot process lib_sourcing$ext (Provid this file not encrypted)"
}
uplevel #0 {
if {$::tcl_version >= 8.6} {
if {[catch {source -encoding utf-8 $sourcefile} err]} {
set lib_source_error 1
}
} else {
if {[catch {source $sourcefile} err]} {
set lib_source_error 1
}
}
if {[info exists lib_source_error] && $lib_source_error == 1} {
if {[info exists ::errorInfo]} {MOM_output_to_listing_device "errorInfo $errorInfo"}
MOM_output_to_listing_device "File lib_sourcing $err not loadable"
MOM_log_message "File lib_sourcing $err not loadable"
MOM_abort "File lib_sourcing not loadable"
} else {
set lib_ge_debug(lib_sourcing) "$sourcefile"
lappend lib_ge_monitored_files "$sourcefile"
lappend lib_ge_log_message "\n--> $sourcefile loaded"
set lib_cycle_path 1 ; break
}
}
}
}
}
if {!$lib_cycle_path} {
MOM_output_to_listing_device "File lib_sourcing not found"
MOM_log_message "File lib_sourcing not found"
MOM_abort "File lib_sourcing not found"
}
}
LIB_Shell_init
}
#____________________________________________________________________________________________
# <Documentation>
#
# Handling for the default environment variables
#
# <Example>
#
#____________________________________________________________________________________________
proc LIB_Shell_defined_post_environment {} {
global lib_pp_source_file lib_shell
#____________________________________________________________________________________________
#
# NX Post, load files
#____________________________________________________________________________________________
#
# There are different ways to source each files
#
# e.g. Befor LIB_GE_source call
# lappend lib_pp_source_file "machine,UGII_CAM_POST_DIR"
#
# e.g. After LIB_GE_source call
# LIB_GE_source "Test" "C:/Temp/;d:/tmp/"
#
# e.g. To define a searchpath
# LIB_GE_source "" "C:/Temp/;UGII_CAM_POST_DIR"
# Allowed is the direct path and/or variable
# This is the call for PB post files
# ** internal funktion / Don't remove this line **
set lib_pp_source_file ""
# This is the call the PB post LIB_GE files
# ** internal funktion / Don't remove this line **
lappend lib_pp_source_file "lib_msg" "lib_file_handling" "lib_standard_post_func" "lib_document"
# If a XML-file with the same file name found, the referenced files will also loaded
LIB_Shell_external_source
if {![info exists lib_shell(load_loader)] || $lib_shell(load_loader)} {
lappend lib_pp_source_file "[file tail [file rootname $::lib_ge_installed_machines]]_custom"
} else {
MOM_log_message "Custom level isn't loaded"
}
#############################################################################################
}
LIB_Shell_main
#############################################################################################
#############################################################################################
#############################################################################################
# This is to debug
#############################################################################################
if {[llength [info commands LIB_GE_debug]]} {LIB_GE_debug}

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#
# ABB_RAPID Post Processor - User Customization File
#
# This file can be used to:
# - define addition user Post Configurator options (see Post Configurator doc)
# - override the default MoveJ/MoveL motion instruction
# - implement specific actions at dedicated MOM event entry points
#
#
# Version $Id: ABB_RAPID_user_custom.tcl,v 1.9 2019/10/18 15:42:10 mchoucroun Exp $
#
#----------------------------------------------------------------------
proc ABB_activate_read_ahead {} {
# This routine can be used to override the default value
# To uncomment in order to Activate read-ahead and access mom_nxt_motion_type
#----------------------------------------------------------------------
#global mom_kin_read_ahead_next_motion
# set mom_kin_read_ahead_next_motion 1
}
#----------------------------------------------------------------------
proc ABB_do_motion_template {sDefaultTemplate} {
# This routine can be used to override the default motion instruction.
# 'sDefaultTemplate': default block template to generate the motion line
# abb_curr_motion_type = AbsJ or J or L
#----------------------------------------------------------------------
global abb_curr_motion_type
# default behaviour: run the target default block template.
MOM_do_template $sDefaultTemplate
}
#----------------------------------------------------------------------
# CUSTOM ENTRY POINT PROCEDURES
#----------------------------------------------------------------------
#----------------------------------------------------------------------
proc ABB_start_of_program {position} {
# Triggered during MOM_start_of_program_LIB
# position: start, before_header, after_header, end
#----------------------------------------------------------------------
}
#----------------------------------------------------------------------
proc ABB_end_of_program {position} {
# Trigerred during MOM_end_of_program
# position: start, end
#----------------------------------------------------------------------
}
#----------------------------------------------------------------------
proc ABB_start_of_path {position} {
# Triggered during MOM_start_of_path
# position: start, end
#----------------------------------------------------------------------
}
#----------------------------------------------------------------------
proc ABB_end_of_path {position} {
# Triggered during MOM_end_of_path
# position: start, end
#----------------------------------------------------------------------
}
#----------------------------------------------------------------------
proc ABB_start_of_main_routine {position} {
# Triggered at the start of generating the Main PROC
# position: start (before PROC is written),
# end (after PROC is written)
#----------------------------------------------------------------------
}
#----------------------------------------------------------------------
proc ABB_end_of_main_routine {position} {
# Triggered at the end of generating the Main PROC
# position: start (before ENDPROC is written),
# end (after ENDPROC is written)
#----------------------------------------------------------------------
}
#----------------------------------------------------------------------
proc ABB_rapid_move {position} {
# Triggered during MOM_rapid_move
# position: start, end
#----------------------------------------------------------------------
}
#----------------------------------------------------------------------
proc ABB_linear_move {position} {
# Triggered during MOM_linear_move
# position: start, end
#----------------------------------------------------------------------
}
#----------------------------------------------------------------------
proc ABB_circular_move {position} {
# Triggered during MOM_circular_move
# position: start, end
#----------------------------------------------------------------------
}
#----------------------------------------------------------------------
proc ABB_robot_pose_move {position} {
# Triggered during MOM_robot_pose_move
# position: start, end
#----------------------------------------------------------------------
}

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##############################################################################
# Description
# This is the Definition File for ABB_RAPID File Generation EEVT Handler
#
# Version
# $Id: ABB_RAPID_ctrl.def,v 1.4 2019/10/18 15:45:11 gpenkov Exp $
#
###############################################################################
#
MACHINE Default
FORMATTING
{
WORD_SEPARATOR ","
# Override addresses required by Post Configurator infrastructure
# ===================================================================
ADDRESS RA
{
FORMAT Coordinate
FORCE always
MAX 99999.999 Truncate
MIN -99999.999 Truncate
LEADER ""
ZERO_FORMAT Zero_real
}
BLOCK_TEMPLATE robot_axis_motion
{
" MoveAbsJ [["\nows
RA[$mom_rob_int(0)]
RA[$mom_rob_int(1)]
RA[$mom_rob_int(2)]
RA[$mom_rob_int(3)]
RA[$mom_rob_int(4)]
RA[$mom_rob_int(5)]\nows
"],["\nows
RA[$mom_rob_ext(0)]
RA[$mom_rob_ext(1)]
RA[$mom_rob_ext(2)]
RA[$mom_rob_ext(3)]
RA[$mom_rob_ext(4)]
RA[$mom_rob_ext(5)]\nows
"]],"\nows
robot_string[$abb_curr_speed]
robot_string[$abb_curr_zone]
robot_string[$abb_curr_tool_wobj]\trlr=";"
}
BLOCK_TEMPLATE rapid_move
{
" MoveJ [["\nows
RA[$mom_rob_pos(0)]
RA[$mom_rob_pos(1)]
RA[$mom_rob_pos(2)]\nows
"],["\nows
RA[$mom_rob_pos(3)]
RA[$mom_rob_pos(4)]
RA[$mom_rob_pos(5)]
RA[$mom_rob_pos(6)]\nows
"]"
robot_string[$mom_rob_config]
"["\nows
RA[$mom_rob_ext(0)]
RA[$mom_rob_ext(1)]
RA[$mom_rob_ext(2)]
RA[$mom_rob_ext(3)]
RA[$mom_rob_ext(4)]
RA[$mom_rob_ext(5)]\nows
"]],"\nows
robot_string[$abb_curr_speed]
robot_string[$abb_curr_zone]
robot_string[$abb_curr_tool_wobj]\trlr=";"
}
BLOCK_TEMPLATE linear_move
{
" MoveL [["\nows
RA[$mom_rob_pos(0)]
RA[$mom_rob_pos(1)]
RA[$mom_rob_pos(2)]\nows
"],["\nows
RA[$mom_rob_pos(3)]
RA[$mom_rob_pos(4)]
RA[$mom_rob_pos(5)]
RA[$mom_rob_pos(6)]\nows
"]"
robot_string[$mom_rob_config]
"["\nows
RA[$mom_rob_ext(0)]
RA[$mom_rob_ext(1)]
RA[$mom_rob_ext(2)]
RA[$mom_rob_ext(3)]
RA[$mom_rob_ext(4)]
RA[$mom_rob_ext(5)]\nows
"]],"\nows
robot_string[$abb_curr_speed]
robot_string[$abb_curr_zone]
robot_string[$abb_curr_tool_wobj]\trlr=";"
}
BLOCK_TEMPLATE circular_move
{
" MoveC [["\nows
RA[$mom_rob_circ_via_pos(0)]
RA[$mom_rob_circ_via_pos(1)]
RA[$mom_rob_circ_via_pos(2)]\nows
"],["\nows
RA[$mom_rob_circ_via_pos(3)]
RA[$mom_rob_circ_via_pos(4)]
RA[$mom_rob_circ_via_pos(5)]
RA[$mom_rob_circ_via_pos(6)]\nows
"]"
robot_string[$mom_rob_config]
"["\nows
RA[$mom_rob_circ_via_ext(0)]
RA[$mom_rob_circ_via_ext(1)]
RA[$mom_rob_circ_via_ext(2)]
RA[$mom_rob_circ_via_ext(3)]
RA[$mom_rob_circ_via_ext(4)]
RA[$mom_rob_circ_via_ext(5)]\nows
"]],[["\nows
RA[$mom_rob_pos(0)]
RA[$mom_rob_pos(1)]
RA[$mom_rob_pos(2)]\nows
"],["\nows
RA[$mom_rob_pos(3)]
RA[$mom_rob_pos(4)]
RA[$mom_rob_pos(5)]
RA[$mom_rob_pos(6)]\nows
"]"
robot_string[$mom_rob_config]
"["\nows
RA[$mom_rob_ext(0)]
RA[$mom_rob_ext(1)]
RA[$mom_rob_ext(2)]
RA[$mom_rob_ext(3)]
RA[$mom_rob_ext(4)]
RA[$mom_rob_ext(5)]\nows
"]],"\nows
robot_string[$abb_curr_speed]
robot_string[$abb_curr_zone]
robot_string[$abb_curr_tool_wobj]\trlr=";"
}
}

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machine/installed_machines/ABB_IRB_6640_235_255/postprocessor/ABB_RAPID/Controller/ABB_RAPID_ctrl_msg.tcl Normal file
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lappend lib_config_data [list "ABB_RAPID_ctrl_msg" "Ctrl_Template_Base-MSG-Version 001"]
#############################################################################################
#
# Copyright 2014-2019 Siemens Product Lifecycle Management Software Inc.
# All Rights Reserved.
#
#############################################################################################
#
# Last changes:
# 11.05.2016 - UR 001 Initial Release and Installation
#
#
#
####G#E#N#E#R#A#L##D#E#S#C#R#I#P#T#I#O#N#####################################################
#
# In this function, the text in the appropriate language UGII_LANG is translated.
# Optional wildcards can be used in the example.
#
# Permitted languages: braz_portuguese / french / german / italian / japanese /
# korean / russian / simpl_chinese / spanish / trad_chinese...
#
# e.g.
# set message [LIB_GE_MSG "Configuration file does not exist"]
# set message [LIB_GE_MSG "File can not be copied from INS->xxx<- to INS->zzz<-"]
# set message [LIB_GE_MSG "File INS->C:\\Temp\\xxx.txt<- not found"]
#
# set message [LIB_GE_MSG "SURFACE COORDINATE" "core"]
#
# (It's for development only)
# set message [LIB_GE_MSG 0001] <-- Please, don't work with this solution
#
#############################################################################################
##############################################################################################
### controller/machine/customer... translations
### between the commas the text is selectable e.g. 0000,$lib_controller_message,xxx,english
##############################################################################################
set lib_msg(0000,$lib_controller_message,core) "Please contact Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,czech) "Kontaktujte společnost Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,danish) "Kontakt Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,dutch) "Neem contact op met Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,english) "Please contact Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,finnish) "Ota yhteyttä Siemens PLM -ohjelmistoon"
set lib_msg(0000,$lib_controller_message,french) "S'il vous plaît contactez Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,german) "Bitte Siemens PLM Software kontaktieren"
set lib_msg(0000,$lib_controller_message,hungarian) "Kérjük, lépjen kapcsolatba a Siemens PLM szoftverrel"
set lib_msg(0000,$lib_controller_message,italian) "Contattare Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,japanese) "お問い合わせください Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,korean) "문의하시기 바랍니다 Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,norwegian) "Ta kontakt med Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,polish) "Prosze o kontakt Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,portuguese) "Entre em contato com a Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,russian) "пожалуйста свяжитесь Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,simpl_chinese) "请联系 Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,slovak) "Obráťte sa na spoločnosť Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,slovenian) "Prosimo, pokličite programsko opremo Siemens PLM"
set lib_msg(0000,$lib_controller_message,spanish) "Por favor, póngase en contacto con Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,swedish) "Vänligen kontakta Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,trad_chinese) "請聯繫 Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,turkish) "Lütfen Siemens PLM Yazılımına başvurun."
if {$tcl_version < 8.4} {
array set lib_msg [LIB_GE_replace_special_characters [array get lib_msg] 4 0]
}

