KUKA_KRC2_CamRob.py

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# Copyright 2017 - RoboDK Software S.L. - http://www.robodk.com/
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
# http://www.apache.org/licenses/LICENSE-2.0
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

# ----------------------------------------------------
# This file is a POST PROCESSOR for Robot Offline Programming to generate programs 
# for a Kuka robot with RoboDK
#
# To edit/test this POST PROCESSOR script file:
# Select "Program"->"Add/Edit Post Processor", then select your post or create a new one.
# You can edit this file using any text editor or Python editor. Using a Python editor allows to quickly evaluate a sample program at the end of this file.
# Python should be automatically installed with RoboDK
#
# You can also edit the POST PROCESSOR manually:
#    1- Open the *.py file with Python IDLE (right click -> Edit with IDLE)
#    2- Make the necessary changes
#    3- Run the file to open Python Shell: Run -> Run module (F5 by default)
#    4- The "test_post()" function is called automatically
# Alternatively, you can edit this file using a text editor and run it with Python
#
# To use a POST PROCESSOR file you must place the *.py file in "C:/RoboDK/Posts/"
# To select one POST PROCESSOR for your robot in RoboDK you must follow these steps:
#    1- Open the robot panel (double click a robot)
#    2- Select "Parameters"
#    3- Select "Unlock advanced options"
#    4- Select your post as the file name in the "Robot brand" box
#
# To delete an existing POST PROCESSOR script, simply delete this file (.py file)
#
# ----------------------------------------------------
# More information about RoboDK Post Processors and Offline Programming here:
#     http://www.robodk.com/help#PostProcessor
#     http://www.robodk.com/doc/en/PythonAPI/postprocessor.html
# ----------------------------------------------------


# ----------------------------------------------------
# Import RoboDK tools
from robodk import *


HEADER = '''
;FOLD INI
BAS (#INITMOV,0 )
;ENDFOLD (INI)

;FOLD STARTPOS
$BWDSTART = FALSE
PDAT_ACT = PDEFAULT
BAS(#PTP_DAT)
FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
BAS(#FRAMES)
;ENDFOLD

;FOLD SET DEFAULT SPEED
$VEL.CP=0.2
BAS(#VEL_PTP,100)
BAS(#TOOL,0)
BAS(#BASE,0)
;ENDFOLD

PTP $AXIS_ACT ; skip BCO quickly
'''

# ----------------------------------------------------
def pose_2_str(pose):
    """Converts a pose target to a string"""
    #[x,y,z,w,p,r] = Pose_2_KUKA(pose)
    #return ('X %.3f, Y %.3f, Z %.3f, A %.3f, B %.3f, C %.3f' % (x,y,z,r,p,w)) # old version had to be switched
    [x,y,z,r,p,w] = pose_2_xyzrpw(pose)
    return ('X %.3f,Y %.3f,Z %.3f,A %.3f,B %.3f,C %.3f' % (x,y,z,w,p,r))

def pose_2_str_ext(pose,joints):
    njoints = len(joints)
    if njoints <= 6:
        return pose_2_str(pose)
    else:     
        extaxes = ''
        for i in range(njoints-6):
            extaxes = extaxes + (',E%i %.5f' % (i+1, joints[i+6]))
        return pose_2_str(pose) + extaxes
    
def angles_2_str(angles):
    """Prints a joint target"""
    str = ''
    data = ['A1','A2','A3','A4','A5','A6','E1','E2','E3','E4','E5','E6']
    for i in range(len(angles)):
        str = str + ('%s %.5f,' % (data[i], angles[i]))
    str = str[:-1]
    return str

# ----------------------------------------------------    
# Object class that handles the robot instructions/syntax
class RobotPost(object):
    """Robot post object"""
    PROG_EXT = 'src'        # set the program extension
    
    # other variables
    ROBOT_POST = ''
    ROBOT_NAME = ''
    PROG_FILES = []
    
    PROG = ''
    PROG_CSV = []
    LOG = ''
    nAxes = 6
    E01 = 0
    nProgs = 0
    nLineCSV = 0
    ProgCSV = -1
    SPEED_MMS = 150
    SPEED_MMS_MAX = 2000
    ACCEL_MMSS = 2000    
    TOOL_ID = 0
    FRAME_ID = 0
    LAST_POSE_CSV = None
    PROG_NAME_CSV = None
    
