4 - WSpace - Programming

Dr J.Iqbal

Dr J.Iqbal

Things to Cover Robots

Teach pendent GP Tracks Create Path and Track

The CAD System Conveyor belt

Collision detection Introduction to VBA

Use of macro create box, delete and move Attaching macro with GP Introduction to Forms Moving of Conveyor belt

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Introduction to VBA

OVERVIEW VBA stands for Visual Basic for Applications. It is a

programming language that is produced by Microsoft.

VBA consists of Classes/objects, which are collections of Properties, Methods, and Events.

Properties are settings of an object that you can check or change.

Methods are actions the object can perform.

Events are things that happen to an object. An event is an action recognized by an object.

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Introduction to VBA Objects An object represents an instance of a class such as

Form, Control, or Component. In Visual Basic code, you must instantiate an object before you can apply one of the object's methods or change the value of one of its properties.

Instantiation is the process by which an instance of a class is created and assigned to an object variable. An example is shown below:

Dim x As New MyClass()

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Introduction to VBA Properties A property is an attribute of an object that defines one

of the object's characteristics, such as size, color, or screen location, or an aspect of its behavior, such as whether it is enabled or visible. To change the characteristics of an object, you change the values of its corresponding properties.

To set the value of a property, affix the reference to an object with a period, the property name, an equal sign (=), and the new property value.

Public Sub ChangeName(newTitle)

myForm.Text = newTitle

End Sub

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Introduction to VBA Methods A method is an action that an object can perform. For

example, Add is a method of the ComboBox object, because it adds a new entry to a combo box.

The following example demonstrates the Start method of a Timer component:

' Instantiates a Timer object.

Dim myTimer As New System.Windows.Forms.Timer() ' Invokes the Start method of myTimer.

MyTimer.Start

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Introduction to VBA Events An event is an action recognized by an object, such as

clicking the mouse or pressing a key, and for which you can write code to respond.

Events can occur as a result of a user action or program code, or they can be triggered by the system. You can also develop your own custom events to be raised by your objects and handled by other objects.

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Introduction to VBA OVERVIEW

VBA can be used in Workspace to create Macros, Behaviors, Tool Behaviors, and robot programs using Workspaces customizable robot language.

Programs or commands written in VBA can be used to access Workspace functionality via the Workspace Object Model.

The entire Object Model is included in the User Manual.

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When a command from the Workspace Object Model is executed within a VBA program it makes a call into the main Workspace executable. This way the user can access and manipulate data and functions within Workspace from a VBA program.

All macros and programs are constructed in the VBA Integrated Development Environment (IDE).

The IDE is built into Workspace and may be started within the Workspace environment. However, the IDE has its own help system, menu structure, and commands.

Introduction to VBA

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The IDE is divided into three main areas the Project Explorer, the Properties Window, and the Main Working Area.

The Project Explorer is located on the upper left-hand side of the screen below the icons. The Project Explorer window presents the user with a

hierarchical structure of all VBA projects, Workspace objects, modules and Class modules.

The Properties Window is located below the Project Explorer. The Properties Window displays the properties of the

selected object from the project explorer. It is divided into two columns, the first column displays the name of the property and the second column displays the value of the property.

Introduction to VBA

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The Main Working Area is the large gray section in the middle of the screen. The Main Working Area contains the object of interest, such

as opened VBA Modules, Watches, and UserForms.

A VBA module contains VBA declarations and procedures.

There are two types of modules, Code Modules and Class Modules.

The Object Browser lists all of the available Classes, their Properties, Methods, and Events, and the parameters for each.

Everything that the user creates and edits in the IDE is saved in the corresponding Workspace project.

Introduction to VBA

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Macros

OVERVIEW Macros are Code Modules that contain a series of Methods and

Properties arranged to achieve a desired goal.

Macros can be run from the Run Macros dialog box, from the Command Line, or as GP Actions.

