Default Controller XML Customization

XML Customization

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Goal

 Understand XML Customization Capabilities

 Being able to Customize the default controller for:

 Olp Commands

 Motion

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Agenda

 Olp Command XML Customization

 Motion XML Customization

 Data XML Customization

 XML Program Templates

 XML Path Template Customization

 Post Download

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OLP command XML customization

XML Customization

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General philosophy

 In Process Simulate, we use XML files to support customization of OLP

commands and motion commands

 The first layer, the User Interface Layer, defines the dialog that can be

opened from within the Teach Pendant during the session.

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General philosophy

 The subsequent Simulation Layer includes the instructions as they have to

be executed during the simulation, using the parameters defined in the User

Interface dialog.

 The Download Layer is the last and probably most important of the three

layers. Here users define the actual controller specific command syntax.

 Finally there are Upload Capabilities by reusing the Download Layer

definition.

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General philosophy

 Automatic Generation of OLP Commands Dialogs – the User Interface

Layer

 The entire customization is done by the user in a XML configuration file.

 The system automatically generates an OLP command dialog with the

appropriate information from the configuration file

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General philosophy

 Simulation and Download Layers

 Parameters used in the User Interface (UI) dialog are then used to generate

the needed OLP strings for the simulation needs as well as for the download

to the real controller.

 It is possible to define multi-line commands, meaning several lines of actual

OLP code

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General philosophy

 Changes Without Re-launching Process Simulate

 When making changes in the configuration file, there is no need to close the

Process Simulate application. A simple check request in the Customized

Command XML Checker loads the new configuration.

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Configuration Folders

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Centralize all XML files under single shared folder

RRS.XML:
<Controller Name="Kuka-Krc" >
<InstalledVersions>
<Version Name="krc5.3_r01“
CustomizedPath="\\ilhzsomebody\Kuka-Krc\Supplier_1">
<ModuleName>C:\rcs_krc1\krc8.3_r11\bin\rcskrc1_tune.exe</ModuleName>
</Version>
</InstalledVersions>
</Controller>

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OLP Command Skeleton

Robot Controller Name

Defines which Controller and version
& Version

Defines the name, type, default and range

Parameters of the parameters to be used in the OLP command

Defines the parameters list and 3 different layers:

OLP Command Definition
 UI Layer
 Simulation Layer
 Download Layer

Defines the UI Dialog which creates the

OLP Command Dialogs OLP Commands

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Robot Controller Name & Version

Easy mean to distinguish between different Robot Controller Name

& Version
 Controllers
 Versions
 Subversions (factory specific), etc.

 Example:

< RobotController Name="Abb-Rapid" Version="All">

 Example for multiple versions:

< RobotController Name="Abb-Rapid" Version=" 3.2.s4c, 5.07.01.irc5,

4.0.118.s4cplus">

These are
rrs.xml entries
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Robot Controller Name & Version – in the XML File

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Parameters

Parameters
 Defines the name, type, default value and the range

of the parameters to be used in the OLP command

 Basic Syntax:

<RoboticParams>
<Param Name=“ " ValueType=“ “</Param>
…
</RoboticParams>

UNIQUE name • Int

•Double
•String
•TxObject
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Parameters

 Example:

 <Param Name="Collision_zone" ValueType="int“ MaxVal="8" MinVal="1"

Default="1“/>

 Multi parameters with same definition:

 <Param Name="Collision_zone, Type_Id, SegmentNr" ValueType="int“/>

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Double Parameter

Parameters

<Param Name="Spot FrTime“ ValueType="double“ MaxVal="15“ MinVal="0.1“

Default="2"/>

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OLP command XML customization

Parameters

<Param Name="Spot Interval“ ValueType="int“ MaxVal="10“ MinVal="1“ Default="1"/>

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String Parameter [1/4] – free string

Parameters

<Param Name="Signal Version“ ValueType="string“ Default="5.1.13"/>

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String Parameter [2/4] – combo selection

<Param Name="Spot Retr“ ValueType="string“ Default="open"> Parameters

<ComboDef>
<ElmDef>open</ElmDef>
<ElmDef>close</ElmDef>
</ComboDef>
</Param>

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 String Parameter [3/4] – combo selection with pictures