    #APO_VALUE = 1
    C_DIS = ''#' C_DIS'
    C_PTP = ''#' C_PTP'
    
    
    def __init__(self, robotpost=None, robotname=None, robot_axes = 6, **kwargs):
        self.ROBOT_POST = robotpost
        self.ROBOT_NAME = robotname
        self.PROG = ''
        self.LOG = ''
        self.nAxes = robot_axes
        
    def ProgStart(self, progname):
        self.nProgs = self.nProgs + 1
        self.PROG_NAME_CSV = progname
        self.addline('DEF %s ( )' % progname)
        self.PROG = self.PROG + HEADER
        self.addline('$ACC.CP = %.5f' % (self.ACCEL_MMSS/1000.0))        
        
    def ProgFinish(self, progname):
        self.addline('END')
        
    def ProgSave(self, folder, progname, ask_user = False, show_result = False):
        progname = progname + '.' + self.PROG_EXT
        progname_csv = self.PROG_NAME_CSV + '.csv'        
        if ask_user or not DirExists(folder):
            filesave = getSaveFile(folder, progname, 'Save program as...')
            if filesave is not None:
                filesave = filesave.name
                filesave_csv = getFileDir(filesave) + '/' + progname_csv
            else:
                return
        else:
            filesave = folder + '/' + progname
            filesave_csv = folder + '/' + progname_csv
        fid = open(filesave, "w")
        fid.write(self.PROG)
        fid.close()
        fidcsv = open(filesave_csv, "w")
        for line in self.PROG_CSV:
            fidcsv.write(line)
            fidcsv.write('\n')        
        fidcsv.close()
        
        print('SAVED: %s\n' % filesave) # tell RoboDK the path of the saved file
        self.PROG_FILES = filesave
        
        # open file with default application
        if show_result:
            if type(show_result) is str:
                # Open file with provided application
                import subprocess
                p = subprocess.Popen([show_result, filesave, filesave_csv])
            elif type(show_result) is list:
                import subprocess
                p = subprocess.Popen(show_result + [filesave])   
            else:
                # open file with default application
                import os
                
                os.startfile(filesave)
            if len(self.LOG) > 0:
                mbox('Program generation LOG:\n\n' + self.LOG)
                
    def ProgSendRobot(self, robot_ip, remote_path, ftp_user, ftp_pass):
        """Send a program to the robot using the provided parameters. This method is executed right after ProgSave if we selected the option "Send Program to Robot".
        The connection parameters must be provided in the robot connection menu of RoboDK"""
        UploadFTP(self.PROG_FILES, robot_ip, remote_path, ftp_user, ftp_pass)
        
    def MoveJ(self, pose, joints, conf_RLF=None):
        """Add a joint movement"""
        self.addline('PTP {' + angles_2_str(joints) + '}' + self.C_PTP)
        
    def MoveL(self, pose, joints, conf_RLF=None):
        """Add a linear movement"""
        if self.nAxes > 6:
            self.E01 = joints[6]
            
        if self.ProgCSV == self.nProgs:
            self.addline_csv(pose)
        elif self.ProgCSV < 0:
            self.ProgCSV = self.nProgs
            self.addline('CR_PROCESS_FILE("%s.csv", 1, -1, "OK" )' % (self.PROG_NAME_CSV));
            self.addline_csv(pose)
        else:
            self.addline('LIN {' + pose_2_str_ext(pose,joints) + '}' + self.C_DIS)
        
    def MoveC(self, pose1, joints1, pose2, joints2, conf_RLF_1=None, conf_RLF_2=None):
        """Add a circular movement"""
        if self.ProgCSV < 0:
            self.addline('CIRC {' + pose_2_str_ext(pose1,joints1) + '},{' + pose_2_str_ext(pose2,joints2) + '}' + self.C_DIS)
        else:
            self.addlog('Warning: Can not move circular inside a CSV file')

        
    def setFrame(self, pose, frame_id=None, frame_name=None):
        """Change the robot reference frame"""
        if frame_id is not None and frame_id >= 0:
            self.FRAME_ID = frame_id
        if self.ProgCSV < 0:
            self.addline('$BASE = {FRAME: ' + pose_2_str(pose) + '}')
        else:
            self.addlog('Warning: Can not set the reference frame inside CSV file')
        
    def setTool(self, pose, tool_id, tool_name):
        """Change the robot TCP"""
        if tool_id is not None and tool_id >= 0:
            self.TOOL_ID = tool_id
            
        if self.ProgCSV < 0:
            self.addline('$TOOL = {FRAME: ' + pose_2_str(pose) + '}')
        else:
            self.addlog('Warning: Can not set the tool frame inside CSV file')
        
    def Pause(self, time_ms):
        """Pause the robot program"""
        if self.ProgCSV < 0:
            if time_ms <= 0:
                self.addline('HALT')
            else:
                self.addline('WAIT SEC %.3f' % (time_ms*0.001))
        else:
            self.addlog('Warning: Can not pause inside CSV file')
        