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MACHINE PRETREATMENT
FORMATTING
{
WORD_SEPARATOR " "
END_OF_LINE "\135"
SEQUENCE sequence_number 10 10 1 99999
FORMAT AbsCoord "&__5.3_"
FORMAT Coordinate "&__5.3_"
FORMAT Digit_2 "&_02_00"
FORMAT Digit_4 "&_04_00"
FORMAT Digit_5 "&__5_00"
FORMAT Dwell_SECONDS "&__5.3_"
FORMAT EventNum "&+03_00"
FORMAT Feed "&__7.2_"
FORMAT Feed_DPM "&__5.2_"
FORMAT Feed_FRN "&__5.3_"
FORMAT Feed_INV "&__5.3_"
FORMAT Feed_IPM "&__4.1_"
FORMAT Feed_IPR "&__1.4_"
FORMAT Feed_MMPM "&__5.0_"
FORMAT Feed_MMPR "&__2.3_"
FORMAT Hcode "&_02_00"
FORMAT Rev "&__4_00"
FORMAT Rotary "&__5.5_"
FORMAT String "%s"
FORMAT Tcode "&_02_00"
FORMAT Zero_int "&_01_0_"
FORMAT Zero_real "&_01.10"
ADDRESS N
{
FORMAT String
FORCE always
LEADER [$mom_sys_leader(N)]
}
ADDRESS G_motion
{
FORMAT String
FORCE off
LEADER [$mom_sys_leader(G)]
}
ADDRESS X
{
FORMAT Coordinate
FORCE always
LEADER [$mom_sys_leader(X)]
ZERO_FORMAT Zero_real
}
ADDRESS Y
{
FORMAT Coordinate
FORCE off
LEADER [$mom_sys_leader(Y)]
ZERO_FORMAT Zero_real
}
ADDRESS Z
{
FORMAT Coordinate
FORCE off
LEADER [$mom_sys_leader(Z)]
ZERO_FORMAT Zero_real
}
ADDRESS fourth_axis
{
FORMAT Rotary
FORCE off
LEADER [$mom_sys_leader(fourth_axis)]
ZERO_FORMAT Zero_real
}
ADDRESS fifth_axis
{
FORMAT Rotary
FORCE off
LEADER [$mom_sys_leader(fifth_axis)]
ZERO_FORMAT Zero_real
}
ADDRESS I
{
FORMAT Coordinate
FORCE always
LEADER [$mom_sys_leader(I)]
ZERO_FORMAT Zero_real
}
ADDRESS J
{
FORMAT Coordinate
FORCE always
LEADER [$mom_sys_leader(J)]
ZERO_FORMAT Zero_real
}
ADDRESS K
{
FORMAT Coordinate
FORCE always
LEADER [$mom_sys_leader(K)]
ZERO_FORMAT Zero_real
}
ADDRESS S
{
FORMAT Zero_int
FORCE always
LEADER "S"
}
BLOCK_TEMPLATE sequence_number
{
N[ ]
}
BLOCK_TEMPLATE sequence_number_turbo
{
N[ ]
}
BLOCK_TEMPLATE circular_move_turbo
{
G_motion[$mom_sys_circle_code(string)]
X[^POSX]
Y[^POSY]
Z[^POSZ]
fourth_axis[^POS4]
fifth_axis[^POS5]
S[$mom_spindle_speed]
}
BLOCK_TEMPLATE linear_move_turbo
{
G_motion[$mom_sys_linear_code]
X[^POSX]
Y[^POSY]
Z[^POSZ]
fourth_axis[^POS4]
fifth_axis[^POS5]
S[$mom_spindle_speed]
}
BLOCK_TEMPLATE rapid_move_turbo
{
G_motion[$mom_sys_rapid_code]
X[^POSX]
Y[^POSY]
Z[^POSZ]
fourth_axis[^POS4]
fifth_axis[^POS5]
S[$mom_spindle_speed]
}
BLOCK_TEMPLATE circular_move
{
G_motion[$mom_sys_circle_code(string)]
X[$mom_mcs_goto(0)]
Y[$mom_mcs_goto(1)]
Z[$mom_mcs_goto(2)]
fourth_axis[$mom_out_angle_pos(0)]
fifth_axis[$mom_out_angle_pos(1)]
S[$mom_spindle_speed]
}
BLOCK_TEMPLATE linear_move
{
G_motion[$mom_sys_linear_code]
X[$mom_mcs_goto(0)]
Y[$mom_mcs_goto(1)]
Z[$mom_mcs_goto(2)]
fourth_axis[$mom_out_angle_pos(0)]
fifth_axis[$mom_out_angle_pos(1)]
S[$mom_spindle_speed]
}
BLOCK_TEMPLATE rapid_move
{
G_motion[$mom_sys_rapid_code]
X[$mom_mcs_goto(0)]
Y[$mom_mcs_goto(1)]
Z[$mom_mcs_goto(2)]
fourth_axis[$mom_out_angle_pos(0)]
fifth_axis[$mom_out_angle_pos(1)]
S[$mom_spindle_speed]
}
BLOCK_TEMPLATE rapid_move_drill
{
G_motion[$mom_sys_rapid_code]
X[$mom_cycle_feed_to_pos(0)]
Y[$mom_cycle_feed_to_pos(1)]
Z[$mom_cycle_feed_to_pos(2)]
S[$mom_spindle_speed]
}
}