<Param Name="OperationTask" ValueType="string" Default="Weld 10Am"> Parameters

<ComboDef>
<ElmDef Picture ="guns_tools\.appzc5299229.jpg">Weld 10Am</ElmDef>
<ElmDef Picture ="guns_tools\.appzc5299231.jpg">Weld 20Am</ElmDef>
<ElmDef Picture ="Laser\.appguna.jpg">Laser high temp</ElmDef>
<ElmDef Picture ="Laser\appgr_5276159_030430.jpg">Laser middle temp</ElmDef>
<ElmDef Picture ="Laser\appzc5299228.jpg">Laser low temp</ElmDef>
<ElmDef Picture ="fixtures\.appvr5299295.jpg">Fixtures - 295</ElmDef>
<ElmDef Picture ="fixtures\.appbg5266425_a.jpg">Fixtures - 425</ElmDef>
<ElmDef Picture ="grippers\.appgr5236767.jpg">Gripper X</ElmDef>
<ElmDef Picture ="grippers\.appgr5299315_a.jpg">Gripper XX</ElmDe
</ComboDef>
</Param>

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 String Parameter [4/4] – dynamic combo

Parameters
 The possible values can also be retrieved from the controller at runtime

<Param Name="Ori Type" ValueType="string" DynamicCombo="true"/>

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 TxObject Parameter [1/2]

Parameters

<Param Name="CALL_program_sxxPOUNC" ValueType="TxObject">

<PickTypes ShowList="true">
<PickType>TxRoboticProgram</PickType>
</PickTypes>
</Param>

 Allows to create OLP commands by picking objects from the graphics or from the trees

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 TxObject Parameter [2/2]

Parameters

<Param Name="CALL_program_sxxGRIPPER" ValueType="TxObject" TxValidatorType="Gripper"/>

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OLP Command Definition [1/5]

<OlpCommands>
<Command Name="Kollision">
<RoboticParamRef>
<Param>Collision Command</Param>
<Param>Zone Number</Param>
</RoboticParamRef>

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OLP Command Definition [2/5] - Optional

<Command Name="Kollision">
<RoboticParamRef>
<Param>Collision Command</Param>
<Param Optional="true">Zone Number</Param>
</RoboticParamRef>

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OLP Command Definition [3/5] – UI Layer

<Command Name="Kollision">
<RoboticParamRef> … </RoboticParamRef>
<Layers>
<UILayer>
<Line>
<Item Type="const">KOLL.</Item>
<Item Type="parameter">Collision Command</Item>
<Item Type="parameter">Zone Number</Item>
</Line>
</UILayer>

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OLP Command Definition [4/5] – Simulation Layer

<Command Name="Kollision">
<RoboticParamRef> … </RoboticParamRef>
<Layers>
<UILayer> …</UILayer>
<SimulationLayer>
<Line>
<Item Type="const">#WaitSignal zone</Item>
<Item Type="parameter">Zone Number</Item>
<Item Type="const">=TRUE</Item>
</Line>
</SimulationLayer>

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OLP Command Definition [5/5] – Download Layer

<Command Name="Kollision">
<RoboticParamRef> … </RoboticParamRef>
<Layers>
<UILayer> …</UILayer>
<SimulationLayer> …</SimulationLayer>
<DownloadLayer>
<Line>
<Item Type="const">;FOLD KOLL.</Item>
<Item Type="parameter">Collision Command</Item>
<Item Type="const">range=</Item>
<Item Type="parameter">Zone Number</Item>
<Item Type="const">;%{PE}%MKUKATPUSER</Item>
</Line>
<Line>
<Item Type="const">KOLL_SCH (#</Item>
<Item Type="parameter">Collision Command</Item>
<Item Type="const">,</Item>
<Item Type="parameter">Zone Number</Item>
<Item Type="const">)</Item>
</Line>
<Line>
<Item Type="const">ENDFOLD;</Item>
</Line>
</DownloadLayer>
</Layers>
</Command>

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Dialog Definition [1/6] – OLP list

<Dialog Title="BMW L7|Kollision|Schuts“

Description=“Select collision and zone">
<OlpCommandRef>
<OlpCommand>Kollision</OlpCommand>
</OlpCommandRef>
</Dialog>