    def setSpeed(self, speed_mms):
        """Changes the robot speed (in mm/s)"""
        self.SPEED_MMS = speed_mms
        if self.ProgCSV < 0:
            self.addline('$VEL.CP = %.5f' % (speed_mms/1000.0))
    
    def setAcceleration(self, accel_mmss):
        """Changes the current robot acceleration"""
        if self.ProgCSV < 0:
            self.ACCEL_MMSS = accel_mmss
            self.addline('$ACC.CP = %.5f' % (accel_mmss/1000.0))
        else:
            self.addlog('Warning: Can not set acceleration inside CSV file')
                
    def setSpeedJoints(self, speed_degs):
        """Changes the robot joint speed (in deg/s)"""
        if self.ProgCSV < 0:
            self.ACCEL_MMSS = accel_mmss
            self.addline('$VEL.ORI1 = %.5f' % speed_degs)
            self.addline('$VEL.ORI2 = %.5f' % speed_degs)
        else:
            self.addlog('Warning: Can not set joint speed inside CSV file')
    
    def setAccelerationJoints(self, accel_degss):
        """Changes the robot joint acceleration (in deg/s2)"""
        if self.ProgCSV < 0:
            self.ACCEL_MMSS = accel_mmss
            self.addline('$ACC.ORI1 = %.5f' % accel_degss)
            self.addline('$ACC.ORI2 = %.5f' % accel_degss)
        else:
            self.addlog('Warning: Can not set joint acceleration inside CSV file')
        
        
    def setZoneData(self, zone_mm):
        """Changes the zone data approach (makes the movement more smooth)"""
        self.APO_VALUE = zone_mm
        if zone_mm >= 0:
            self.addline('$APO.CPTP = %.3f' % zone_mm)
            self.addline('$APO.CDIS = %.3f' % zone_mm)
            self.C_DIS = ' C_DIS'
            self.C_PTP = ' C_PTP'
        else:
            self.C_DIS = ''
            self.C_PTP = ''
        
    def setDO(self, io_var, io_value):
        """Sets a variable (output) to a given value"""
        if type(io_var) != str:  # set default variable name if io_var is a number
            io_var = '$OUT[%s]' % str(io_var)        
        if type(io_value) != str: # set default variable value if io_value is a number            
            if io_value > 0:
                io_value = 'TRUE'
            else:
                io_value = 'FALSE'
        
        # at this point, io_var and io_value must be string values
        self.addline('%s=%s' % (io_var, io_value))
        
    def waitDI(self, io_var, io_value, timeout_ms=-1):
        """Waits for an input io_var to attain a given value io_value. Optionally, a timeout can be provided."""
        if type(io_var) != str:  # set default variable name if io_var is a number
            io_var = '$IN[%s]' % str(io_var)        
        if type(io_value) != str: # set default variable value if io_value is a number            
            if io_value > 0:
                io_value = 'TRUE'
            else:
                io_value = 'FALSE'
        
        # at this point, io_var and io_value must be string values
        if timeout_ms < 0:
            self.addline('WAIT FOR (%s==%s)' % (io_var, io_value))
        else:
            self.addline('START_TIMER:')
            self.addline('$TIMER_STOP[1]=TRUE')
            self.addline('$TIMER_FLAG[1]=FALSE')
            self.addline('$TIMER[1]=%.3f' % (float(timeout_ms)*0.001))
            self.addline('$TIMER_STOP[1]=FALSE')
            self.addline('WAIT FOR (%s==%s OR $TIMER_FLAG[1])' % (io_var, io_value))
            self.addline('$TIMER_STOP[1]=TRUE')
            self.addline('IF $TIMER_FLAG[1]== TRUE THEN')
            self.addline('    HALT ; Timed out!')
            self.addline('    GOTO START_TIMER')
            self.addline('ENDIF')      
        
    def RunCode(self, code, is_function_call = False):
        """Adds code or a function call"""
        if self.ProgCSV < 0:
            if is_function_call:
                code = code.replace(' ','_')
                if not code.endswith(')'):
                    code = code + '()'
                self.addline(code)
            else:
                self.addline(code)
        #else:
        #    self.addlog('Warning: Can not run program inside CSV file')

        
    def RunMessage(self, message, iscomment = False):
        """Add a joint movement"""
        if iscomment:
            self.addline('; ' + message)
        else:
            pass
            #self.addline('Wait for StrClear($LOOP_MSG[])')
            #self.addline('$LOOP_CONT = TRUE')
            #self.addline('$LOOP_MSG[] = "%s"' % message)
            