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machine/installed_machines/ABB_IRB_6640_235_255/postprocessor/ABB_RAPID/Libraries/lib_pretreatment.tcl Normal file
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####C#U#S#T#O#M##M#E#T#A##I#N#F#O#R#M#A#T#I#O#N##############################################
#
# Customer Data
#
# Company :
# Address :
# Contact person :
# Phone :
# Fax :
# Mail :
#
####S#T#A#R#T##C#H#A#N#G#E##H#I#S#T#O#R#Y####################################################
#
# Last changes: 01.02.2011 - UR 001 Initial Release and Installation
# 23.08.2013 - UR 002 Add keywords for comment lines (important, because automation respond)
# 03.09.2013 - UR 003 Releaseversion 1.0
# 09.10.2013 - COE 004 Changed setting of lib_ge_env(tmp_dir)
# 10.12.2013 - UR 005 Decomposing the basic functions
# 10.02.2014 - COE 006 Releaseversion 2.0
# 17.02.2014 - COE 007 Releaseversion 2.1
# 13.03.2014 - UR 008 Releaseversion 2.2
# 31.03.2014 - UR 009 Add lib_flag(PB_decontamination) to switch of PB support
# 31.03.2014 - UR 010 Releaseversion 2.3
# 11.04.2014 - UR 011 Releaseversion 2.3.1
# 12.05.2014 - UR 012 Releaseversion 2.3.2
# 18.05.2014 - UR 013 Add sourcing with the possibility of nesting folders
# 19.05.2014 - UR 014 Releaseversion 2.3.3
# 26.05.2014 - UR 015 Revision of the LIB_Shell_search_path_recursively routines when a blank is included in the path
# 16.06.2014 - COE 016 Releaseversion 2.3.4
# 16.06.2014 - UR 017 Add recursively sourcing for the pretreatment files
# 24.06.2014 - UR 018 Releaseversion 2.3.5
# 24.06.2014 - UR 019 Releaseversion 2.4
# 07.07.2014 - UR 020 Releaseversion 2.4.1
# 16.07.2014 - UR 021 Releaseversion 3.0
# 29.07.2014 - COE 022 LIB_Shell_environment_handling: lib_ge_env(installed_machines_dir,recursively)
# LIB_Shell_main: no longer call LIB_Shell_search_path_recursively
# 30.07.2014 - COE 023 Releaseversion 3.1
# 12.08.2014 - UR 024 Releaseversion 3.1.1
# 13.08.2014 - UR 025 Adopted revised texts from SPLM
# 13.08.2014 - UR 026 Releaseversion 3.2
# 13.08.2014 - UR 027 Releaseversion 3.2.1
# 15.08.2014 - COE 028 Adopt modifications SPLM
# 15.08.2014 - COE 029 Releaseversion 3.2.2
# 25.08.2014 - UR 030 Releaseversion 3.2.3
# 10.09.2014 - UR 031 Releaseversion 3.2.4
# 11.09.2014 - UR 032 Releaseversion 3.2.5
# 22.09.2014 - UR 033 Add property for "show where output comes from" and delete flag(show_where_output_comes_from)
# 29.09.2014 - COE 034 Releaseversion 3.2.6
# 13.10.2014 - COE 035 Releaseversion 3.2.7
# 21.10.2014 - COE 036 Releaseversion 3.2.8
# 04.11.2014 - COE 037 Releaseversion 3.2.9
# 11.11.2014 - UR 038 Modification of the complete post speed
# 13.11.2014 - UR 039 Modification of the complete post speed
# 21.11.2014 - COE 040 LIB_Shell_environment_handling: changde setting of lib_ge_env(installed_machines_dir,recursively)
# 28.11.2014 - COE 041 Releaseversion 3.2.10
# 22.12.2014 - UR 042 Releaseversion 3.3
# 22.12.2014 - UR 043 Releaseversion 3.3.1
# 05.01.2015 - UR 044 Releaseversion 3.3.2 and changed the Copyright
# 06.01.2015 - UR 045 Releaseversion 3.3.3
# 06.01.2015 - UR 046 Releaseversion 3.3.4
# 07.01.2015 - UR 047 Releaseversion 3.3.5
# 11.01.2015 - UR 048 Releaseversion 3.3.6
# 11.01.2015 - COE 049 Bugfix if the current directory has spaces
# 13.01.2015 - COE 050 Releaseversion 3.3.7
# 20.01.2015 - UR 051 Change file nativename and join to LIB_Shell_format_path_names to save runtime
# 25.01.2015 - UR 052 Releaseversion 3.3.8
# 28.01.2015 - UR 053 Bugfix at LIB_Shell_environment_handling to defined the base folder
# 03.02.2015 - UR 054 Correction if the PostConfigurator structure is used
# 09.02.2015 - UR 055 Releaseversion 3.3.9
# 02.03.2015 - COE 056 Releaseversion 3.4
# 12.03.2015 - UR 057 Releaseversion 3.4.1
# 16.03.2015 - UR 058 Releaseversion 3.4.2
# 30.03.2015 - UR 059 Releaseversion 3.4.3
# 20.04.2015 - COE 060 Releaseversion 3.4.4
# 28.04.2015 - COE 061 Releaseversion 3.4.5
# 15.06.2015 - UR 062 Releaseversion 3.4.6
# 15.06.2015 - UR 063 Change abort handling
# 16.06.2015 - UR 064 Releaseversion 3.4.7
# 22.06.2015 - UR 065 Releaseversion 3.4.8
# 21.07.2015 - UR 066 Releaseversion 3.4.9
# 28.07.2015 - COE 067 Releaseversion 3.4.10
# 11.08.2015 - COE 068 Releaseversion 3.4.11
# 16.08.2015 - UR 069 Save Time with Extended foreach Syntax e.g. foreach {a b c d e} [cmdReturningList] {break}
# Side note: accelerated runtime after the first index, for one index no improvement
# Comparing if Command exists now with LIB_GE_check_commands to wrote the values to an list once
# Modifications of the memory handling with Procedures K SK D unset! clear and set!, see http://wiki.tcl.tk/1923
# Removing unneeded characters and partially reformat
# 20.08.2015 - UR 070 Changed misspelling from adress to address (Bug #784)
# 20.08.2015 - UR 071 Releaseversion 3.4.12
# 21.08.2015 - UR 072 Releaseversion 3.4.13
# 24.08.2015 - COE 073 Releaseversion 3.5
# 04.09.2015 - COE 074 Releaseversion 3.5.1
# 07.09.2015 - COE 075 Releaseversion 3.5.2
# 08.09.2015 - COE 076 Releaseversion 3.5.3
# 13.09.2015 - UR 077 Performance improvement when examining whether a procedure exists and also to loading files
# 15.09.2015 - UR 078 Releaseversion 3.5.4
# 17.09.2015 - UR 079 Change the filename for the lib_ge_dll_version to lower case
# 21.09.2015 - UR 080 Releaseversion 3.6
# 29.09.2015 - UR 081 Releaseversion 3.6.1
# 30.09.2015 - UR 082 Releaseversion 3.6.2
# 05.10.2015 - UR 083 Releaseversion 3.6.3
# 26.10.2015 - UR 084 Releaseversion 3.6.4
# 27.10.2015 - UR 085 Releaseversion 3.6.5
# 18.12.2015 - COE 086 Releaseversion 3.6.6
# 13.01.2016 - UR 087 Releaseversion 3.6.7
# 25.02.2016 - UR 088 Releaseversion 3.6.8
# 07.03.2016 - UR 089 Releaseversion 3.6.9
# 24.03.2016 - COE 090 Releaseversion 3.6.10
# 13.04.2016 - UR 091 Releaseversion 3.6.11
# 20.04.2016 - UR 092 Releaseversion 3.6.12
# 28.04.2016 - UR 093 Releaseversion 3.7
# 29.04.2016 - UR 094 Releaseversion 3.7.1
# 15.05.2016 - COE 095 Releaseversion 3.7.2
# 15.05.2016 - COE 096 Releaseversion 3.7.3
# 17.05.2016 - COE 097 Releaseversion 3.7.4
# 23.05.2016 - COE 098 Releaseversion 3.7.5
# 27.06.2016 - MAN 099 Update internal documentation
# 15.08.2016 - UR 100 Releaseversion 4.0
# 24.08.2016 - UR 101 Releaseversion 4.0.1
# 04.09.2016 - COE 102 Releaseversion 4.0.2
# 05.09.2016 - COE 103 LIB_Shell_environment_handling: 'libraries', 'controller' and 'bin'
# all lowercase (we check it against the result of 'string tolower')
# (back to status of version 100)
# 05.09.2016 - COE 104 Releaseversion 4.0.3
# 08.09.2016 - UR 105 Releaseversion 4.0.4
# 22.09.2016 - UR 106 HISTORY-> Modifications to support now also Linux <-
# 24.09.2016 - UR 107 Releaseversion 4.0.5
# 25.09.2016 - UR 108 Releaseversion 4.1
# 27.09.2016 - UR 109 Releaseversion 4.1.1
# 04.10.2016 - UR 110 Releaseversion 4.1.2
# 24.10.2016 - UR 111 Releaseversion 4.1.3
# 17.11.2016 - MAN 112 Source also from UGII_POST_POOL_DIR_NG_CUSTOM
# 19.11.2016 - UR 113 Releaseversion 4.1.4
# 21.11.2016 - MAN 114 Remove again sourcing from UGII_POST_POOL_DIR_NG_CUSTOM
# 07.12.2016 - UR 115 Releaseversion 4.1.5
# 11.01.2017 - COE 116 Releaseversion 4.1.6
# 21.02.2017 - UR 117 Releaseversion 4.1.7
# 24.02.2017 - UR 118 Releaseversion 4.1.8
# 13.03.2017 - COE 119 Releaseversion 4.2
# 05.04.2017 - COE 120 Releaseversion 4.2.1
# 06.04.2017 - COE 121 Releaseversion 4.2.2
# 07.04.2017 - COE 122 Releaseversion 4.2.3
# 24.04.2017 - UR 123 Remove PUI settings and procedures
# 28.04.2017 - COE 124 Releaseversion 4.2.4
# 19.05.2017 - UR 125 Releaseversion 4.2.5
# 18.06.2017 - COE 126 Releaseversion 4.2.6
# 27.06.2017 - COE 127 Releaseversion 4.2.7
# 06.07.2017 - UR 128 Extension for the layer editor
# 31.07.2017 - UR 129 Releaseversion 4.2.8
# 01.08.2017 - UR 130 Bugfix if variable TEMP not exists within LINUX systems
# 02.08.2017 - UR 131 Releaseversion 4.2.9
# 31.08.2017 - UR 132 Add support for *.pcf
# 01.09.2017 - UR 133 Releaseversion 4.2.10
# 11.09.2017 - COE 134 Releaseversion 4.2.11
# 25.09.2017 - COE 135 Releaseversion 4.3
# 12.11.2017 - COE 136 Releaseversion 4.3.1
# 28.11.2017 - UR 137 Releaseversion 4.3.2
# 04.12.2017 - UR 138 Adding the process ID to all files that are traded through the preparation process
# 21.02.2018 - COE 139 Releaseversion 4.3.3
# 12.03.2018 - UR 140 File contents revised for TCL8.6 and converted to UTF-8
# 14.03.2018 - UR 141 Releaseversion 4.4
# 20.03.2018 - UR 142 Releaseversion 4.4.1
# 12.04.2018 - UR 143 Releaseversion 4.4.2
# 04.05.2018 - UR 144 Releaseversion 4.4.3
# 14.05.2018 - UR 145 Releaseversion 4.4.4
# 02.07.2018 - UR 146 Releaseversion 4.4.5
# 20.07.2018 - COE 147 Releaseversion 4.4.6
# 10.09.2018 - UR 148 Releaseversion 4.4.7
# 24.09.2018 - UR 149 Releaseversion 4.4.8
# 08.10.2018 - UR 150 Releaseversion 4.4.9
# 18.10.2018 - COE 151 Releaseversion 4.5
# 11.01.2019 - UR 152 Releaseversion 4.6.1
# 08.02.2019 - UR 153 Releaseversion 4.6.2
# 16.03.2019 - UR 154 Releaseversion 4.6.3
# 21.03.2019 - UR 155 Function revision so that the MOM Execute can also be loaded in versions >= 1847
# 28.03.2019 - COE 156 Releaseversion 4.7
# 11.04.2019 - UR 157 Releaseversion 4.7.1
# 18.04.2019 - UR 158 Releaseversion 4.7.2
# 07.05.2019 - UR 159 Releaseversion 5.0
# 08.07.2019 - UR 160 Releaseversion 5.0.1
# 31.07.2019 - UR 161 Releaseversion 5.0.2
# 16.08.2019 - COE 162 Releaseversion 5.0.3
# 21.08.2019 - COE 163 Releaseversion 5.1.0
# 20.09.2019 - COE 164 Releaseversion 5.2.0
# 06.11.2019 - UR 165 Releaseversion 5.2.3
# 27.12.2019 - UR 166 Releaseversion 5.2.4
# 31.01.2020 - COE 167 Releaseversion 5.2.5
# 02.03.2020 - UR 168 Releaseversion 5.2.6
# 19.03.2020 - COE 169 Releaseversion 5.2.7
# 25.03.2020 - COE 170 Releaseversion 5.3.0
# 23.04.2020 - UR 171 Bugfix set lib_ge_dll_version instead of dotnet_version
# 01.07.2020 - COE 172 Releaseversion 5.3.1
# 09.07.2020 - COE 173 Releaseversion 5.3.2
# 06.09.2020 - COE 174 Releaseversion 5.3.3
# 15.09.2020 - COE 175 Releaseversion 5.3.4
# 26.09.2020 - COE 176 Releaseversion 5.3.5
# 26.11.2020 - COE 177 Releaseversion 5.3.6
# 24.01.2021 - COE 178 Releaseversion 5.3.7
# 06.02.2021 - COE 179 Releaseversion 5.3.8
# 15.03.2021 - COE 180 Releaseversion 5.3.9
# 13.04.2021 - COE 181 Releaseversion 5.4.0
# 16.05.2021 - COE 182 Bug#2260: check UGII_TMP_DIR first, use system-env only as fallback
# 02.06.2021 - COE 183 Releaseversion 5.4.1
# 11.06.2021 - COE 184 Linux compatibility
# 21.07.2021 - COE 185 Releaseversion 5.4.2
# 03.09.2021 - COE 186 Releaseversion 5.4.3
# 07.09.2021 - COE 187 Releaseversion 5.4.4
# 29.09.2021 - COE 188 Releaseversion 5.5.0
# 25.10.2021 - COE 189 Releaseversion 5.5.1
# 24.11.2021 - COE 190 Releaseversion 5.5.2
# 19.02.2022 - COE 191 Releaseversion 5.5.3
# 06.03.2022 - COE 192 Releaseversion 5.5.4
# 08.04.2022 - COE 193 Releaseversion 5.5.5
# 13.07.2022 - COE 194 Releaseversion 5.5.6
# 07.09.2022 - COE 195 Releaseversion 5.5.7
# 24.09.2022 - COE 196 Releaseversion 5.5.8
# 15.01.2023 - COE 197 Releaseversion 23.01.0
# 14.03.2023 - COE 198 Releaseversion 23.03.0
# 07.04.2023 - COE 199 Releaseversion 23.04.0
# 14.07.2023 - COE 200 Releaseversion 23.07.0
# 14.09.2023 - COE 201 Releaseversion 23.09.0
# 09.10.2023 - ET 202 Releaseversion 23.10.0
# 10.12.2023 - COE 203 Releaseversion 23.12.0
# 19.01.2024 - COE 204 Releaseversion 24.01.0
# 21.03.2024 - COE 205 Releaseversion 24.03.0
# 13.08.2024 - COE 206 Releaseversion 24.08.0
# 22.08.2024 - COE 207 Releaseversion 24.08.1
# 16.09.2024 - COE 208 Releaseversion 24.09.0
# 24.09.2024 - ET 209 Releaseversion 24.09.1
# 27.12.2024 - COE 210 Releaseversion 24.12.0
# 02.04.2025 - COE 211 Releaseversion 25.04.0
#
#
#
#
#
#
#
#
#
#############################################################################################
# Copyright 2014-2024 Siemens Product Lifecycle Management Software Inc.
# All Rights Reserved.
#
####S#T#A#N#D#A#R#D##S#O#U#R#C#I#N#G#########################################################
#____________________________________________________________________________________________
#
# Procedure debugger
#____________________________________________________________________________________________
#
set lib_ge_debug(on) 0
set lib_ge_debug(proc_watch_list) "MOM* PPLIB* PROC*"
set lib_ge_debug(var_write_trace_list) "mom_group_name"
set lib_ge_debug(proc_watch_exclude_list) "MOM_SMART* MOM_evaluate_arg MOM_before_each_add_var MOM_before_load_address"
#____________________________________________________________________________________________
set lib_debug_source_of_proc_list ""
set lib_fh_do_after_output 0 ;#if set to 0 the posttreatment loop is suppressed
if {![info exists lib_ge_platform]} {
set lib_ge_temppath ""
if {[info commands MOM_ask_env_var] != ""} {
set lib_ge_temppath [MOM_ask_env_var UGII_TMP_DIR]
}
if {[string match "*windows*" $tcl_platform(platform)]} {
set lib_ge_platform 1
set lib_ge_slash "\\"
if {$lib_ge_temppath == ""} {
if {[info exists env(TEMP)]} {
set lib_ge_temppath $env(TEMP)
} elseif {[info exists env(TMP)]} {
set lib_ge_temppath $env(TMP)
}
}
} else {
set lib_ge_platform 0
set lib_ge_slash "/"
if {$lib_ge_temppath == ""} {
if {[info exists env(TMPDIR)]} {
set lib_ge_temppath $env(TMPDIR)
}
if {![string length $lib_ge_temppath]} {
set lib_ge_temppath "${lib_ge_slash}var${lib_ge_slash}tmp"
}
}
}
}
#____________________________________________________________________________________________
# <Internal Documentation>
#
# Handling for the default environment variables
#
# <Internal Example>
#
#____________________________________________________________________________________________
proc LIB_Shell_environment_handling {} {
global lib_ge_env lib_ge_slash lib_ge_installed_machines
set lib_ge_env(post_pool_dir) [LIB_Shell_format_path_names [MOM_ask_env_var "UGII_POST_POOL_DIR_NG"]]
set lib_ge_env(cam_post_dir) [LIB_Shell_format_path_names [MOM_ask_env_var "UGII_CAM_POST_DIR"]]
set lib_ge_env(tmp_dir) [LIB_Shell_format_path_names [MOM_ask_env_var "UGII_TMP_DIR"]]
if {$lib_ge_env(tmp_dir) == ""} {set lib_ge_env(tmp_dir) $::lib_ge_temppath}
if {[string match [string tolower [file tail [file dirname [info script]]]] "libraries"]} {
set lib_ge_installed_machines [file dirname [info script]]
} else {
set lib_ge_installed_machines [info script]
}
set lib_ge_env(installed_machines_dir) [LIB_Shell_format_path_names [file dirname $lib_ge_installed_machines]]
# Needed is searchpath activ, therefore info script is wrong
if {[file exists [LIB_Shell_format_path_names "$lib_ge_env(tmp_dir)${lib_ge_slash}pretreatment_script.tcl"]]} {source [LIB_Shell_format_path_names "$lib_ge_env(tmp_dir)${lib_ge_slash}pretreatment_script.tcl"]}
set lib_ge_env(installed_machines_dir,recursively) ""
lappend lib_ge_env(installed_machines_dir,recursively) $lib_ge_env(installed_machines_dir)
set current_dir [pwd]
if {![catch {cd [lindex $lib_ge_env(installed_machines_dir,recursively) 0]}]} {
if {![catch {set dir [string tolower [glob *]]}]} {
foreach e {libraries controller bin} {
set index [lsearch -exact $dir $e]
if {$index > -1} {
set directory [lindex $dir $index]
set directory [string toupper [string index $directory 0]][string range $directory 1 end]
lappend lib_ge_env(installed_machines_dir,recursively) [LIB_Shell_format_path_names "[lindex $lib_ge_env(installed_machines_dir,recursively) 0]$lib_ge_slash$directory"]
}
}
}
}
cd $current_dir
if {![regexp -nocase -- {\w+} $lib_ge_env(post_pool_dir)]} {set lib_ge_env(post_pool_dir) $lib_ge_env(installed_machines_dir)}
set lib_ge_env(version_bit) [MOM_ask_env_var "UGII_VERSION_BIT"]
set lib_ge_env(base_dir) [MOM_ask_env_var "UGII_BASE_DIR"]
set lib_ge_env(compatible_base_release_version) [MOM_ask_env_var "NX_COMPATIBLE_BASE_RELEASE_VERSION"]
set lib_ge_env(major_version) [MOM_ask_env_var "UGII_MAJOR_VERSION"]
set lib_ge_env(minor_version) [MOM_ask_env_var "UGII_MINOR_VERSION"]
set lib_ge_env(subminor_version) [MOM_ask_env_var "UGII_SUBMINOR_VERSION"]
if {![info exists lib_ge_dll_version]} {global lib_ge_dll_version}
if {$lib_ge_env(minor_version) > 0} {
set lib_ge_dll_version "nx$lib_ge_env(major_version)$lib_ge_env(minor_version)"
} else {
set lib_ge_dll_version "nx$lib_ge_env(major_version)"
}
if {[llength $lib_ge_env(compatible_base_release_version)] > 0} {set lib_ge_dll_version "nx$lib_ge_env(compatible_base_release_version)"}
if {[string match "*windows*" $::tcl_platform(platform)]} {
regsub -all "/" $lib_ge_env(base_dir) "\\" lib_ge_env(base_dir)
}
}
#____________________________________________________________________________________________
# <Internal Documentation>
#
# This procedure may be used to format pathnames from unix format in windows
# format and delete double backslash
#
# Output:
# D:\Temp\mom\debug.out or \\Server\Temp\mom\debug.out
#
# e.g.
# set error [LIB_Shell_format_path_names "D:/Temp/mom/debug.out"]
#
# <Example>
# set error [LIB_Shell_format_path_names "D:/Temp/mom/debug.out"]
#____________________________________________________________________________________________
proc LIB_Shell_format_path_names {pathname} {
global lib_ge_slash lib_ge lib_ge_platform
regsub -all "/" $pathname "\\" pathname
binary scan $pathname H* pathbin
if {[info exists lib_ge(format_path,$pathbin,0,0,0)]} {
return $lib_ge(format_path,$pathbin,0,0,0)
}
if {[regexp -nocase -- {^[\\\\]|^[\/\/]} $pathname]} {
regsub -all "/" $pathname "\\" pathname
}
if {$lib_ge_platform} {
regsub -all "/" $pathname "\\" pathname
if {![regexp -nocase -- {^\\\\} $pathname]} {set unc 0} else {set unc 1}
while {[regsub -- "(?q)\\\\" $pathname "\\" pathname]} {}
if {$unc} {set pathname "\\$pathname"}
} elseif {!$lib_ge_platform} {
regsub -all "\\\\" $pathname "/" pathname
if {![regexp -nocase -- {^//} $pathname]} {set unc 0} else {set unc 1}
while {[regsub -- "(?q)//" $pathname "/" pathname]} {}
if {$unc} {set pathname "/$pathname"}
}
set lib_ge(format_path,$pathbin,0,0,0) [string trim $pathname]
return $lib_ge(format_path,$pathbin,0,0,0)
}
#____________________________________________________________________________________________
# <Internal Documentation>
#
# Abort postrun
#
# <Internal Example>
#
#____________________________________________________________________________________________
proc LIB_Shell_abort {message} {
MOM_output_to_listing_device $message
MOM_log_message $message
MOM_abort $message
}
#____________________________________________________________________________________________
# <Internal Documentation>
#
# Handling for the main shell
#
# <Internal Example>
#
#____________________________________________________________________________________________
proc LIB_Shell_main {} {
global lib_ge_env lib_ge_slash
global lib_cycle_path sourcefile
LIB_Shell_environment_handling
lappend ::lib_ge_monitored_files [LIB_Shell_format_path_names [info script]]
if {[info commands LIB_GE_source] == ""} {
set lib_cycle_path 0
set searchpath $lib_ge_env(installed_machines_dir,recursively)
lappend searchpath $lib_ge_env(post_pool_dir)
foreach path $searchpath {
if {$lib_cycle_path} {break}
foreach ext {.tcl .tbc .pcf} {
set sourcefile [LIB_Shell_format_path_names "$path${lib_ge_slash}lib_sourcing$ext"]
if {[file exists $sourcefile]} {
if {[string match ".tbc" $ext]} {
LIB_Shell_abort "ByteCode Loader is not available, cannot process lib_sourcing$ext"
}
uplevel #0 {
set err ""
if {$tcl_version >= 8.6 && [catch {source -encoding utf-8 $sourcefile} err]} {
if {[info exists ::errorInfo]} {MOM_output_to_listing_device "errorInfo $::errorInfo"}
LIB_Shell_abort "File lib_sourcing $err not loadable"
}
if {$tcl_version < 8.6 && [catch {source $sourcefile} err]} {
if {[info exists ::errorInfo]} {MOM_output_to_listing_device "errorInfo $::errorInfo"}
LIB_Shell_abort "File lib_sourcing $err not loadable"
}
if {[string length $err] > 0} {
set lib_ge_debug(lib_sourcing) "$sourcefile"
lappend lib_ge_monitored_files "$sourcefile"
lappend lib_ge_log_message "\n--> $sourcefile loaded"
set lib_cycle_path 1 ; break
}
}
}
}
}
if {!$lib_cycle_path} {
LIB_Shell_abort "File lib_sourcing not found"
}
}
LIB_Shell_init
}
#____________________________________________________________________________________________
# <Internal Documentation>
#
# Handling for the default environment variables
#
# <Internal Example>
#
#____________________________________________________________________________________________
proc LIB_Shell_defined_post_environment {} {
global lib_ge_env lib_ge_slash lib_pp_source_file
#____________________________________________________________________________________________
#
# NX Post, load files
#____________________________________________________________________________________________
#
# There are different ways to source each files
#
# e.g. Befor LIB_GE_source call
# lappend lib_pp_source_file "machine,UGII_CAM_POST_DIR"
#
# e.g. After LIB_GE_source call
# LIB_GE_source "Test" "C:/Temp/;d:/tmp/"
#
# e.g. To define a searchpath
# LIB_GE_source "" "C:/Temp/;UGII_CAM_POST_DIR"
# Allowed is the direct path and/or variable
# This is the call the PB post LIB_GE files
# ** internal funktion / Don't remove this line **
if {[file exists "$lib_ge_env(tmp_dir)${lib_ge_slash}pt_source_list_[pid].tcl"]} {
LIB_GE_source pt_source_list_[pid] "$lib_ge_env(tmp_dir)${lib_ge_slash}" ".tcl" 0 0 "RUNTIME"
LIB_GE_source lib_pretreatment_post
} else {
lappend lib_pp_source_file "ugpost_base" "lib_msg" "lib_file_handling" "lib_standard_post_func" "lib_document" "lib_pretreatment_post"
LIB_GE_source
}
}
LIB_Shell_main
####S#T#A#R#T##C#U#S#T#O#M##M#O#D#I#F#I#C#A#T#I#O#N#S########################################
####E#N#D##C#U#S#T#O#M##M#O#D#I#F#I#C#A#T#I#O#N#S############################################
#############################################################################################
# This is to debug
#############################################################################################
if {[info commands LIB_GE_debug] != ""} {LIB_GE_debug}