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Dialog Definition [2/6] – Menu Separator

<Dialog Title="PL2Glue|-"
<OlpCommandRef/>
</Dialog>

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Dialog Definition [3/6] – Icon

<Dialog Title=“GM – (PZYLOAD)|PAYLOAD“ Icon=" PAYLOAD.ico"

Help="BMW_PL2_kollisionsschutz_help.html">
<OlpCommandRef>
<OlpCommand>Schedule</OlpCommand>
</OlpCommandRef>
</Dialog>

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Dialog Definition [4/6] – Help

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Dialog Definition [5/6] – Multi OLP

<Dialog Title="GM - STYLE PATH|TEMPLATES|(TEMPLA01) CARRIED WELDER AIR GUN“>

<OlpCommandRef>
<OlpCommand>GO_MANUAL_STYLE</OlpCommand>
<OlpCommand>ECHO_OPTION</OlpCommand>
<OlpCommand>MAINT_PROG_MOV_REPR</OlpCommand>
<OlpCommand>CALL_sxPOUNC</OlpCommand>
<OlpCommand>CALL_sxxPROC1</OlpCommand>
<OlpCommand>MOVE_TO_HOME</OlpCommand>
</OlpCommandRef>
</Dialog>

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Dialog Definition [6/6] - Ungroup

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Template command [1/2] - Passing arguments from
dialog to OLP command

In order to reduce the size of the XML, in case of several similar OLP commands
are required, it is possible to define a template OLP command with arguments.
The dialog section can refer to those template OLP commands by giving an
explicit value to the arguments.

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Template command [2/2] - Passing arguments from
dialog to OLP command

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Alias

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Standard XML Keywords[1/2]

&lt;
The less-than character (<).

&amp;
The ampersand character (&).

&gt;
The greater-than character (>).

&quot;
The double-quote character (").

&apos;
The apostrophe or single-quote character (‘).

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Standard XML Keywords – CDATA[2/2]

If you need to print:

<Item Type="const">('Speed' >50) &&( 'Acceleration' <=30)</Item>

Unclear syntax:
<Item Type="const“>(&apos;Speed&apos; &gt;50) &amp;&amp;(
&apos;Acceleration&apos; &lt;=30)</Item>

Clear syntax:
<Item Type="const">
<![CDATA[( 'Speed' >50) &&( 'Acceleration' <=30)]]></Item>

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 Logic – Optional parameters[1/2]

Const:
1. <Item Type="const">The Robot is: </Item>
“The Robot is: “

2. <Item Type="const" xml:space="preserve"> </Item>

“ “

3. <Item Type="const" Conditional="true" CondParam="Robot">

The Robot is: </Item>

Conditional ="true"  the string is printed only if there is "Robot"

parameter.

Conditional="false"  the string is printed only if there no "Robot"

parameter.
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 Logic – Optional parameters[2/2]

Parameter:

1. <Item Type="parameter">Robot</Item>
print the value of the "Robot" parameter if there is.

2. <Item Type="parameter" Conditional="true" CondParam="Robot">

Robot </Item>

3. <Item Type="parameter" Conditional="true" CondParam="Robot">

Gun </Item>
“Gun” value is printed only if the "Robot" parameter has a value.

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 Logic - Switch & Cases [1/2]

<Line>
<Switch ParamName="Spot Ctrl">
<Case Value="TRUE“
<Item Type="const">CTRL</Item>
</Case>
<Case Value="FALSE“>
<Item Type="const">NC </Item>
</Case>
<Case>
<Default>
<Item Type="const"> Spot_CTRL not recognized</Item>
</Default>
</Case>
</Switch>
</Line>

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Logic - Switch & Cases [2/2]

<Switch ParamName="style_number">
<Case Value="1">
<Line>
<Item Type="const">CALL s1</Item>
<Item Type="parameter">style_number</Item>
<Item Type="const">SEAL1;</Item>
</Line>
</Case>
<Case Value="2">
<Line>
<Item Type="const">CALL s0</Item>
</Line>
</Case>
</Switch>

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Logic: If – ElseIf – Else [1/2]

Expression evaluation supports:

• AND (And, and, &&)
• OR (Or, or, ||)
• XOR (Xor, xor)
• NOT (Not, not, !)
• ==
• <> (!=).
• <, <=, >, >=
• +, -, * , /
• TRUE/FALSE
• Signals
• Parenthesis (left, right)
• NULL

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Logic: If – ElseIf – Else [2/2]
<If>
<![CDATA[( 'Speed'<10) && ( ‘Acceleration' <=10) && ('Zone'!=NULL) && ('Fclo'==FALSE)]]>
<Line>
<!--ToDo - add your items-->
</Line>
</If>
<ElseIf>
<![CDATA[( 'Speed'>10) && (‘Acceleration ' >0) && ('Zone'==fine)]]>
<Line>
<!--ToDo - add your items-->
</Line>
</ElseIf>
<Else>
<Line>
<!--ToDo - add your items-->
</Line>
</Else>
<Line>
<If>
<![CDATA[( 'Speed'<10) && ( 'Acceleration' <=10)]]>
<!--ToDo - add your items-->
</If>
<ElseIf>
<![CDATA[( 'Speed'>10) && ( 'Acceleration' >30)]]>
<!--ToDo - add your items-->
</ElseIf>
<Else>
<!--ToDo - add your items-->
</Else>
</Line>
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Smart Dialog [1/3]

<Param Name="ActSpeed" ValueType="string" Default="0">

<ComboDef>
<ElmDef>0</ElmDef>
<ElmDef>1</ElmDef>
<ElmDef>2</ElmDef>
</ComboDef>
</Param>

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Smart Dialog [2/3]

<Param Name="Angle" ValueType="string">

<Hide><![CDATA[('ActSpeed' == 0)]]></Hide>
<ComboDef>
<DynamicValue Value="30"><![CDATA[('ActSpeed' == 1)]]></DynamicValue>
<DynamicValue Value="-30"><![CDATA[('ActSpeed' == 1)]]></DynamicValue>
<DynamicValue Value="60"><![CDATA[('ActSpeed' == 2)]]></DynamicValue>
<DynamicValue Value="-60"><![CDATA[('ActSpeed' == 2)]]></DynamicValue>
</ComboDef>
</Param>

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Smart Dialog [3/3]

<Param Name="FeedNo" ValueType="int" MaxVal="4" MinVal="0">

<Hide><![CDATA[('Angle' == "")]]></Hide>
<DynamicValue MaxVal="200" MinVal="20" Default="100">
<![CDATA[('Angle'> 0)]]>
</DynamicValue>
<DynamicValue MaxVal="-20" MinVal="-200" Default="-100">
<![CDATA[('Angle' <0)]]>
</DynamicValue>
</Param>
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Customized Upload [1/2]

User clicks “upload” and selects a program

controller reads the file

Controller gets next line, calls PS upload API with line text

API Searches for the right entry in customized OLP

commands

Partial
No Found Yes
command

the controller will handle the upload in the old return filled creation data to controller
way [regular OLP command]
Controller creates the right customized OLP
command

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 Customized Upload [2/2]

 Location type and process implied by Olp Command

 Define the location type and the manufacturing features that will be set at

upload time on the parent location

<Command Name="Anfrage" UploadLocationType="Seam Start"

MfgType="ArcContinuousMfg">

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Customized Command XML Checker

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Encryption 1/2

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Encryption 2/2

In addition to encryption, it is also possible to set an expiration date in the

encrypted XML. After this time the XML is no longer valid and an error
message is shown, for example:

<RobotController Name="Abb-Rapid"
ExpirationDate="15/03/2015"
ExpirationMsg="The XML file is expired.">

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Show Layers

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Upload Checker

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Upload Debugger

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Optional Spaces[1/3] – upload robustness

The Problem:
“; %{PE} %MKUKATPUSER”
“; %{PE} %MKUKATPUSER”
“; %{PE} % MKUKATPUSER”
“ ; %{ PE } % MKUKATPUSER ”
“;% {PE } % MKUKATPUSER ”
“;% { PE } %MKUKATPUSER ”
“ ; % { PE } % MKUKATPUSER ”

The Solution:
• Optional spaces mechanism

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Optional Spaces[2/3] – upload robustness

<Item Type="optionalSpaces " xml:space="preserve"> </Item>

When printing this item, the exact number of spaces is printed (“ “).
However, during upload, 0-* spaces are used instead.