# ------------------ private ----------------------                
    def addline_csv(self, pose_csv):    
        self.nLineCSV = self.nLineCSV + 1
        [x,y,z,r,p,w] = pose_2_xyzrpw(pose_csv)
        speed_time_desired = self.SPEED_MMS    
        newline = '%i;%.4f;%.4f;%.4f;%.4f;%.4f;%.4f;%i;%.3f;1;0;0;0;%i;%.4f' % (self.nLineCSV, x,y,z,r,p,w, self.nLineCSV, speed_time_desired, self.TOOL_ID, self.E01)
        self.PROG_CSV.append(newline)
        
#1 Order of targets    
#2,3,4,5,6,7: X,Y,Z,A,B,C-axis movements (coordinates relative to the workspace frame)
#8 User Parameter[1], Order of CNC line (same as column 1 if no other subprograms are running)
#9 User Parameter[2], Feed rate in mm/sec
#10 User Parameter[3], Spindle State (Boolean)
#11 User Parameter[4], Spindle Speed (rpm)
#12 User Parameter[5], Spindle Rotation (CLW=0/CCLW=1)
#13 User Parameter[6], Coolant (This should always be 0, we don't use coolants)
#14 User Parameter[7], Tool Number.
#15 User Parameter[8], E01 movement
        
    def addline(self, newline):
        """Add a program line"""
        self.PROG = self.PROG + newline + '\n'
        
    def addlog(self, newline):
        """Add a log message"""
        self.LOG = self.LOG + newline + '\n'

# -------------------------------------------------
# ------------ For testing purposes ---------------   
def Pose(xyzrpw):
    [x,y,z,r,p,w] = xyzrpw
    a = r*math.pi/180
    b = p*math.pi/180
    c = w*math.pi/180
    ca = math.cos(a)
    sa = math.sin(a)
    cb = math.cos(b)
    sb = math.sin(b)
    cc = math.cos(c)
    sc = math.sin(c)
    return Mat([[cb*ca, ca*sc*sb - cc*sa, sc*sa + cc*ca*sb, x],[cb*sa, cc*ca + sc*sb*sa, cc*sb*sa - ca*sc, y],[-sb, cb*sc, cc*cb, z],[0,0,0,1]])

def test_post():
    """Test the post with a basic program"""

    robot = RobotPost('Kuka_custom', 'Generic Kuka')

    robot.ProgStart("Program")
    robot.RunMessage("Program generated by RoboDK", True)
    robot.setFrame(Pose([807.766544, -963.699898, 41.478944, 0, 0, 0]))
    robot.setTool(Pose([62.5, -108.253175, 100, -60, 90, 0]))
    robot.MoveJ(Pose([200, 200, 500, 180, 0, 180]), [-46.18419, -6.77518, -20.54925, 71.38674, 49.58727, -302.54752] )
    robot.MoveL(Pose([200, 250, 348.734575, 180, 0, -150]), [-41.62707, -8.89064, -30.01809, 60.62329, 49.66749, -258.98418] )
    robot.MoveL(Pose([200, 200, 262.132034, 180, 0, -150]), [-43.73892, -3.91728, -35.77935, 58.57566, 54.11615, -253.81122] )
    robot.RunMessage("Setting air valve 1 on")
    robot.RunCode("TCP_On", True)
    robot.Pause(1000)
    robot.MoveL(Pose([200, 250, 348.734575, 180, 0, -150]), [-41.62707, -8.89064, -30.01809, 60.62329, 49.66749, -258.98418] )
    robot.MoveL(Pose([250, 300, 278.023897, 180, 0, -150]), [-37.52588, -6.32628, -34.59693, 53.52525, 49.24426, -251.44677] )
    robot.MoveL(Pose([250, 250, 191.421356, 180, 0, -150]), [-39.75778, -1.04537, -40.37883, 52.09118, 54.15317, -246.94403] )
    robot.RunMessage("Setting air valve off")
    robot.RunCode("TCP_Off", True)
    robot.Pause(1000)
    robot.MoveL(Pose([250, 300, 278.023897, 180, 0, -150]), [-37.52588, -6.32628, -34.59693, 53.52525, 49.24426, -251.44677] )
    robot.MoveL(Pose([250, 200, 278.023897, 180, 0, -150]), [-41.85389, -1.95619, -34.89154, 57.43912, 52.34162, -253.73403] )
    robot.MoveL(Pose([250, 150, 191.421356, 180, 0, -150]), [-43.82111, 3.29703, -40.29493, 56.02402, 56.61169, -249.23532] )
    robot.ProgFinish("Program")
    # robot.ProgSave(".","Program",True)
    print(robot.PROG)
    print(robot.PROG_CSV)
    if len(robot.LOG) > 0:
        mbox('Program generation LOG:\n\n' + robot.LOG)

    input("Press Enter to close...")

if __name__ == "__main__":
    """Function to call when the module is executed by itself: test"""
    test_post()