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##############################################################################
# File: RoboticRulesUserDefinitions.py
# Description
# This file contains the machine or controller specific code for the tool path processing
# 12-Nov-2020 Support Tape Layup device
#
#
# ================================================================
import sys
import math
import os
import NXOpen
import NXOpen.CAM
# This script assumes that all symbols from RoboticRulesSystemDefinitions.py have been imported already
# This is usually achieved by loading both RoboticRulesSystemDefinitions.py and this file using special code
# from RoboticToolpathProcessor import *
# Define a new simple robotic calculator that computes some process parameters
class SampleProcessParameterRoboticDataCalculator(SingleUdeRoboticDataCalculator):
""" Just a sample calculator to set process parameters.
It sets a value of 1 to all toolpath locations that are close to a specified point.
"""
def __init__(self):
# name of the input UDE
SingleUdeRoboticDataCalculator.__init__(self, "robot_mark_point_sample")
# input parameter names
self.paramName_Point = "point"
self.paramName_Distance = "distance"
# output parameter name
self.paramNameLocationData_SampleParameter = "sample_processparameter"
# strings to show to the user
uiLabels = {
self.inputUdeName: "Robot Mark Point Sample",
self.paramName_Point: "Point",
self.paramName_Distance: "Distance",
self.paramNameLocationData_SampleParameter: "Sample Motion Data Param"}
# Input UDE definition
self.inputUdeDefinition = UdeDefinition(self.inputUdeName, uiLabels)
self.inputUdeDefinition.AddUdeParameter(UdeParameterPoint(self.paramName_Point, uiLabels))
self.inputUdeDefinition.AddUdeParameter(UdeParameterDouble(self.paramName_Distance,uiLabels, 0.0))
# Output UDE definition
self.locationDataUdeDefinition = UdeDefinition("", "")
self.locationDataUdeDefinition.AddUdeParameter(UdeParameterInt(self.paramNameLocationData_SampleParameter, uiLabels, 0))
def HandleSingleInputUde(self, ude):
# Read the parameters of the input ude
p = ude.GetParameter(self.paramName_Point).Point
if p == None:
raise ToolPathProcessingException("Parameter " + self.paramName_Point + " is not defined")
self.point = p.Coordinates
self.distance = ude.GetParameter(self.paramName_Distance).DoubleValue
def ProcessLocationDataUde(self, input, ude):
if self.HasInputUde(): # do only something if the operation has the input ude
inputPos = input.CurrentLocation.Position
curDistance = RobotMath_Distance(inputPos,self.point)
# calculate the output ude parameter
if curDistance < self.distance:
ude.GetParameter(self.paramNameLocationData_SampleParameter).IntegerValue = 1
else:
ude.GetParameter(self.paramNameLocationData_SampleParameter).IntegerValue = 0
def RoboticRulesScript_GetCalculators(addAll: bool) -> tuple:
"""Compute the calculators for the current cell.
param addAll: If true all calculators are added, even those that do not work for the current kinematic.
returns: a tuple of (calculator, externalAxisList) """
# define the list of external axes
railAxisName = "RAIL"
railAxisName2 = "Z_RAIL"
positionerAxisName = "POSITIONER"
drillingAxisName = "QUILL"
tapeAxisName = "TAPE_ROTARY"
extruder1AxisName = "EXTRUDER1_LINEAR"
extruder2AxisName = "EXTRUDER2_LINEAR"
allExternalAxes = [positionerAxisName, railAxisName, railAxisName2, drillingAxisName, tapeAxisName, extruder1AxisName, extruder2AxisName]
validExternalAxes = []
for i in range(len(allExternalAxes)):
if KinUtils_HasAxis(allExternalAxes[i]):
validExternalAxes.append(allExternalAxes[i])
externalAxes = []
if addAll:
externalAxes = allExternalAxes
else:
externalAxes = validExternalAxes
# Define which calculators should be used
calc = CompoundRoboticDataCalculator()
calc.ChildCalculators.append(ConfigurationRoboticDataCalculator())
calc.ChildCalculators.append(ParkingPositionRoboticDataCalculator(externalAxes))
calc.ChildCalculators.append(ParkingPositionReuseRoboticDataCalculator(externalAxes))
calc.ChildCalculators.append(SampleProcessParameterRoboticDataCalculator())
positionerAxisData = []
if KinUtils_HasAxis(positionerAxisName):
axisData = KinUtils_GetAxisData(positionerAxisName)
positionerAxisData.append(axisData)
calc.ChildCalculators.append(PositionerRoboticDataCalculator(axisData))
elif addAll:
axisData = AxisData(positionerAxisName, NXOpen.Vector3d(1.0,0.0,0.0), True)
calc.ChildCalculators.append(PositionerRoboticDataCalculator(axisData))
calc.ChildCalculators.append(ToolOrientationRoboticDataCalculator(positionerAxisData))
calc.ChildCalculators.append(RobotFindingResolver(validExternalAxes))
calc.ChildCalculators.append(TapeLayingRoboticDataCalculator([tapeAxisName, extruder1AxisName, extruder2AxisName]))
calc.ChildCalculators.append(DrillingDeviceRoboticDataCalculator(drillingAxisName))
if KinUtils_HasAxis(railAxisName):
railAxisDir = KinUtils_GetAxisDirection(railAxisName)
railAxisPos = KinUtils_GetPointOnAxis(railAxisName)
railAxisLimits = KinUtils_GetAxisLimits(railAxisName)
calc.ChildCalculators.append(RailRoboticDataCalculator(railAxisName, railAxisPos, railAxisDir, railAxisLimits))
elif addAll:
calc.ChildCalculators.append(RailRoboticDataCalculator(railAxisName, NXOpen.Vector3d(1.0,0.0,0.0), NXOpen.Vector3d(1.0,0.0,0.0), (0.0,1.0)))
if KinUtils_HasAxis(railAxisName2):
railAxisDir = KinUtils_GetAxisDirection(railAxisName2)
railAxisPos = KinUtils_GetPointOnAxis(railAxisName2)
railAxisLimits = KinUtils_GetAxisLimits(railAxisName2)
calc.ChildCalculators.append(RailRoboticDataCalculator2(railAxisName2, railAxisPos, railAxisDir, railAxisLimits))
elif addAll:
calc.ChildCalculators.append(RailRoboticDataCalculator2(railAxisName2, NXOpen.Vector3d(1.0,0.0,0.0), NXOpen.Vector3d(1.0,0.0,0.0), (0.0,1.0)))
if addAll:
# add the calculators that exist only to write CDL file text
calc.ChildCalculators.append(RobotZonesDefineUdeCalculator())
calc.ChildCalculators.append(OlpCommandDefineUdeCalculator())
calc.ChildCalculators.append(OlpCommandMultiLineDefineUdeCalculator(10))
calc.ChildCalculators.append(PayloadDataDefineUdeCalculator())
calc.ChildCalculators.append(ToolPathOlpCommandsDefineUdeCalculator())
calc.ChildCalculators.append(RobotMountComponentDefineUdeCalculator())
return (calc, externalAxes)
# Uncomment this function to implement your own main function
# The function should parse the argument list and return with true if it
# handled the call. If it returns false the caller will try to parse the arguments.
# def RoboticRulesScript_Main2(args):
# NXOpen.Session.GetSession().LogFile.WriteLine("Main called")
# return True

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*
* Robot name : ABB S4 robots
* Controller : S4
* Date create : 05 Aug 2014
*
* Comments: .e file for the ABB IRB6640_235_255, including the J3 joint
*
* Description :
*
* CONFIGURATION DATA:
*
config_family cf_over_head_neg;
joint_config_family j3 joint_cf_elbow_up;
joint_config_family j6 joint_cf_sin_pos;
joint_config_family j5 joint_cf_pos;
default_turns j4 0 -180.0, j6 0 -180.0;

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ABB RAPID MW,${UGII_CAM_LIBRARY_INSTALLED_MACHINES_DIR}ABB_IRB_6640_235_255_MW\postprocessor\ABB_RAPID\ABB_RAPID_post.tcl,${UGII_CAM_LIBRARY_INSTALLED_MACHINES_DIR}ABB_IRB_6640_235_255_MW\postprocessor\ABB_RAPID\ABB_RAPID_post.def

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MACHINE Default
INCLUDE {
$POST_LIB_CURRENT_MACH_DIR/nx_olp_util_base.def
$POST_LIB_CURRENT_MACH_DIR/../../robots/Robotics.cdl
$POST_LIB_CURRENT_MACH_DIR/Controller/ABB_RAPID_ctrl.def
}

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<?xml version="1.0" encoding="UTF-8"?>
<Configuration>
<Copyright>Siemens Digital Industry Software</Copyright>
<Version>2.0</Version>
<MachineName>ABB_RAPID</MachineName>
<Sourcing>
<Sequence>
<Layer Name="Libraries" ReadOnly="true" SubFolder="Libraries">
<Copyright>Siemens Digital Industry Software</Copyright>
<Template>${UGII_CAM_RESOURCE_DIR}post_configurator/post_template/libraries/libraries.psl</Template>
<Version>1.00</Version>
<Order>1001</Order>
<Scripts>
<Filename Name="lib_sourcing" Processing="auto"/>
<Filename Name="lib_general" Processing="auto"/>
<Filename Name="lib_xml_handling" Processing="auto"/>
<Filename Name="lib_msg" Processing="true"/>
<Filename Name="lib_file_handling" Processing="true"/>
<Filename Name="lib_standard_post_func" Processing="true"/>
<Filename Name="lib_document" Processing="true"/>
<Filename Include="pretreatment" Name="lib_pretreatment" Processing="auto"/>
<Filename Include="pretreatment" Name="lib_pretreatment_post" Processing="auto"/>
</Scripts>
<DefinedEvents>
<Filename Include="pretreatment" Name="lib_pretreatment" Processing="auto"/>
</DefinedEvents>
<CustomerDialogs>
</CustomerDialogs>
<Functions>
</Functions>
<Comments>
<Comment>
<User>Siemens Digital Industry Software</User>
<Date>01.01.2019 12:00:00</Date>
<Text>Initial generated by Post Configurator</Text>
</Comment>
</Comments>
</Layer>
<Layer Name="Robotic Standard Layer" ReadOnly="false">
<Copyright>Siemens Digital Industry Software</Copyright>
<Template>${UGII_CAM_RESOURCE_DIR}post_configurator/post_template/nx_olp_util/robotic_standard_layer.psl</Template>
<Version>1.00</Version>
<Order>1999</Order>
<Scripts>
<Filename Name="nx_olp_util_init" Processing="true"/>
<Filename Name="nx_olp_util_robot_init" Processing="true"/>
<Filename Name="nx_olp_util_maths" Processing="true"/>
<Filename Name="nx_olp_util_robotics" Processing="true"/>
<Filename Name="nx_olp_util_cse_simulation_ini" Processing="true"/>
</Scripts>
<DefinedEvents>
<Filename Include="true" Name="nx_olp_util_base" Processing="true"/>
</DefinedEvents>
<CustomerDialogs>
<Filename Name="Robotics" Processing="true"/>
</CustomerDialogs>
<Functions>
</Functions>
<Comments>
<Comment>
<User>Siemens Digital Industry Software</User>
<Date>01.01.2019 12:00:00</Date>
<Text>Initial generated by Post Configurator</Text>
</Comment>
</Comments>
</Layer>
<Layer Name="ABB RAPID Layer" ReadOnly="false">
<Copyright>Siemens Digital Industry Software</Copyright>
<Template>${UGII_CAM_RESOURCE_DIR}post_configurator/post_template/controller/ABB_RAPID/base/ABB_RAPID_base.psl</Template>
<Version>1.00</Version>
<Order>8002</Order>
<Scripts>
<Filename Name="ABB_RAPID_ctrl" Processing="true"/>
<Filename Name="ABB_RAPID_ctrl_msg" Processing="true"/>
<Filename Name="ABB_RAPID_user_custom" Processing="true"/>
</Scripts>
<DefinedEvents>
<Filename Name="ABB_RAPID_ctrl" Processing="true"/>
</DefinedEvents>
<CustomerDialogs>
</CustomerDialogs>
<Functions>
</Functions>
<Comments>
<Comment>
<User>Siemens Digital Industry Software</User>
<Date>01.01.2019 12:00:00</Date>
<Text>Initial generated by Post Configurator</Text>
</Comment>
</Comments>
</Layer>
<Layer Name="Customer" ReadOnly="true">
<Copyright>Siemens Digital Industry Software</Copyright>
<Version>1.00</Version>
<Order>9001</Order>
<Scripts>
<Filename Name="ABB_RAPID_post_custom" Processing="true"/>
</Scripts>
<DefinedEvents>
</DefinedEvents>
<CustomerDialogs>
</CustomerDialogs>
<Functions>
</Functions>
<Comments>
<Comment>
<User>Siemens Digital Industry Software</User>
<Date>01.01.2019 12:00:00</Date>
<Text>Initial generated by Post Configurator</Text>
</Comment>
</Comments>
</Layer>
</Sequence>
</Sourcing>
<History>
<Comments>
<Comment>
<User>xd2oht</User>
<Date>21.07.2020 11:55:25</Date>
<Text>Initial generated by Post Configurator</Text>
</Comment>
<Comment>
<User>xd2oht</User>
<Date>21.07.2020 11:55:25</Date>
<Text>Postprocessor successfully upgraded from version 4.7.1 to version 5.3.0</Text>
</Comment>
</Comments>
<Customer>
<Company/>
<Address/>
<Contact/>
<Phone/>
<Fax/>
<Mail/>
</Customer>
</History>
<Units>Millimeters and Inches</Units>
</Configuration>

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# this file is intentionally left empty