This can be used in both ways:

1) From “spaces” to “no spaces”
Syntax is downloaded with spaces if user writes:
<Item Type="optionalSpaces" xml:space="preserve"> </Item>
If real program has no spaces, the upload is still possible.

2) From “no spaces” to “spaces”

Syntax is downloaded without spaces if user writes:
<Item Type="optionalSpaces" xml:space="preserve"></Item>
If a real program has spaces, the upload is still possible.

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Optional Spaces[3/3] – upload robustness

User write only:

<Item Type="const">; %{PE} %MKUKATPUSER</Item>

Which the parser understands as:

<Item Type="optionalSpaces" xml:space="preserve"></Item>
<Item Type="const">;</Item>
<Item Type="optionalSpaces" xml:space="preserve"> </Item>
<Item Type="const">%</Item>
<Item Type="optionalSpaces" xml:space="preserve"></Item>
<Item Type="const">{</Item>
<Item Type="optionalSpaces" xml:space="preserve"></Item>
<Item Type="const">PE</Item>
<Item Type="optionalSpaces" xml:space="preserve"></Item>
<Item Type="const">}</Item>
<Item Type="optionalSpaces" xml:space="preserve"> </Item>
<Item Type="const">%</Item>
<Item Type="optionalSpaces" xml:space="preserve"></Item>
<Item Type="const">MKUKATPUSER</Item>
<Item Type="optionalSpaces" xml:space="preserve"></Item>
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Simulation Layer – Simulation Commands [1/10]

 Any default controller command (available from the Add menu) can be used

in the simulation layer

 String based object name recognition is replacing object Id recognition, but it

is possible to use object hierarchy (ex: “gun.fr1” will be understood as frame

“fr1” within object “gun”).

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Simulation Layer – Simulation Commands [2/10]

 Additional simulation commands are available:

 # CallToolPath <opName> <toolName> - Calls the specified operation

while verifying that the assigned tool on this operation is the specified tool

 # CallPath <varName> - Calls the operation which name is contained in

variable <varName> <toolName

 # Note <message> - Displays the message in the Process Simulate error

window after the simulation is stopped including the location where it was

executed. Use double quotes to evaluate variables and signals

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Simulation Layer – Simulation Commands [3/10]

 Arithmetic and Logical expressions

 arithmetic operators: +, -, *, /, MOD (modulo), DIV (integer division)

 logical operators: NOT, AND, OR, XOR

 comparison operators: ==, <>, >, <, >=, <=

 Boolean constants: TRUE, FALSE

 bit-wise operators: << (left shift), >> (right shift), & (and), | (or), ^ (xor), ~

(not)

 parentheses: (, )

 Decimal and integer values, robot signals, variables

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Simulation Layer – Simulation Commands [4/10]

 If then else syntax

 # If <condition> Then

 # Elsif <condition> Then

 # Else

 # Endif

 Label / Goto syntax

 # Label <label>

 # Goto <label>

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Simulation Layer – Simulation Commands [5/10]

 Switch syntax

 # Switch <expression>

 # Case <val1>, <val2>

 # Default

 # Endswitch

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Simulation Layer – Simulation Commands [6/10]

 For loop syntax

 # For <var> From <start> To <end> Step <step> Do

 # For <var> From <start> To <end> Do

 # Endfor

 While loop syntax

 # While <expression> Do

 # Endwhile

 # Break – to exit from a loop block

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Simulation Layer – Simulation Commands [7/10]

 Relative Motions

 # MoveRelBase [<RefLoc>] <X> <Y> <Z> [<RX> <RY> <RZ>]

 Move the robot with an offset expressed in location object frame

coordinates system

 The offset is relative to: RefLoc if the optional <RefLoc> parameter is

specified (RefLoc should be the name of a location inside the current

robotic operation), otherwise to the current location, or (if defined at

operation level), to the current robot TCPF

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Simulation Layer – Simulation Commands [8/10]

 The optional rotational part of the offset are rotation angles in degrees

expressed in location object frame coordinate system (rotations are

performed one after the other in the rotating frame)