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#############################################################################################
#
# Customer Data
#
# Company :
# Address :
# Contact person :
# Phone :
# Fax :
# Mail :
#
#############################################################################################
#
# Copyright 2014-2019 Siemens Product Lifecycle Management Software Inc.
# All Rights Reserved.
#
#############################################################################################
#____________________________________________________________________________________________
#
# Procedure debugger
#____________________________________________________________________________________________
#
set lib_ge_debug(on) 0
set lib_ge_debug(proc_watch_list) "MOM* PPLIB* PROC*"
set lib_ge_debug(var_write_trace_list) "mom_group_name"
set lib_ge_debug(proc_watch_exclude_list) "MOM_SMART* MOM_evaluate_arg MOM_before_each_add_var MOM_before_load_address"
#____________________________________________________________________________________________
set lib_debug_source_of_proc_list ""
if {![info exists lib_ge_platform]} {
if {[string match "*windows*" $tcl_platform(platform)]} {
set lib_ge_platform 1
set lib_ge_slash "\\"
if {[info exists env(TEMP)]} {
set lib_ge_temppath $env(TEMP)
} elseif {[info exists env(TMP)]} {
set lib_ge_temppath $env(TMP)
}
} else {
set lib_ge_platform 0
set lib_ge_slash "/"
if {[info exists env(TMPDIR)]} {
set lib_ge_temppath $env(TMPDIR)
}
if {![string length $lib_ge_temppath]} {
set lib_ge_temppath "${lib_ge_slash}var${lib_ge_slash}tmp"
}
}
}
if {![info exists lib_ge_env(tmp_dir)]} {
set lib_ge_env(tmp_dir) [MOM_ask_env_var "UGII_TMP_DIR"]
}
if {![string length $lib_ge_env(tmp_dir)]} {
set lib_ge_env(tmp_dir) $lib_ge_temppath
}
#____________________________________________________________________________________________
# <Documentation>
#
# Handling for the default environment variables
#
# <Example>
#
#____________________________________________________________________________________________
proc LIB_Shell_environment_handling {} {
eval global [uplevel #0 info vars]
# Language file and OS specific values
if {![info exists lib_ge_slash]} {global lib_ge_slash}
if {![info exists lib_ge_env]} {global lib_ge_env}
set lib_ge_env(post_pool_dir) [LIB_Shell_format_path_names [MOM_ask_env_var "UGII_POST_POOL_DIR_NG"]]
set lib_ge_env(cam_post_dir) [LIB_Shell_format_path_names [MOM_ask_env_var "UGII_CAM_POST_DIR"]]
set lib_ge_env(tmp_dir) [LIB_Shell_format_path_names [MOM_ask_env_var "UGII_TMP_DIR"]]
if {$lib_ge_env(tmp_dir) == ""} {set lib_ge_env(tmp_dir) $lib_ge_temppath}
global lib_ge_installed_machines
set lib_ge_installed_machines [info script]
set lib_ge_env(installed_machines_dir) [LIB_Shell_format_path_names [file dirname $lib_ge_installed_machines]]
set lib_ge_env(installed_machines_dir,recursively) ""
lappend lib_ge_env(installed_machines_dir,recursively) $lib_ge_env(installed_machines_dir)
set current_dir [pwd]
if {![catch {cd [lindex $lib_ge_env(installed_machines_dir,recursively) 0]}]} {
if {![catch {set dir [string tolower [glob *]]}]} {
foreach e {libraries controller bin} {
set index [lsearch -exact $dir $e]
if {$index > -1} {
set directory [lindex $dir $index]
set directory [string toupper [string index $directory 0]][string range $directory 1 end]
lappend lib_ge_env(installed_machines_dir,recursively) [LIB_Shell_format_path_names "[lindex $lib_ge_env(installed_machines_dir,recursively) 0]$lib_ge_slash$directory"]
}
}
}
}
cd $current_dir
if {![regexp -nocase -- {\w+} $lib_ge_env(post_pool_dir)]} {set lib_ge_env(post_pool_dir) $lib_ge_env(installed_machines_dir)}
set lib_ge_env(version_bit) [MOM_ask_env_var "UGII_VERSION_BIT"]
set lib_ge_env(base_dir) [MOM_ask_env_var "UGII_BASE_DIR"]
set lib_ge_env(major_version) [MOM_ask_env_var "UGII_MAJOR_VERSION"]
set lib_ge_env(minor_version) [MOM_ask_env_var "UGII_MINOR_VERSION"]
set lib_ge_env(subminor_version) [MOM_ask_env_var "UGII_SUBMINOR_VERSION"]
if {![info exists lib_ge_dll_version]} {global lib_ge_dll_version}
if {$lib_ge_env(minor_version) > 0} {
set lib_ge_dll_version "nx$lib_ge_env(major_version)$lib_ge_env(minor_version)"
} else {
set lib_ge_dll_version "nx$lib_ge_env(major_version)"
}
regsub -all "/" $lib_ge_env(base_dir) "\\" lib_ge_env(base_dir)
}
#____________________________________________________________________________________________
# <Internal Documentation>
#
# This procedure may be used to format pathnames from unix format in windows
# format and delete double backslash
#
# Output:
# D:\Temp\mom\debug.out or \\Server\Temp\mom\debug.out
#
# e.g.
# set error [LIB_Shell_format_path_names "D:/Temp/mom/debug.out"]
#
# <Example>
# set error [LIB_Shell_format_path_names "D:/Temp/mom/debug.out"]
#____________________________________________________________________________________________
proc LIB_Shell_format_path_names {pathname} {
global lib_ge lib_ge_platform
binary scan $pathname H* pathbin
if {[info exists lib_ge(format_path,$pathbin,0,0,0)]} {
return $lib_ge(format_path,$pathbin,0,0,0)
}
if {[regexp -nocase -- {^[\\\\]|^[\/\/]} $pathname]} {
regsub -all "/" $pathname "\\" pathname
}
if {$lib_ge_platform} {
regsub -all "/" $pathname "\\" pathname
if {![regexp -nocase -- {^\\\\} $pathname]} {set unc 0} else {set unc 1}
while {[regsub -- "(?q)\\\\" $pathname "\\" pathname]} {}
if {$unc} {set pathname "\\$pathname"}
} elseif {!$lib_ge_platform} {
regsub -all "\\\\" $pathname "/" pathname
if {![regexp -nocase -- {^//} $pathname]} {set unc 0} else {set unc 1}
while {[regsub -- "(?q)//" $pathname "/" pathname]} {}
if {$unc} {set pathname "/$pathname"}
}
set lib_ge(format_path,$pathbin,0,0,0) [string trim $pathname]
return $lib_ge(format_path,$pathbin,0,0,0)
}
#____________________________________________________________________________________________
# <Documentation>
#
# Handling for the main shell
#
# <Example>
#
#____________________________________________________________________________________________
proc LIB_Shell_main {} {
global lib_ge_env lib_ge_slash
global lib_cycle_path sourcefile
LIB_Shell_environment_handling
lappend ::lib_ge_monitored_files [LIB_Shell_format_path_names [info script]]
if {[info commands LIB_GE_source] != "LIB_GE_source"} {
set lib_cycle_path 0
set searchpath $lib_ge_env(installed_machines_dir,recursively)
lappend searchpath $lib_ge_env(post_pool_dir)
foreach path $searchpath {
if {$lib_cycle_path} {break}
foreach ext {.tcl .tbc} {
set sourcefile [LIB_Shell_format_path_names "$path${lib_ge_slash}lib_sourcing$ext"]
if {[file exists $sourcefile]} {
if {[string match ".tbc" $ext]} {
MOM_output_to_listing_device "ByteCode Loader is not available, cannot process lib_sourcing$ext (Provid this file not encrypted)"
MOM_log_message "ByteCode Loader is not available, cannot process lib_sourcing$ext (Provid this file not encrypted)"
MOM_abort "ByteCode Loader is not available, cannot process lib_sourcing$ext (Provid this file not encrypted)"
}
uplevel #0 {
if {$::tcl_version >= 8.6} {
if {[catch {source -encoding utf-8 $sourcefile} err]} {
set lib_source_error 1
}
} else {
if {[catch {source $sourcefile} err]} {
set lib_source_error 1
}
}
if {[info exists lib_source_error] && $lib_source_error == 1} {
if {[info exists ::errorInfo]} {MOM_output_to_listing_device "errorInfo $errorInfo"}
MOM_output_to_listing_device "File lib_sourcing $err not loadable"
MOM_log_message "File lib_sourcing $err not loadable"
MOM_abort "File lib_sourcing not loadable"
} else {
set lib_ge_debug(lib_sourcing) "$sourcefile"
lappend lib_ge_monitored_files "$sourcefile"
lappend lib_ge_log_message "\n--> $sourcefile loaded"
set lib_cycle_path 1 ; break
}
}
}
}
}
if {!$lib_cycle_path} {
MOM_output_to_listing_device "File lib_sourcing not found"
MOM_log_message "File lib_sourcing not found"
MOM_abort "File lib_sourcing not found"
}
}
LIB_Shell_init
}
#____________________________________________________________________________________________
# <Documentation>
#
# Handling for the default environment variables
#
# <Example>
#
#____________________________________________________________________________________________
proc LIB_Shell_defined_post_environment {} {
global lib_pp_source_file lib_shell
#____________________________________________________________________________________________
#
# NX Post, load files
#____________________________________________________________________________________________
#
# There are different ways to source each files
#
# e.g. Befor LIB_GE_source call
# lappend lib_pp_source_file "machine,UGII_CAM_POST_DIR"
#
# e.g. After LIB_GE_source call
# LIB_GE_source "Test" "C:/Temp/;d:/tmp/"
#
# e.g. To define a searchpath
# LIB_GE_source "" "C:/Temp/;UGII_CAM_POST_DIR"
# Allowed is the direct path and/or variable
# This is the call for PB post files
# ** internal funktion / Don't remove this line **
set lib_pp_source_file ""
# This is the call the PB post LIB_GE files
# ** internal funktion / Don't remove this line **
lappend lib_pp_source_file "lib_msg" "lib_file_handling" "lib_standard_post_func" "lib_document"
# If a XML-file with the same file name found, the referenced files will also loaded
LIB_Shell_external_source
if {![info exists lib_shell(load_loader)] || $lib_shell(load_loader)} {
lappend lib_pp_source_file "[file tail [file rootname $::lib_ge_installed_machines]]_custom"
} else {
MOM_log_message "Custom level isn't loaded"
}
#############################################################################################
}
LIB_Shell_main
#############################################################################################
#############################################################################################
#############################################################################################
# This is to debug
#############################################################################################
if {[llength [info commands LIB_GE_debug]]} {LIB_GE_debug}

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machine/installed_machines/ABB_IRB_6640_235_255_MW/postprocessor/ABB_RAPID/ABB_RAPID_user_custom.tcl Normal file
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#
# ABB_RAPID Post Processor - User Customization File
#
# This file can be used to:
# - define addition user Post Configurator options (see Post Configurator doc)
# - override the default MoveJ/MoveL motion instruction
# - implement specific actions at dedicated MOM event entry points
#
#
# Version $Id: ABB_RAPID_user_custom.tcl,v 1.9 2019/10/18 15:42:10 mchoucroun Exp $
#
#----------------------------------------------------------------------
proc ABB_activate_read_ahead {} {
# This routine can be used to override the default value
# To uncomment in order to Activate read-ahead and access mom_nxt_motion_type
#----------------------------------------------------------------------
#global mom_kin_read_ahead_next_motion
# set mom_kin_read_ahead_next_motion 1
}
#----------------------------------------------------------------------
proc ABB_do_motion_template {sDefaultTemplate} {
# This routine can be used to override the default motion instruction.
# 'sDefaultTemplate': default block template to generate the motion line
# abb_curr_motion_type = AbsJ or J or L
#----------------------------------------------------------------------
global abb_curr_motion_type
# default behaviour: run the target default block template.
MOM_do_template $sDefaultTemplate
}
#----------------------------------------------------------------------
# CUSTOM ENTRY POINT PROCEDURES
#----------------------------------------------------------------------
#----------------------------------------------------------------------
proc ABB_start_of_program {position} {
# Triggered during MOM_start_of_program_LIB
# position: start, before_header, after_header, end
#----------------------------------------------------------------------
}
#----------------------------------------------------------------------
proc ABB_end_of_program {position} {
# Trigerred during MOM_end_of_program
# position: start, end
#----------------------------------------------------------------------
}
#----------------------------------------------------------------------
proc ABB_start_of_path {position} {
# Triggered during MOM_start_of_path
# position: start, end
#----------------------------------------------------------------------
}
#----------------------------------------------------------------------
proc ABB_end_of_path {position} {
# Triggered during MOM_end_of_path
# position: start, end
#----------------------------------------------------------------------
}
#----------------------------------------------------------------------
proc ABB_start_of_main_routine {position} {
# Triggered at the start of generating the Main PROC
# position: start (before PROC is written),
# end (after PROC is written)
#----------------------------------------------------------------------
}
#----------------------------------------------------------------------
proc ABB_end_of_main_routine {position} {
# Triggered at the end of generating the Main PROC
# position: start (before ENDPROC is written),
# end (after ENDPROC is written)
#----------------------------------------------------------------------
}
#----------------------------------------------------------------------
proc ABB_rapid_move {position} {
# Triggered during MOM_rapid_move
# position: start, end
#----------------------------------------------------------------------
}
#----------------------------------------------------------------------
proc ABB_linear_move {position} {
# Triggered during MOM_linear_move
# position: start, end
#----------------------------------------------------------------------
}
#----------------------------------------------------------------------
proc ABB_circular_move {position} {
# Triggered during MOM_circular_move
# position: start, end
#----------------------------------------------------------------------
}
#----------------------------------------------------------------------
proc ABB_robot_pose_move {position} {
# Triggered during MOM_robot_pose_move
# position: start, end
#----------------------------------------------------------------------
}

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##############################################################################
# Description
# This is the Definition File for ABB_RAPID File Generation EEVT Handler
#
# Version
# $Id: ABB_RAPID_ctrl.def,v 1.4 2019/10/18 15:45:11 gpenkov Exp $
#
###############################################################################
#
MACHINE Default
FORMATTING
{
WORD_SEPARATOR ","
# Override addresses required by Post Configurator infrastructure
# ===================================================================
ADDRESS RA
{
FORMAT Coordinate
FORCE always
MAX 99999.999 Truncate
MIN -99999.999 Truncate
LEADER ""
ZERO_FORMAT Zero_real
}
BLOCK_TEMPLATE robot_axis_motion
{
" MoveAbsJ [["\nows
RA[$mom_rob_int(0)]
RA[$mom_rob_int(1)]
RA[$mom_rob_int(2)]
RA[$mom_rob_int(3)]
RA[$mom_rob_int(4)]
RA[$mom_rob_int(5)]\nows
"],["\nows
RA[$mom_rob_ext(0)]
RA[$mom_rob_ext(1)]
RA[$mom_rob_ext(2)]
RA[$mom_rob_ext(3)]
RA[$mom_rob_ext(4)]
RA[$mom_rob_ext(5)]\nows
"]],"\nows
robot_string[$abb_curr_speed]
robot_string[$abb_curr_zone]
robot_string[$abb_curr_tool_wobj]\trlr=";"
}
BLOCK_TEMPLATE rapid_move
{
" MoveJ [["\nows
RA[$mom_rob_pos(0)]
RA[$mom_rob_pos(1)]
RA[$mom_rob_pos(2)]\nows
"],["\nows
RA[$mom_rob_pos(3)]
RA[$mom_rob_pos(4)]
RA[$mom_rob_pos(5)]
RA[$mom_rob_pos(6)]\nows
"]"
robot_string[$mom_rob_config]
"["\nows
RA[$mom_rob_ext(0)]
RA[$mom_rob_ext(1)]
RA[$mom_rob_ext(2)]
RA[$mom_rob_ext(3)]
RA[$mom_rob_ext(4)]
RA[$mom_rob_ext(5)]\nows
"]],"\nows
robot_string[$abb_curr_speed]
robot_string[$abb_curr_zone]
robot_string[$abb_curr_tool_wobj]\trlr=";"
}
BLOCK_TEMPLATE linear_move
{
" MoveL [["\nows
RA[$mom_rob_pos(0)]
RA[$mom_rob_pos(1)]
RA[$mom_rob_pos(2)]\nows
"],["\nows
RA[$mom_rob_pos(3)]
RA[$mom_rob_pos(4)]
RA[$mom_rob_pos(5)]
RA[$mom_rob_pos(6)]\nows
"]"
robot_string[$mom_rob_config]
"["\nows
RA[$mom_rob_ext(0)]
RA[$mom_rob_ext(1)]
RA[$mom_rob_ext(2)]
RA[$mom_rob_ext(3)]
RA[$mom_rob_ext(4)]
RA[$mom_rob_ext(5)]\nows
"]],"\nows
robot_string[$abb_curr_speed]
robot_string[$abb_curr_zone]
robot_string[$abb_curr_tool_wobj]\trlr=";"
}
BLOCK_TEMPLATE circular_move
{
" MoveC [["\nows
RA[$mom_rob_circ_via_pos(0)]
RA[$mom_rob_circ_via_pos(1)]
RA[$mom_rob_circ_via_pos(2)]\nows
"],["\nows
RA[$mom_rob_circ_via_pos(3)]
RA[$mom_rob_circ_via_pos(4)]
RA[$mom_rob_circ_via_pos(5)]
RA[$mom_rob_circ_via_pos(6)]\nows
"]"
robot_string[$mom_rob_config]
"["\nows
RA[$mom_rob_circ_via_ext(0)]
RA[$mom_rob_circ_via_ext(1)]
RA[$mom_rob_circ_via_ext(2)]
RA[$mom_rob_circ_via_ext(3)]
RA[$mom_rob_circ_via_ext(4)]
RA[$mom_rob_circ_via_ext(5)]\nows
"]],[["\nows
RA[$mom_rob_pos(0)]
RA[$mom_rob_pos(1)]
RA[$mom_rob_pos(2)]\nows
"],["\nows
RA[$mom_rob_pos(3)]
RA[$mom_rob_pos(4)]
RA[$mom_rob_pos(5)]
RA[$mom_rob_pos(6)]\nows
"]"
robot_string[$mom_rob_config]
"["\nows
RA[$mom_rob_ext(0)]
RA[$mom_rob_ext(1)]
RA[$mom_rob_ext(2)]
RA[$mom_rob_ext(3)]
RA[$mom_rob_ext(4)]
RA[$mom_rob_ext(5)]\nows
"]],"\nows
robot_string[$abb_curr_speed]
robot_string[$abb_curr_zone]
robot_string[$abb_curr_tool_wobj]\trlr=";"
}
}

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lappend lib_config_data [list "ABB_RAPID_ctrl_msg" "Ctrl_Template_Base-MSG-Version 001"]
#############################################################################################
#
# Copyright 2014-2019 Siemens Product Lifecycle Management Software Inc.
# All Rights Reserved.
#
#############################################################################################
#
# Last changes:
# 11.05.2016 - UR 001 Initial Release and Installation
#
#
#
####G#E#N#E#R#A#L##D#E#S#C#R#I#P#T#I#O#N#####################################################
#
# In this function, the text in the appropriate language UGII_LANG is translated.
# Optional wildcards can be used in the example.
#
# Permitted languages: braz_portuguese / french / german / italian / japanese /
# korean / russian / simpl_chinese / spanish / trad_chinese...
#
# e.g.
# set message [LIB_GE_MSG "Configuration file does not exist"]
# set message [LIB_GE_MSG "File can not be copied from INS->xxx<- to INS->zzz<-"]
# set message [LIB_GE_MSG "File INS->C:\\Temp\\xxx.txt<- not found"]
#
# set message [LIB_GE_MSG "SURFACE COORDINATE" "core"]
#
# (It's for development only)
# set message [LIB_GE_MSG 0001] <-- Please, don't work with this solution
#
#############################################################################################
##############################################################################################
### controller/machine/customer... translations
### between the commas the text is selectable e.g. 0000,$lib_controller_message,xxx,english
##############################################################################################
set lib_msg(0000,$lib_controller_message,core) "Please contact Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,czech) "Kontaktujte společnost Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,danish) "Kontakt Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,dutch) "Neem contact op met Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,english) "Please contact Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,finnish) "Ota yhteyttä Siemens PLM -ohjelmistoon"
set lib_msg(0000,$lib_controller_message,french) "S'il vous plaît contactez Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,german) "Bitte Siemens PLM Software kontaktieren"
set lib_msg(0000,$lib_controller_message,hungarian) "Kérjük, lépjen kapcsolatba a Siemens PLM szoftverrel"
set lib_msg(0000,$lib_controller_message,italian) "Contattare Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,japanese) "お問い合わせください Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,korean) "문의하시기 바랍니다 Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,norwegian) "Ta kontakt med Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,polish) "Prosze o kontakt Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,portuguese) "Entre em contato com a Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,russian) "пожалуйста свяжитесь Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,simpl_chinese) "请联系 Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,slovak) "Obráťte sa na spoločnosť Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,slovenian) "Prosimo, pokličite programsko opremo Siemens PLM"
set lib_msg(0000,$lib_controller_message,spanish) "Por favor, póngase en contacto con Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,swedish) "Vänligen kontakta Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,trad_chinese) "請聯繫 Siemens PLM Software"
set lib_msg(0000,$lib_controller_message,turkish) "Lütfen Siemens PLM Yazılımına başvurun."
if {$tcl_version < 8.4} {
array set lib_msg [LIB_GE_replace_special_characters [array get lib_msg] 4 0]
}

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machine/installed_machines/ABB_IRB_6640_235_255_MW/postprocessor/ABB_RAPID/Libraries/lib_pretreatment.def Normal file
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MACHINE PRETREATMENT
FORMATTING
{
WORD_SEPARATOR " "
END_OF_LINE "\135"
SEQUENCE sequence_number 10 10 1 99999
FORMAT AbsCoord "&__5.3_"
FORMAT Coordinate "&__5.3_"
FORMAT Digit_2 "&_02_00"
FORMAT Digit_4 "&_04_00"
FORMAT Digit_5 "&__5_00"
FORMAT Dwell_SECONDS "&__5.3_"
FORMAT EventNum "&+03_00"
FORMAT Feed "&__7.2_"
FORMAT Feed_DPM "&__5.2_"
FORMAT Feed_FRN "&__5.3_"
FORMAT Feed_INV "&__5.3_"
FORMAT Feed_IPM "&__4.1_"
FORMAT Feed_IPR "&__1.4_"
FORMAT Feed_MMPM "&__5.0_"
FORMAT Feed_MMPR "&__2.3_"
FORMAT Hcode "&_02_00"
FORMAT Rev "&__4_00"
FORMAT Rotary "&__5.5_"
FORMAT String "%s"
FORMAT Tcode "&_02_00"
FORMAT Zero_int "&_01_0_"
FORMAT Zero_real "&_01.10"
ADDRESS N
{
FORMAT String
FORCE always
LEADER [$mom_sys_leader(N)]
}
ADDRESS G_motion
{
FORMAT String
FORCE off
LEADER [$mom_sys_leader(G)]
}
ADDRESS X
{
FORMAT Coordinate
FORCE always
LEADER [$mom_sys_leader(X)]
ZERO_FORMAT Zero_real
}
ADDRESS Y
{
FORMAT Coordinate
FORCE off
LEADER [$mom_sys_leader(Y)]
ZERO_FORMAT Zero_real
}
ADDRESS Z
{
FORMAT Coordinate
FORCE off
LEADER [$mom_sys_leader(Z)]
ZERO_FORMAT Zero_real
}
ADDRESS fourth_axis
{
FORMAT Rotary
FORCE off
LEADER [$mom_sys_leader(fourth_axis)]
ZERO_FORMAT Zero_real
}
ADDRESS fifth_axis
{
FORMAT Rotary
FORCE off
LEADER [$mom_sys_leader(fifth_axis)]
ZERO_FORMAT Zero_real
}
ADDRESS I
{
FORMAT Coordinate
FORCE always
LEADER [$mom_sys_leader(I)]
ZERO_FORMAT Zero_real
}
ADDRESS J
{
FORMAT Coordinate
FORCE always
LEADER [$mom_sys_leader(J)]
ZERO_FORMAT Zero_real
}
ADDRESS K
{
FORMAT Coordinate
FORCE always
LEADER [$mom_sys_leader(K)]
ZERO_FORMAT Zero_real
}
ADDRESS S
{
FORMAT Zero_int
FORCE always
LEADER "S"
}
BLOCK_TEMPLATE sequence_number
{
N[ ]
}
BLOCK_TEMPLATE sequence_number_turbo
{
N[ ]
}
BLOCK_TEMPLATE circular_move_turbo
{
G_motion[$mom_sys_circle_code(string)]
X[^POSX]
Y[^POSY]
Z[^POSZ]
fourth_axis[^POS4]
fifth_axis[^POS5]
S[$mom_spindle_speed]
}
BLOCK_TEMPLATE linear_move_turbo
{
G_motion[$mom_sys_linear_code]
X[^POSX]
Y[^POSY]
Z[^POSZ]
fourth_axis[^POS4]
fifth_axis[^POS5]
S[$mom_spindle_speed]
}
BLOCK_TEMPLATE rapid_move_turbo
{
G_motion[$mom_sys_rapid_code]
X[^POSX]
Y[^POSY]
Z[^POSZ]
fourth_axis[^POS4]
fifth_axis[^POS5]
S[$mom_spindle_speed]
}
BLOCK_TEMPLATE circular_move
{
G_motion[$mom_sys_circle_code(string)]
X[$mom_mcs_goto(0)]
Y[$mom_mcs_goto(1)]
Z[$mom_mcs_goto(2)]
fourth_axis[$mom_out_angle_pos(0)]
fifth_axis[$mom_out_angle_pos(1)]
S[$mom_spindle_speed]
}
BLOCK_TEMPLATE linear_move
{
G_motion[$mom_sys_linear_code]
X[$mom_mcs_goto(0)]
Y[$mom_mcs_goto(1)]
Z[$mom_mcs_goto(2)]
fourth_axis[$mom_out_angle_pos(0)]
fifth_axis[$mom_out_angle_pos(1)]
S[$mom_spindle_speed]
}
BLOCK_TEMPLATE rapid_move
{
G_motion[$mom_sys_rapid_code]
X[$mom_mcs_goto(0)]
Y[$mom_mcs_goto(1)]
Z[$mom_mcs_goto(2)]
fourth_axis[$mom_out_angle_pos(0)]
fifth_axis[$mom_out_angle_pos(1)]
S[$mom_spindle_speed]
}
BLOCK_TEMPLATE rapid_move_drill
{
G_motion[$mom_sys_rapid_code]
X[$mom_cycle_feed_to_pos(0)]
Y[$mom_cycle_feed_to_pos(1)]
Z[$mom_cycle_feed_to_pos(2)]
S[$mom_spindle_speed]
}
}