 The current location motion type, speed, zone are used to move to the

offset position

 # Move[JLC]RelBase [<RefLoc>] <X> <Y> <Z> [<RX> <RY> <RZ>]

 Same as # MoveRelBase, except that motion type to the offset position is

forced to Joint , Linear or Circular

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Simulation Layer – Simulation Commands [9/10]

 # MoveRelTool [<RefLoc>] <X> <Y> <Z> [<RX> <RY> <RZ>]

 Same as # MoveRelBase , except that the offset is expressed in location

self coordinate system

 # Move[JLC]RelTool[<RefLoc>] <X> <Y> <Z> [<RX> <RY> <RZ>]

 Same as # MoveRelTool , except that motion type to the offset position is

forced to Joint , Linear or Circular

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Simulation Layer – Simulation Commands [10/10]

 Relative Motions – Motion Parameters

 By default, the current modal motion parameters (speed, zone, tool, etc..)

will be used.

 It is also possible to define explicit motion parameters with following

(controller specific) syntax:

 # MoveRelBase <X> <Y> <Z> [Speed = 500] [Zone = fine]

 These explicit motion parameters will be inherited on any subsequent

relative motion

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Simulation Layer – Simulation Keywords [1/2]

 Simulation keywords supported in simulation layer

 ${Robot} – replace by current robot

 ${ActiveGun} – replace by current active gun

 ${ActiveGunMainJoint} – replace by main joint of current active gun

 ${AutoTeach} – TRUE in AutoTeach simulation mode, FALSE otherwise

 ${MoveToSingleLocation} – TRUE if "Move To Location" command has

been issued, FALSE otherwise

 ${LineSimulation} - TRUE if we are running the root Line Operation from

the Sequence Editor, FALSE otherwise

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Simulation Layer – Simulation Keywords [2/2]

 ${Robot.Tcpf.X}, ${Robot.Tcpf.Y}, ${Robot.Tcpf.Z} - actual position of the

robot TCPF with respect to the active Object Frame in mm

 ${CurrentSimulationTime} - current simulation time in seconds

 ${UserName} - replaced with login name

 ${Date} - replaced with dd/mm/yyyy

 ${Time} - replaced with hh:mm:ss

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Motion customization

XML Customization

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Principle

 Customize:

 The simulation toward a location

 The actual motion instruction at download

 All the syntax of the OLPConfiguration elements can be used here as well:

 Parameter definition

 UI, Simulation, Download layers

 Access to standard location motion and process parameters (in addition to

custom ones)

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Robotic Parameters

Two kind of robotic parameters:

• Complex – the ones that are available in Path Editor (e.g. Speed, Zone)
• Customized - the ones that you define in the XML

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 Robotic Parameters – Complex

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Robotic Parameters – Customized motion

I:\bin\Robotics\Olp\<Controller name>\MotionConfiguration\*.xml

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Configuration Folders

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Customized motion – based on complex technology

<Column Header="Process Type" ValueType="complex" Access="RW">

<Display DisplayType="combobox"/>
</Column>

<Column Header="Customized Motion" ValueType="complex" Access="RX">

<Display DisplayType="string"/>
</Column>

<Column Header="Customized Debug" ValueType="complex" Access="RW">

<Display DisplayType="combobox"/>
</Column>

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 Customized motion – in Path Editor columns

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Customized Motion

• Process motion command - a controller instruction that implies a motion of

the robot to a target

Workflow:
• User selects Process Type value
• User should click on Customized Motion column  fills all required
parameters in dialog
Location’s motion is customized!
Affects simulation & download

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Customized Motion

Location types:
Via, Weld, Seam Start, Seam Middle, Seam End, Pick, Place.

Any combination of [Location type + process type+ motion type] may give
different download layer.

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Skeleton

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Motion command basics [1/2]

 Location– This element represents the type of the location you want to

customize and contains a Type attribute which can have these values: VIA,

WELD, Seam Start, Seam End, Seam Middle

 Process – This element define the name of the specific location

customization. This is the value that is shown in the “Process Type” column.

Several of these elements can be placed within a Location element

Customize:

 Force - Once users choose a process type for a location, the application can

force new values for specific robotic parameters.

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Motion command basics [2/2]

 Dialog – Contains the Title and Description attribute and the

RoboticParamRef element.

 UILayer – Describes how the “Customized Motion” cell will be filled.

 SimulationLayer – Describes how the motion to the location should be

simulated,

 Motion – The type of motion with the following Types: 1 Joint, 2 Linear, 4

Circular.

 This element contains the DownloadLayer (per motion type)

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Editing complex parameters via customized motion
dialog

<Dialog>
<RoboticParamRef>
<Param Dynamic="true">Gun State</Param>
<Param Dynamic="true">Servo Value</Param>
<Param Optional="true" Dynamic="true">Speed</Param>
<Param Optional="true" Dynamic="true">Weld Time</Param>
</RoboticParamRef>
</Dialog>

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Force [1/2] – Process Level

Once users select a process type for a location, the application can force new
values for specific robotic parameters (also dynamic ones):

<Process Type="PL7_AsgRetract">
<Force>
<Param Name="APO" Type="string" NewValue="False"/>
<Param Name="CTRL" Type="string" NewValue="TRUE"/>
<Param Name=“Motion Type" Dynamic=“true" NewValue=“LIN"/>
</Force>
<Dialog Title="BMW PL7 - ASG_Spot_Retract" Description="ASG_Spot_Retract">
…

When we change the process type value, the old force parameters are deleted and
the new ones will be set.

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Force [2/2] – Motion Type Level

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UploadAdditional(Dynamic)Parameters – Creation of
new (dynamic) parameters values at upload time.

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Multi editing of customized motion

1. Set the Process Type.

2. Select Customized Motion row.
3. Click on the right small button in order
to open the Customized Motion dialog.

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XML Debug Tools

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XML Data Configuration

XML Customization

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Principle

 Customized OLP or Motion might require the generation of associated data

types at download:

 Example: a customized motion may refer to a position data type that is

defined elsewhere in the program (program header or in another file):

DECL E6POS Xlo4={X 1086.01,Y -936,Z 2125.74,A 180,B 36.222,C 0,S 6,T 26}

...

LIN Xlo4 C_DIS

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Configuration Folders

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Data Configuration XML Syntax

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Using Data Type Names in OlpConfiguration XML

 Refer to DataType name as follow in the download layer:

<Item Type="dataName">DAT_PTP</Item>.

 The command should reference the data type in the DataTypeRef section:
<DataTypeRef>
<Data>DAT_PTP</Data>
</DataTypeRef>

 It is possible to override the default data type name:

<DataDef>
<Data Type="DAT_PTP">
<Name>
<Item Type="const">DAT_PTP</Item>
<Item Type="const">_</Item>
<Item Type="dynamicParameter">Loc Id</Item>
</Name>
</Data>
</DataDef>
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Using Data Type Names in MotionConfiguration XML

 Similar to Olp Configuration:

 Refer to DataType name as follow in the download layer:

<Item Type="dataName">DAT_PTP</Item>.

 The command should reference the data type in the DataTypeRef section:
<DataTypeRef>
<Data>DAT_PTP</Data>
</DataTypeRef>

 It is possible to override the default data type name in <DataDef> section

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Shared RoboticParams and Aliases

 RoboticParams and Aliases which are defined in DataConfiguration xmls, are

common and shared between OLP configuration and Motion configuration.

 This allows users to define them in one place (DataConfiguration) and then

refer to it from OLP and motion XML files

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XML Program Templates

XML Customization

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ASCII Program Templates

 Described in Default Controller Capabilities section

 Support a fixed set of keywords:

 Body

 Date

 FileBaseName

 UserName

 RobotName

 Study

 Etc…
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XML Program Templates

 Provide more flexibility than ASCII Program Templates

 Enable using additional customer specific keywords set on robot and

operation

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XML Program Templates – Set Keywords

 Template can be defined at robot

or operation level

 Parameter should be defined in:

 Robotics\OLP\<controller>\MotionConfiguration\*.xml

 The XML Program Templates are defined under:

 Robotics\OLP\<controller>\DownloadTemplatesConfiguration\*.xml

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XML Program Templates – Fanuc Sample (1/2)

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XML Program Templates – Fanuc Sample (2/2)

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XML Program Templates – Download