535
machine/installed_machines/ABB_IRB_6640_235_255_MW/postprocessor/ABB_RAPID/Libraries/lib_pretreatment.tcl Normal file
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####C#U#S#T#O#M##M#E#T#A##I#N#F#O#R#M#A#T#I#O#N##############################################
#
# Customer Data
#
# Company :
# Address :
# Contact person :
# Phone :
# Fax :
# Mail :
#
####S#T#A#R#T##C#H#A#N#G#E##H#I#S#T#O#R#Y####################################################
#
# Last changes: 01.02.2011 - UR 001 Initial Release and Installation
# 23.08.2013 - UR 002 Add keywords for comment lines (important, because automation respond)
# 03.09.2013 - UR 003 Releaseversion 1.0
# 09.10.2013 - COE 004 Changed setting of lib_ge_env(tmp_dir)
# 10.12.2013 - UR 005 Decomposing the basic functions
# 10.02.2014 - COE 006 Releaseversion 2.0
# 17.02.2014 - COE 007 Releaseversion 2.1
# 13.03.2014 - UR 008 Releaseversion 2.2
# 31.03.2014 - UR 009 Add lib_flag(PB_decontamination) to switch of PB support
# 31.03.2014 - UR 010 Releaseversion 2.3
# 11.04.2014 - UR 011 Releaseversion 2.3.1
# 12.05.2014 - UR 012 Releaseversion 2.3.2
# 18.05.2014 - UR 013 Add sourcing with the possibility of nesting folders
# 19.05.2014 - UR 014 Releaseversion 2.3.3
# 26.05.2014 - UR 015 Revision of the LIB_Shell_search_path_recursively routines when a blank is included in the path
# 16.06.2014 - COE 016 Releaseversion 2.3.4
# 16.06.2014 - UR 017 Add recursively sourcing for the pretreatment files
# 24.06.2014 - UR 018 Releaseversion 2.3.5
# 24.06.2014 - UR 019 Releaseversion 2.4
# 07.07.2014 - UR 020 Releaseversion 2.4.1
# 16.07.2014 - UR 021 Releaseversion 3.0
# 29.07.2014 - COE 022 LIB_Shell_environment_handling: lib_ge_env(installed_machines_dir,recursively)
# LIB_Shell_main: no longer call LIB_Shell_search_path_recursively
# 30.07.2014 - COE 023 Releaseversion 3.1
# 12.08.2014 - UR 024 Releaseversion 3.1.1
# 13.08.2014 - UR 025 Adopted revised texts from SPLM
# 13.08.2014 - UR 026 Releaseversion 3.2
# 13.08.2014 - UR 027 Releaseversion 3.2.1
# 15.08.2014 - COE 028 Adopt modifications SPLM
# 15.08.2014 - COE 029 Releaseversion 3.2.2
# 25.08.2014 - UR 030 Releaseversion 3.2.3
# 10.09.2014 - UR 031 Releaseversion 3.2.4
# 11.09.2014 - UR 032 Releaseversion 3.2.5
# 22.09.2014 - UR 033 Add property for "show where output comes from" and delete flag(show_where_output_comes_from)
# 29.09.2014 - COE 034 Releaseversion 3.2.6
# 13.10.2014 - COE 035 Releaseversion 3.2.7
# 21.10.2014 - COE 036 Releaseversion 3.2.8
# 04.11.2014 - COE 037 Releaseversion 3.2.9
# 11.11.2014 - UR 038 Modification of the complete post speed
# 13.11.2014 - UR 039 Modification of the complete post speed
# 21.11.2014 - COE 040 LIB_Shell_environment_handling: changde setting of lib_ge_env(installed_machines_dir,recursively)
# 28.11.2014 - COE 041 Releaseversion 3.2.10
# 22.12.2014 - UR 042 Releaseversion 3.3
# 22.12.2014 - UR 043 Releaseversion 3.3.1
# 05.01.2015 - UR 044 Releaseversion 3.3.2 and changed the Copyright
# 06.01.2015 - UR 045 Releaseversion 3.3.3
# 06.01.2015 - UR 046 Releaseversion 3.3.4
# 07.01.2015 - UR 047 Releaseversion 3.3.5
# 11.01.2015 - UR 048 Releaseversion 3.3.6
# 11.01.2015 - COE 049 Bugfix if the current directory has spaces
# 13.01.2015 - COE 050 Releaseversion 3.3.7
# 20.01.2015 - UR 051 Change file nativename and join to LIB_Shell_format_path_names to save runtime
# 25.01.2015 - UR 052 Releaseversion 3.3.8
# 28.01.2015 - UR 053 Bugfix at LIB_Shell_environment_handling to defined the base folder
# 03.02.2015 - UR 054 Correction if the PostConfigurator structure is used
# 09.02.2015 - UR 055 Releaseversion 3.3.9
# 02.03.2015 - COE 056 Releaseversion 3.4
# 12.03.2015 - UR 057 Releaseversion 3.4.1
# 16.03.2015 - UR 058 Releaseversion 3.4.2
# 30.03.2015 - UR 059 Releaseversion 3.4.3
# 20.04.2015 - COE 060 Releaseversion 3.4.4
# 28.04.2015 - COE 061 Releaseversion 3.4.5
# 15.06.2015 - UR 062 Releaseversion 3.4.6
# 15.06.2015 - UR 063 Change abort handling
# 16.06.2015 - UR 064 Releaseversion 3.4.7
# 22.06.2015 - UR 065 Releaseversion 3.4.8
# 21.07.2015 - UR 066 Releaseversion 3.4.9
# 28.07.2015 - COE 067 Releaseversion 3.4.10
# 11.08.2015 - COE 068 Releaseversion 3.4.11
# 16.08.2015 - UR 069 Save Time with Extended foreach Syntax e.g. foreach {a b c d e} [cmdReturningList] {break}
# Side note: accelerated runtime after the first index, for one index no improvement
# Comparing if Command exists now with LIB_GE_check_commands to wrote the values to an list once
# Modifications of the memory handling with Procedures K SK D unset! clear and set!, see http://wiki.tcl.tk/1923
# Removing unneeded characters and partially reformat
# 20.08.2015 - UR 070 Changed misspelling from adress to address (Bug #784)
# 20.08.2015 - UR 071 Releaseversion 3.4.12
# 21.08.2015 - UR 072 Releaseversion 3.4.13
# 24.08.2015 - COE 073 Releaseversion 3.5
# 04.09.2015 - COE 074 Releaseversion 3.5.1
# 07.09.2015 - COE 075 Releaseversion 3.5.2
# 08.09.2015 - COE 076 Releaseversion 3.5.3
# 13.09.2015 - UR 077 Performance improvement when examining whether a procedure exists and also to loading files
# 15.09.2015 - UR 078 Releaseversion 3.5.4
# 17.09.2015 - UR 079 Change the filename for the lib_ge_dll_version to lower case
# 21.09.2015 - UR 080 Releaseversion 3.6
# 29.09.2015 - UR 081 Releaseversion 3.6.1
# 30.09.2015 - UR 082 Releaseversion 3.6.2
# 05.10.2015 - UR 083 Releaseversion 3.6.3
# 26.10.2015 - UR 084 Releaseversion 3.6.4
# 27.10.2015 - UR 085 Releaseversion 3.6.5
# 18.12.2015 - COE 086 Releaseversion 3.6.6
# 13.01.2016 - UR 087 Releaseversion 3.6.7
# 25.02.2016 - UR 088 Releaseversion 3.6.8
# 07.03.2016 - UR 089 Releaseversion 3.6.9
# 24.03.2016 - COE 090 Releaseversion 3.6.10
# 13.04.2016 - UR 091 Releaseversion 3.6.11
# 20.04.2016 - UR 092 Releaseversion 3.6.12
# 28.04.2016 - UR 093 Releaseversion 3.7
# 29.04.2016 - UR 094 Releaseversion 3.7.1
# 15.05.2016 - COE 095 Releaseversion 3.7.2
# 15.05.2016 - COE 096 Releaseversion 3.7.3
# 17.05.2016 - COE 097 Releaseversion 3.7.4
# 23.05.2016 - COE 098 Releaseversion 3.7.5
# 27.06.2016 - MAN 099 Update internal documentation
# 15.08.2016 - UR 100 Releaseversion 4.0
# 24.08.2016 - UR 101 Releaseversion 4.0.1
# 04.09.2016 - COE 102 Releaseversion 4.0.2
# 05.09.2016 - COE 103 LIB_Shell_environment_handling: 'libraries', 'controller' and 'bin'
# all lowercase (we check it against the result of 'string tolower')
# (back to status of version 100)
# 05.09.2016 - COE 104 Releaseversion 4.0.3
# 08.09.2016 - UR 105 Releaseversion 4.0.4
# 22.09.2016 - UR 106 HISTORY-> Modifications to support now also Linux <-
# 24.09.2016 - UR 107 Releaseversion 4.0.5
# 25.09.2016 - UR 108 Releaseversion 4.1
# 27.09.2016 - UR 109 Releaseversion 4.1.1
# 04.10.2016 - UR 110 Releaseversion 4.1.2
# 24.10.2016 - UR 111 Releaseversion 4.1.3
# 17.11.2016 - MAN 112 Source also from UGII_POST_POOL_DIR_NG_CUSTOM
# 19.11.2016 - UR 113 Releaseversion 4.1.4
# 21.11.2016 - MAN 114 Remove again sourcing from UGII_POST_POOL_DIR_NG_CUSTOM
# 07.12.2016 - UR 115 Releaseversion 4.1.5
# 11.01.2017 - COE 116 Releaseversion 4.1.6
# 21.02.2017 - UR 117 Releaseversion 4.1.7
# 24.02.2017 - UR 118 Releaseversion 4.1.8
# 13.03.2017 - COE 119 Releaseversion 4.2
# 05.04.2017 - COE 120 Releaseversion 4.2.1
# 06.04.2017 - COE 121 Releaseversion 4.2.2
# 07.04.2017 - COE 122 Releaseversion 4.2.3
# 24.04.2017 - UR 123 Remove PUI settings and procedures
# 28.04.2017 - COE 124 Releaseversion 4.2.4
# 19.05.2017 - UR 125 Releaseversion 4.2.5
# 18.06.2017 - COE 126 Releaseversion 4.2.6
# 27.06.2017 - COE 127 Releaseversion 4.2.7
# 06.07.2017 - UR 128 Extension for the layer editor
# 31.07.2017 - UR 129 Releaseversion 4.2.8
# 01.08.2017 - UR 130 Bugfix if variable TEMP not exists within LINUX systems
# 02.08.2017 - UR 131 Releaseversion 4.2.9
# 31.08.2017 - UR 132 Add support for *.pcf
# 01.09.2017 - UR 133 Releaseversion 4.2.10
# 11.09.2017 - COE 134 Releaseversion 4.2.11
# 25.09.2017 - COE 135 Releaseversion 4.3
# 12.11.2017 - COE 136 Releaseversion 4.3.1
# 28.11.2017 - UR 137 Releaseversion 4.3.2
# 04.12.2017 - UR 138 Adding the process ID to all files that are traded through the preparation process
# 21.02.2018 - COE 139 Releaseversion 4.3.3
# 12.03.2018 - UR 140 File contents revised for TCL8.6 and converted to UTF-8
# 14.03.2018 - UR 141 Releaseversion 4.4
# 20.03.2018 - UR 142 Releaseversion 4.4.1
# 12.04.2018 - UR 143 Releaseversion 4.4.2
# 04.05.2018 - UR 144 Releaseversion 4.4.3
# 14.05.2018 - UR 145 Releaseversion 4.4.4
# 02.07.2018 - UR 146 Releaseversion 4.4.5
# 20.07.2018 - COE 147 Releaseversion 4.4.6
# 10.09.2018 - UR 148 Releaseversion 4.4.7
# 24.09.2018 - UR 149 Releaseversion 4.4.8
# 08.10.2018 - UR 150 Releaseversion 4.4.9
# 18.10.2018 - COE 151 Releaseversion 4.5
# 11.01.2019 - UR 152 Releaseversion 4.6.1
# 08.02.2019 - UR 153 Releaseversion 4.6.2
# 16.03.2019 - UR 154 Releaseversion 4.6.3
# 21.03.2019 - UR 155 Function revision so that the MOM Execute can also be loaded in versions >= 1847
# 28.03.2019 - COE 156 Releaseversion 4.7
# 11.04.2019 - UR 157 Releaseversion 4.7.1
# 18.04.2019 - UR 158 Releaseversion 4.7.2
# 07.05.2019 - UR 159 Releaseversion 5.0
# 08.07.2019 - UR 160 Releaseversion 5.0.1
# 31.07.2019 - UR 161 Releaseversion 5.0.2
# 16.08.2019 - COE 162 Releaseversion 5.0.3
# 21.08.2019 - COE 163 Releaseversion 5.1.0
# 20.09.2019 - COE 164 Releaseversion 5.2.0
# 06.11.2019 - UR 165 Releaseversion 5.2.3
# 27.12.2019 - UR 166 Releaseversion 5.2.4
# 31.01.2020 - COE 167 Releaseversion 5.2.5
# 02.03.2020 - UR 168 Releaseversion 5.2.6
# 19.03.2020 - COE 169 Releaseversion 5.2.7
# 25.03.2020 - COE 170 Releaseversion 5.3.0
# 23.04.2020 - UR 171 Bugfix set lib_ge_dll_version instead of dotnet_version
# 01.07.2020 - COE 172 Releaseversion 5.3.1
# 09.07.2020 - COE 173 Releaseversion 5.3.2
# 06.09.2020 - COE 174 Releaseversion 5.3.3
# 15.09.2020 - COE 175 Releaseversion 5.3.4
# 26.09.2020 - COE 176 Releaseversion 5.3.5
# 26.11.2020 - COE 177 Releaseversion 5.3.6
# 24.01.2021 - COE 178 Releaseversion 5.3.7
# 06.02.2021 - COE 179 Releaseversion 5.3.8
# 15.03.2021 - COE 180 Releaseversion 5.3.9
# 13.04.2021 - COE 181 Releaseversion 5.4.0
# 16.05.2021 - COE 182 Bug#2260: check UGII_TMP_DIR first, use system-env only as fallback
# 02.06.2021 - COE 183 Releaseversion 5.4.1
# 11.06.2021 - COE 184 Linux compatibility
# 21.07.2021 - COE 185 Releaseversion 5.4.2
# 03.09.2021 - COE 186 Releaseversion 5.4.3
# 07.09.2021 - COE 187 Releaseversion 5.4.4
# 29.09.2021 - COE 188 Releaseversion 5.5.0
# 25.10.2021 - COE 189 Releaseversion 5.5.1
# 24.11.2021 - COE 190 Releaseversion 5.5.2
# 19.02.2022 - COE 191 Releaseversion 5.5.3
# 06.03.2022 - COE 192 Releaseversion 5.5.4
# 08.04.2022 - COE 193 Releaseversion 5.5.5
# 13.07.2022 - COE 194 Releaseversion 5.5.6
# 07.09.2022 - COE 195 Releaseversion 5.5.7
# 24.09.2022 - COE 196 Releaseversion 5.5.8
# 15.01.2023 - COE 197 Releaseversion 23.01.0
# 14.03.2023 - COE 198 Releaseversion 23.03.0
# 07.04.2023 - COE 199 Releaseversion 23.04.0
# 14.07.2023 - COE 200 Releaseversion 23.07.0
# 14.09.2023 - COE 201 Releaseversion 23.09.0
# 09.10.2023 - ET 202 Releaseversion 23.10.0
# 10.12.2023 - COE 203 Releaseversion 23.12.0
# 19.01.2024 - COE 204 Releaseversion 24.01.0
# 21.03.2024 - COE 205 Releaseversion 24.03.0
# 13.08.2024 - COE 206 Releaseversion 24.08.0
# 22.08.2024 - COE 207 Releaseversion 24.08.1
# 16.09.2024 - COE 208 Releaseversion 24.09.0
# 24.09.2024 - ET 209 Releaseversion 24.09.1
# 27.12.2024 - COE 210 Releaseversion 24.12.0
# 02.04.2025 - COE 211 Releaseversion 25.04.0
#
#
#
#
#
#
#
#
#
#############################################################################################
# Copyright 2014-2024 Siemens Product Lifecycle Management Software Inc.
# All Rights Reserved.
#
####S#T#A#N#D#A#R#D##S#O#U#R#C#I#N#G#########################################################
#____________________________________________________________________________________________
#
# Procedure debugger
#____________________________________________________________________________________________
#
set lib_ge_debug(on) 0
set lib_ge_debug(proc_watch_list) "MOM* PPLIB* PROC*"
set lib_ge_debug(var_write_trace_list) "mom_group_name"
set lib_ge_debug(proc_watch_exclude_list) "MOM_SMART* MOM_evaluate_arg MOM_before_each_add_var MOM_before_load_address"
#____________________________________________________________________________________________
set lib_debug_source_of_proc_list ""
set lib_fh_do_after_output 0 ;#if set to 0 the posttreatment loop is suppressed
if {![info exists lib_ge_platform]} {
set lib_ge_temppath ""
if {[info commands MOM_ask_env_var] != ""} {
set lib_ge_temppath [MOM_ask_env_var UGII_TMP_DIR]
}
if {[string match "*windows*" $tcl_platform(platform)]} {
set lib_ge_platform 1
set lib_ge_slash "\\"
if {$lib_ge_temppath == ""} {
if {[info exists env(TEMP)]} {
set lib_ge_temppath $env(TEMP)
} elseif {[info exists env(TMP)]} {
set lib_ge_temppath $env(TMP)
}
}
} else {
set lib_ge_platform 0
set lib_ge_slash "/"
if {$lib_ge_temppath == ""} {
if {[info exists env(TMPDIR)]} {
set lib_ge_temppath $env(TMPDIR)
}
if {![string length $lib_ge_temppath]} {
set lib_ge_temppath "${lib_ge_slash}var${lib_ge_slash}tmp"
}
}
}
}
#____________________________________________________________________________________________
# <Internal Documentation>
#
# Handling for the default environment variables
#
# <Internal Example>
#
#____________________________________________________________________________________________
proc LIB_Shell_environment_handling {} {
global lib_ge_env lib_ge_slash lib_ge_installed_machines
set lib_ge_env(post_pool_dir) [LIB_Shell_format_path_names [MOM_ask_env_var "UGII_POST_POOL_DIR_NG"]]
set lib_ge_env(cam_post_dir) [LIB_Shell_format_path_names [MOM_ask_env_var "UGII_CAM_POST_DIR"]]
set lib_ge_env(tmp_dir) [LIB_Shell_format_path_names [MOM_ask_env_var "UGII_TMP_DIR"]]
if {$lib_ge_env(tmp_dir) == ""} {set lib_ge_env(tmp_dir) $::lib_ge_temppath}
if {[string match [string tolower [file tail [file dirname [info script]]]] "libraries"]} {
set lib_ge_installed_machines [file dirname [info script]]
} else {
set lib_ge_installed_machines [info script]
}
set lib_ge_env(installed_machines_dir) [LIB_Shell_format_path_names [file dirname $lib_ge_installed_machines]]
# Needed is searchpath activ, therefore info script is wrong
if {[file exists [LIB_Shell_format_path_names "$lib_ge_env(tmp_dir)${lib_ge_slash}pretreatment_script.tcl"]]} {source [LIB_Shell_format_path_names "$lib_ge_env(tmp_dir)${lib_ge_slash}pretreatment_script.tcl"]}
set lib_ge_env(installed_machines_dir,recursively) ""
lappend lib_ge_env(installed_machines_dir,recursively) $lib_ge_env(installed_machines_dir)
set current_dir [pwd]
if {![catch {cd [lindex $lib_ge_env(installed_machines_dir,recursively) 0]}]} {
if {![catch {set dir [string tolower [glob *]]}]} {
foreach e {libraries controller bin} {
set index [lsearch -exact $dir $e]
if {$index > -1} {
set directory [lindex $dir $index]
set directory [string toupper [string index $directory 0]][string range $directory 1 end]
lappend lib_ge_env(installed_machines_dir,recursively) [LIB_Shell_format_path_names "[lindex $lib_ge_env(installed_machines_dir,recursively) 0]$lib_ge_slash$directory"]
}
}
}
}
cd $current_dir
if {![regexp -nocase -- {\w+} $lib_ge_env(post_pool_dir)]} {set lib_ge_env(post_pool_dir) $lib_ge_env(installed_machines_dir)}
set lib_ge_env(version_bit) [MOM_ask_env_var "UGII_VERSION_BIT"]
set lib_ge_env(base_dir) [MOM_ask_env_var "UGII_BASE_DIR"]
set lib_ge_env(compatible_base_release_version) [MOM_ask_env_var "NX_COMPATIBLE_BASE_RELEASE_VERSION"]
set lib_ge_env(major_version) [MOM_ask_env_var "UGII_MAJOR_VERSION"]
set lib_ge_env(minor_version) [MOM_ask_env_var "UGII_MINOR_VERSION"]
set lib_ge_env(subminor_version) [MOM_ask_env_var "UGII_SUBMINOR_VERSION"]
if {![info exists lib_ge_dll_version]} {global lib_ge_dll_version}
if {$lib_ge_env(minor_version) > 0} {
set lib_ge_dll_version "nx$lib_ge_env(major_version)$lib_ge_env(minor_version)"
} else {
set lib_ge_dll_version "nx$lib_ge_env(major_version)"
}
if {[llength $lib_ge_env(compatible_base_release_version)] > 0} {set lib_ge_dll_version "nx$lib_ge_env(compatible_base_release_version)"}
if {[string match "*windows*" $::tcl_platform(platform)]} {
regsub -all "/" $lib_ge_env(base_dir) "\\" lib_ge_env(base_dir)
}
}
#____________________________________________________________________________________________
# <Internal Documentation>
#
# This procedure may be used to format pathnames from unix format in windows
# format and delete double backslash
#
# Output:
# D:\Temp\mom\debug.out or \\Server\Temp\mom\debug.out
#
# e.g.
# set error [LIB_Shell_format_path_names "D:/Temp/mom/debug.out"]
#
# <Example>
# set error [LIB_Shell_format_path_names "D:/Temp/mom/debug.out"]
#____________________________________________________________________________________________
proc LIB_Shell_format_path_names {pathname} {
global lib_ge_slash lib_ge lib_ge_platform
regsub -all "/" $pathname "\\" pathname
binary scan $pathname H* pathbin
if {[info exists lib_ge(format_path,$pathbin,0,0,0)]} {
return $lib_ge(format_path,$pathbin,0,0,0)
}
if {[regexp -nocase -- {^[\\\\]|^[\/\/]} $pathname]} {
regsub -all "/" $pathname "\\" pathname
}
if {$lib_ge_platform} {
regsub -all "/" $pathname "\\" pathname
if {![regexp -nocase -- {^\\\\} $pathname]} {set unc 0} else {set unc 1}
while {[regsub -- "(?q)\\\\" $pathname "\\" pathname]} {}
if {$unc} {set pathname "\\$pathname"}
} elseif {!$lib_ge_platform} {
regsub -all "\\\\" $pathname "/" pathname
if {![regexp -nocase -- {^//} $pathname]} {set unc 0} else {set unc 1}
while {[regsub -- "(?q)//" $pathname "/" pathname]} {}
if {$unc} {set pathname "/$pathname"}
}
set lib_ge(format_path,$pathbin,0,0,0) [string trim $pathname]
return $lib_ge(format_path,$pathbin,0,0,0)
}
#____________________________________________________________________________________________
# <Internal Documentation>
#
# Abort postrun
#
# <Internal Example>
#
#____________________________________________________________________________________________
proc LIB_Shell_abort {message} {
MOM_output_to_listing_device $message
MOM_log_message $message
MOM_abort $message
}
#____________________________________________________________________________________________
# <Internal Documentation>
#
# Handling for the main shell
#
# <Internal Example>
#
#____________________________________________________________________________________________
proc LIB_Shell_main {} {
global lib_ge_env lib_ge_slash
global lib_cycle_path sourcefile
LIB_Shell_environment_handling
lappend ::lib_ge_monitored_files [LIB_Shell_format_path_names [info script]]
if {[info commands LIB_GE_source] == ""} {
set lib_cycle_path 0
set searchpath $lib_ge_env(installed_machines_dir,recursively)
lappend searchpath $lib_ge_env(post_pool_dir)
foreach path $searchpath {
if {$lib_cycle_path} {break}
foreach ext {.tcl .tbc .pcf} {
set sourcefile [LIB_Shell_format_path_names "$path${lib_ge_slash}lib_sourcing$ext"]
if {[file exists $sourcefile]} {
if {[string match ".tbc" $ext]} {
LIB_Shell_abort "ByteCode Loader is not available, cannot process lib_sourcing$ext"
}
uplevel #0 {
set err ""
if {$tcl_version >= 8.6 && [catch {source -encoding utf-8 $sourcefile} err]} {
if {[info exists ::errorInfo]} {MOM_output_to_listing_device "errorInfo $::errorInfo"}
LIB_Shell_abort "File lib_sourcing $err not loadable"
}
if {$tcl_version < 8.6 && [catch {source $sourcefile} err]} {
if {[info exists ::errorInfo]} {MOM_output_to_listing_device "errorInfo $::errorInfo"}
LIB_Shell_abort "File lib_sourcing $err not loadable"
}
if {[string length $err] > 0} {
set lib_ge_debug(lib_sourcing) "$sourcefile"
lappend lib_ge_monitored_files "$sourcefile"
lappend lib_ge_log_message "\n--> $sourcefile loaded"
set lib_cycle_path 1 ; break
}
}
}
}
}
if {!$lib_cycle_path} {
LIB_Shell_abort "File lib_sourcing not found"
}
}
LIB_Shell_init
}
#____________________________________________________________________________________________
# <Internal Documentation>
#
# Handling for the default environment variables
#
# <Internal Example>
#
#____________________________________________________________________________________________
proc LIB_Shell_defined_post_environment {} {
global lib_ge_env lib_ge_slash lib_pp_source_file
#____________________________________________________________________________________________
#
# NX Post, load files
#____________________________________________________________________________________________
#
# There are different ways to source each files
#
# e.g. Befor LIB_GE_source call
# lappend lib_pp_source_file "machine,UGII_CAM_POST_DIR"
#
# e.g. After LIB_GE_source call
# LIB_GE_source "Test" "C:/Temp/;d:/tmp/"
#
# e.g. To define a searchpath
# LIB_GE_source "" "C:/Temp/;UGII_CAM_POST_DIR"
# Allowed is the direct path and/or variable
# This is the call the PB post LIB_GE files
# ** internal funktion / Don't remove this line **
if {[file exists "$lib_ge_env(tmp_dir)${lib_ge_slash}pt_source_list_[pid].tcl"]} {
LIB_GE_source pt_source_list_[pid] "$lib_ge_env(tmp_dir)${lib_ge_slash}" ".tcl" 0 0 "RUNTIME"
LIB_GE_source lib_pretreatment_post
} else {
lappend lib_pp_source_file "ugpost_base" "lib_msg" "lib_file_handling" "lib_standard_post_func" "lib_document" "lib_pretreatment_post"
LIB_GE_source
}
}
LIB_Shell_main
####S#T#A#R#T##C#U#S#T#O#M##M#O#D#I#F#I#C#A#T#I#O#N#S########################################
####E#N#D##C#U#S#T#O#M##M#O#D#I#F#I#C#A#T#I#O#N#S############################################
#############################################################################################
# This is to debug
#############################################################################################
if {[info commands LIB_GE_debug] != ""} {LIB_GE_debug}