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XML Path Templates

XML Customization

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XML Path Templates - Basics

 XML mechanism to automatically:

 Set location parameters

 Add Olp Commands

 Add approach and depart location with offset

 …

 Define actions in XML files and apply the actions to selected robotic

operations

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XML Path Templates - Basics

 XML actions are defined under:

 Robotics\OLP\<Controller>\PathTemplateConfiguration\*.xml

 Actions are applied with following generic command:

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XML Path Templates – Action List

 Each XML defines a list of actions, with filters (LocRange, etc…)

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XML Path Templates - Actions

 An action node looks like this (with filters):

<Action Name="SetAllLocations"
LocRange="All"
LocationTypes="Via,Weld"
ProcessTypes="Polishing,Glue-on"
MotionTypes="1,2"
Description="set all location which process = Polishing: \n the speed[20] \n the zone[z50]">
....
</Action>

 Action name can use ‘|’ to create sub menus:

 <ActionName="Paint|Correct TCP">

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XML Path Templates – Action Filters

 LocationTypes - types of locations on which action should be

performed (Via, Weld, Seam Start, etc …)

 LocRange- range of locations on which action should be performed

(All, First, Last, 4-8:2, 4-Last-2,…)

 ProcessTypes - XML custom process of locations on which action

should be performed

 MotionTypes – Motion Type of locations on which action should be

performed (1-PTP, 2-LIN, 4-CIRC)

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 An
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XML Path Templates – Action Content (1/4)

 Param- set or remove a specific (dynamic) robotic parameter:

 <Param RemoveAll="true"/>

 <Param Name=“Speed“ Dynamic=true” Value=“100”/>

 CopyParameters – copy a specific (dynamic) robotic parameter

 <Param Name="Zone" Dynamic="true" CopyFrom="-2" ApplyOn="-1"/>

 OLP- add or remove an OLP command

 <Olp RemoveAll="true"/>

 <Olp Name=“# WaitTime 1"/>

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XML Path Templates – Action Content (2/4)

 Color – add color to a location:

 <Color Value="YELLOW"/>

 MoveLoc – move a location to offset position

 <MoveLoc RelX="10"RelZ="20" IgnoreLimitations="true"/>

 Relocate – relocation location according to difference between 2

TCP frames

 <Relocate FromParam="TCPF1" ToParam="TCPF2" Scope="ScopeType"

IgnoreLimitations="true"/>

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XML Path Templates – Action Content (3/4)

 AddLoc – create a new via location:

 <AddLoc Name="approachViaLoc" RefLoc="First" Placed="After"

CopyAttachment="true“ RelX="-100.05" RelZ="100.05">

 <!–apply to the added via location only–>

 <Param Name="Speed" Dynamic="true" Value="100"/>

 </AddLoc>

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XML Path Templates – Action Content (4/4)

 Rename – rename locations

 <Action Name=“Rename Locations”>

 <Rename Name=“Task”/>

 <Rename NamePrefix=“A_”/>

 <Rename NameSuffix=“Z_”/>

 <Rename NameSuffixIndex=“1”/>

 </Action>

 Full document in RoboticsCustomizedUIManual.pdf, chapter 6.

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Post Download

XML Customization

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Post Download – Basics (1/3)

 All controllers have an option to post process created download files with an

external executable (in case XML customization is not enough)

 The executable should be:

 Placed under Robotics\Olp\<Controller>\ExternalApplications

 Should be named <Controller>PostDownload.<ext> with an extension <ext>

included in PATHEXT environment variable (.exe, .bat, .pl, etc…)

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Post Download – Basics (2/3)

 Following exchange file is sent as arguments to the post download

executable:

 ROBOT_NAME,<name of the robot instance in PS>

 CONTROLLER_VERSION,<controller version string as selected from

Robot Setup / Controller Version>

 RRS_VERSION,<rrs version as selected from Robot Properties>

 DOWNLOAD_FOLDER,<folder where program files have been generated>

 DOWNLOAD_FILES,<list of files generated during download in this folder>

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Post Download – Basics (3/3)

 The post download should modify the DOWNLOAD_FILES

 The modified files are shown in the multi file viewer at the end of download

 The mechanism is transparent to the end user

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