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machine/installed_machines/ABB_IRB_6640_235_255_MW/robots/RoboticRulesUserDefinitions.py Normal file
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##############################################################################
# File: RoboticRulesUserDefinitions.py
# Description
# This file contains the machine or controller specific code for the tool path processing
# 12-Nov-2020 Support Tape Layup device
#
#
# ================================================================
import sys
import math
import os
import NXOpen
import NXOpen.CAM
# This script assumes that all symbols from RoboticRulesSystemDefinitions.py have been imported already
# This is usually achieved by loading both RoboticRulesSystemDefinitions.py and this file using special code
# from RoboticToolpathProcessor import *
# Define a new simple robotic calculator that computes some process parameters
class SampleProcessParameterRoboticDataCalculator(SingleUdeRoboticDataCalculator):
""" Just a sample calculator to set process parameters.
It sets a value of 1 to all toolpath locations that are close to a specified point.
"""
def __init__(self):
# name of the input UDE
SingleUdeRoboticDataCalculator.__init__(self, "robot_mark_point_sample")
# input parameter names
self.paramName_Point = "point"
self.paramName_Distance = "distance"
# output parameter name
self.paramNameLocationData_SampleParameter = "sample_processparameter"
# strings to show to the user
uiLabels = {
self.inputUdeName: "Robot Mark Point Sample",
self.paramName_Point: "Point",
self.paramName_Distance: "Distance",
self.paramNameLocationData_SampleParameter: "Sample Motion Data Param"}
# Input UDE definition
self.inputUdeDefinition = UdeDefinition(self.inputUdeName, uiLabels)
self.inputUdeDefinition.AddUdeParameter(UdeParameterPoint(self.paramName_Point, uiLabels))
self.inputUdeDefinition.AddUdeParameter(UdeParameterDouble(self.paramName_Distance,uiLabels, 0.0))
# Output UDE definition
self.locationDataUdeDefinition = UdeDefinition("", "")
self.locationDataUdeDefinition.AddUdeParameter(UdeParameterInt(self.paramNameLocationData_SampleParameter, uiLabels, 0))
def HandleSingleInputUde(self, ude):
# Read the parameters of the input ude
p = ude.GetParameter(self.paramName_Point).Point
if p == None:
raise ToolPathProcessingException("Parameter " + self.paramName_Point + " is not defined")
self.point = p.Coordinates
self.distance = ude.GetParameter(self.paramName_Distance).DoubleValue
def ProcessLocationDataUde(self, input, ude):
if self.HasInputUde(): # do only something if the operation has the input ude
inputPos = input.CurrentLocation.Position
curDistance = RobotMath_Distance(inputPos,self.point)
# calculate the output ude parameter
if curDistance < self.distance:
ude.GetParameter(self.paramNameLocationData_SampleParameter).IntegerValue = 1
else:
ude.GetParameter(self.paramNameLocationData_SampleParameter).IntegerValue = 0
def RoboticRulesScript_GetCalculators(addAll: bool) -> tuple:
"""Compute the calculators for the current cell.
param addAll: If true all calculators are added, even those that do not work for the current kinematic.
returns: a tuple of (calculator, externalAxisList) """
# define the list of external axes
railAxisName = "RAIL"
railAxisName2 = "Z_RAIL"
positionerAxisName = "POSITIONER"
drillingAxisName = "QUILL"
tapeAxisName = "TAPE_ROTARY"
extruder1AxisName = "EXTRUDER1_LINEAR"
extruder2AxisName = "EXTRUDER2_LINEAR"
allExternalAxes = [positionerAxisName, railAxisName, railAxisName2, drillingAxisName, tapeAxisName, extruder1AxisName, extruder2AxisName]
validExternalAxes = []
for i in range(len(allExternalAxes)):
if KinUtils_HasAxis(allExternalAxes[i]):
validExternalAxes.append(allExternalAxes[i])
externalAxes = []
if addAll:
externalAxes = allExternalAxes
else:
externalAxes = validExternalAxes
# Define which calculators should be used
calc = CompoundRoboticDataCalculator()
calc.ChildCalculators.append(ConfigurationRoboticDataCalculator())
calc.ChildCalculators.append(ParkingPositionRoboticDataCalculator(externalAxes))
calc.ChildCalculators.append(ParkingPositionReuseRoboticDataCalculator(externalAxes))
calc.ChildCalculators.append(SampleProcessParameterRoboticDataCalculator())
positionerAxisData = []
if KinUtils_HasAxis(positionerAxisName):
axisData = KinUtils_GetAxisData(positionerAxisName)
positionerAxisData.append(axisData)
calc.ChildCalculators.append(PositionerRoboticDataCalculator(axisData))
elif addAll:
axisData = AxisData(positionerAxisName, NXOpen.Vector3d(1.0,0.0,0.0), True)
calc.ChildCalculators.append(PositionerRoboticDataCalculator(axisData))
calc.ChildCalculators.append(ToolOrientationRoboticDataCalculator(positionerAxisData))
calc.ChildCalculators.append(RobotFindingResolver(validExternalAxes))
calc.ChildCalculators.append(TapeLayingRoboticDataCalculator([tapeAxisName, extruder1AxisName, extruder2AxisName]))
calc.ChildCalculators.append(DrillingDeviceRoboticDataCalculator(drillingAxisName))
if KinUtils_HasAxis(railAxisName):
railAxisDir = KinUtils_GetAxisDirection(railAxisName)
railAxisPos = KinUtils_GetPointOnAxis(railAxisName)
railAxisLimits = KinUtils_GetAxisLimits(railAxisName)
calc.ChildCalculators.append(RailRoboticDataCalculator(railAxisName, railAxisPos, railAxisDir, railAxisLimits))
elif addAll:
calc.ChildCalculators.append(RailRoboticDataCalculator(railAxisName, NXOpen.Vector3d(1.0,0.0,0.0), NXOpen.Vector3d(1.0,0.0,0.0), (0.0,1.0)))
if KinUtils_HasAxis(railAxisName2):
railAxisDir = KinUtils_GetAxisDirection(railAxisName2)
railAxisPos = KinUtils_GetPointOnAxis(railAxisName2)
railAxisLimits = KinUtils_GetAxisLimits(railAxisName2)
calc.ChildCalculators.append(RailRoboticDataCalculator2(railAxisName2, railAxisPos, railAxisDir, railAxisLimits))
elif addAll:
calc.ChildCalculators.append(RailRoboticDataCalculator2(railAxisName2, NXOpen.Vector3d(1.0,0.0,0.0), NXOpen.Vector3d(1.0,0.0,0.0), (0.0,1.0)))
if addAll:
# add the calculators that exist only to write CDL file text
calc.ChildCalculators.append(RobotZonesDefineUdeCalculator())
calc.ChildCalculators.append(OlpCommandDefineUdeCalculator())
calc.ChildCalculators.append(OlpCommandMultiLineDefineUdeCalculator(10))
calc.ChildCalculators.append(PayloadDataDefineUdeCalculator())
calc.ChildCalculators.append(ToolPathOlpCommandsDefineUdeCalculator())
calc.ChildCalculators.append(RobotMountComponentDefineUdeCalculator())
return (calc, externalAxes)
# Uncomment this function to implement your own main function
# The function should parse the argument list and return with true if it
# handled the call. If it returns false the caller will try to parse the arguments.
# def RoboticRulesScript_Main2(args):
# NXOpen.Session.GetSession().LogFile.WriteLine("Main called")
# return True

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machine/installed_machines/ABB_IRB_6640_235_255_MW/robots/motionparameters.e Normal file
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*
* Robot name : ABB S4 robots
* Controller : S4
* Date create : 05 Aug 2014
*
* Comments: .e file for the ABB IRB6640_235_255, including the J3 joint
*
* Description :
*
* CONFIGURATION DATA:
*
config_family cf_over_head_neg;
joint_config_family j3 joint_cf_elbow_up;
joint_config_family j6 joint_cf_sin_pos;
joint_config_family j5 joint_cf_pos;
default_turns j4 0 -180.0, j6 0 -180.0;

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ABB RAPID ON RAIL,${UGII_CAM_LIBRARY_INSTALLED_MACHINES_DIR}ABB_IRB_7600_23_500_on_rail\postprocessor\ABB_RAPID\ABB_RAPID_post.tcl,${UGII_CAM_LIBRARY_INSTALLED_MACHINES_DIR}ABB_IRB_7600_23_500_on_rail\postprocessor\ABB_RAPID\ABB_RAPID_post.def
CSE_FILES, ${UGII_CAM_LIBRARY_INSTALLED_MACHINES_DIR}ABB_IRB_7600_23_500_on_rail\cse_driver\ABB_RAPID\ABB_IRB_7600_23_500_on_rail.MCF

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machine/installed_machines/ABB_IRB_7600_23_500_on_rail/cse_driver/ABB_RAPID/ABB_IRB_7600_23_500_on_rail-Main.ini Normal file
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<robotic_to_ini_Main>

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machine/installed_machines/ABB_IRB_7600_23_500_on_rail/cse_driver/ABB_RAPID/ABB_IRB_7600_23_500_on_rail.MCF Normal file
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machine/installed_machines/ABB_IRB_7600_23_500_on_rail/cse_driver/ABB_RAPID/subprog/ToolChange.mod Normal file
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##LANGUAGE AC
// In robots we generate an additional ini subprog on post per robot channel.
// There we store all robotic tool carrier data.
INT nCurrentIndex;
INT nNextIndex;
nCurrentIndex = GetRobotCurrentToolCarrierIndex();
nNextIndex = GetRobotNextToolCarrierIndex();
// 1. Release current tool
// When working with kinematically modeled magazine of tools and/or heads
// the tool has to be positioned back to the original static holder.
IF(nCurrentIndex >= 0);
STRING sToolName;
STRING sToolInitialKinCarrier;
sToolName = GetRobotTool(nCurrentIndex);
sToolInitialKinCarrier = GetRobotToolInitialKinCarrier(nCurrentIndex);
IF((sToolName != "") AND exists(sToolName));
IF(sToolInitialKinCarrier == "");
visibility(sToolName,OFF,TRUE);
release(sToolName);
ELSE;
release(sToolName,sToolInitialKinCarrier);
position(sToolName, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
ENDIF;
ENDIF;
ENDIF;
// 2. Release current head
// When working with kinematically modeled magazine of tools and/or heads
// the head has to be positioned back to the original static holder.
IF(nCurrentIndex >= 0);
STRING sHeadName;
STRING sHeadInitialKinCarrier;
STRING sHeadTargetKinCarrier;
sHeadName = GetRobotHead(nCurrentIndex);
sHeadInitialKinCarrier = GetRobotHeadInitialKinCarrier(nCurrentIndex);
sHeadTargetKinCarrier = GetRobotHeadTargetKinCarrier(nCurrentIndex);
IF((sHeadName != "") AND exists(sHeadName));
IF ((sHeadInitialKinCarrier != ""));
release(sHeadName,sHeadInitialKinCarrier);
position(sHeadName, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
ELSE;
visibility(sHeadName,OFF,TRUE);
unmountHead(sHeadTargetKinCarrier);
ENDIF;
ENDIF;
ENDIF;
// 3. Mount next head to the desired kinematic carrier
STRING sNextHeadName;
STRING sNextHeadTargetKinCarrier;
sNextHeadName = GetRobotHead(nNextIndex);
sNextHeadTargetKinCarrier = GetRobotHeadTargetKinCarrier(nNextIndex);
IF(sNextHeadName != "");
IF(getCurrentHead(sNextHeadTargetKinCarrier) != "");
visibility(getCurrentHead(sNextHeadTargetKinCarrier),OFF,TRUE);
unmountHead(sNextHeadTargetKinCarrier);
ENDIF;
mountHead (sNextHeadName, sNextHeadTargetKinCarrier);
grasp (sNextHeadName, sNextHeadTargetKinCarrier);
position (sNextHeadName, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
visibility (sNextHeadName, ON, TRUE);
ENDIF;
// 4. Mount next tool to the desired kinematic carrier
STRING sNextToolName;
STRING sToolTargetKinCarrier;
sNextToolName = GetRobotTool(nNextIndex);
sToolTargetKinCarrier = GetRobotToolTargetKinCarrier(nNextIndex);
generateTool (sNextToolName,sToolTargetKinCarrier);
IF(exist (getCurrentTool(sToolTargetKinCarrier)));
visibility (getCurrentTool(sToolTargetKinCarrier),OFF,TRUE);
release (getCurrentTool(sToolTargetKinCarrier));
ENDIF;
IF (exist (getNextTool(sToolTargetKinCarrier)));
grasp (getNextTool(sToolTargetKinCarrier), sToolTargetKinCarrier);
position (getNextTool (sToolTargetKinCarrier), 0, 0, 0, 0, 0, 0);
visibility (getNextTool(sToolTargetKinCarrier), ON, TRUE);
activateNextTool (sToolTargetKinCarrier);
ENDIF;
//activate the chain for the next tool carrier
ActivateNextRobotToolCarrier();
##LANGUAGE NATIVE

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machine/installed_machines/ABB_IRB_7600_23_500_on_rail/cse_driver/ABB_RAPID/subprog/WAAMEND.mod Normal file
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##LANGUAGE AC
INT nCurrentIndex;
nCurrentIndex = GetRobotCurrentToolCarrierIndex();
IF(nCurrentIndex >= 0);
STRING sToolName;
sToolName = GetRobotTool(nCurrentIndex);
IF((sToolName != "") AND exists(sToolName));
SetToolMode(sToolName, "Off");
ENDIF;
ENDIF;
##LANGUAGE NATIVE

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machine/installed_machines/ABB_IRB_7600_23_500_on_rail/cse_driver/ABB_RAPID/subprog/WAAMSTART.mod Normal file
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##LANGUAGE AC
INT nCurrentIndex;
nCurrentIndex = GetRobotCurrentToolCarrierIndex();
IF(nCurrentIndex >= 0);
STRING sToolName;
sToolName = GetRobotTool(nCurrentIndex);
IF((sToolName != "") AND exists(sToolName));
IF (getToolParameter(sToolName, "purpose") == "additive");
SetToolMode(sToolName, "addmaterial");
ENDIF;
IF (getToolParameter(sToolName, "purpose") == "coloring");
SetToolMode(sToolName, "colormaterial");
ENDIF;
ENDIF;
ENDIF;
##LANGUAGE NATIVE

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machine/installed_machines/ABB_IRB_7600_23_500_on_rail/graphics/ABB_IRBT_7003F_rail.prt Normal file
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