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Create_mov_del.wsp EXAMPLE If there are any Workspace projects open, close them and open

a new project. Select Options \ Visual Basic Result: The IDE is opened. In the Project Explorer right click on the name of the VBA project

(it will have the same name as the Workspace Project). Select Insert \ Module. Result: A Code Module is opened and placed in the Main Working

Area. Click the mouse in the Code Module and type the line sub

mybox() and press enter. Result: The IDE adds the line End Sub automatically, and the cursor

is placed between the two lines. Note: mybox will be the name of the macro.

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Macro

Sub myBox()

ThisDocument.Box "box", 300, 300, 300

End Sub

Create Box

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Right click and select List Properties\Methods. Result: A Drop-Down Menu lists all of the available options. Select ThisDocument Result: ThisDocument is added to the macro. Type . Result: Another Drop-Down Menu appears listing the available options now. Select Box Result: Box is added after the period. Type in a space after Box. Result: A line of help appears listing all of the parameters for the method Box. Type box,100,100,100 ThisDocument.Box "box", 300, 300, 300 Select File \ Close and Return to Workspace Result: You are returned to the Workspace environment. Select Options \ Macros \ Run Result: The Macros dialog box is opened. Make sure Module1.mybox is highlighted and press Run. Result: The macro runs and creates a box named box with dimensions of

100mm per side. Select the box and delete it. In the command line section at the bottom of the screen type box Result: The macro is run again.

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Macro

Sub myBox()

ThisDocument.Box "box", 300, 300, 300

End Sub

Delete Box

Sub delete()

ThisDocument.CadObject(box").Delete

End Sub

Create Box

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Create delete Form.wsp

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Create_mov_delete form.wsp

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Use of forms Return to the IDE. Right click on the name of the project and select Insert \

UserForm. Result: A blank UserForm is opened in the Main Working Area On the Properties Window left click on (Name) and then

change the name to MoveBoxDialog. Now left click on Caption and change it to Enter Co-ordinates

for move Note: The Name is how the dialog box is identified within the code,

and the Caption is what is labeled on the title bar of the dialog box.

Left click on the UserForm. From the Tool Box to the left of the UserForm select Frame. Note: If you are not sure which icons in the Tool Box are for which

object, hold your mouse over the icon and a label will appear. The toolbox can be switched on and off from the View menu.

Left click the mouse near the top left-hand corner of the UserForm, and holding down the left mouse button drag the mouse to the lower right-hand corner of the UserForm.

Result: A Frame is created on the UserForm Note: A Frame is a visual means of grouping objects together.

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Change the Caption of the Frame to Co-ordinates Add a Textbox to the UserForm and position underneath the

Frames caption. Add a Label to the right of the Text Box. Left click inside of the Label and change the caption to X. Resize the Label so that it is just large enough for the X. Repeat steps the above four steps and label the other Text

Boxes Y and Z. Resize the Frame so that it contains just the three Text Boxes

and their Labels. Add a Command Button to the bottom of the UserForm. From the Properties Window change the Caption to OK. Add another Command Button and change its Caption to Cancel. Double click on the OK button on the UserForm. Result: A Code Module opens with the lines Private Sub

CommandButton1_Click() and End Sub written. This is called an event handler. The event is someone clicking on the OK button, and the code that goes between these lines will be executed after that event.

Type the following lines of code between the two already existing lines.

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Dim x As Double

Dim y As Double

Dim z As Double

Rem Get coordinates from the text boxes

x = TextBox1.Text

y = TextBox2.Text

z = TextBox3.Text

Rem Position the CAD object

ThisDocument.CADObject("box").MoveAbsolute x, y, z

Right click on MoveBoxDialog in the Project Explorer and select View Object.

Result: The UserForm Re-appears.

Double click on the Cancel button.

Add the line Hide between the two already existing lines.

Result: The UserForm is now complete. All that is left to do is to create the macro that displays it.

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Right click on Module1 in the Project Explorer and select View Code.

Result: Module1 is opened. Note: Different macros can be created in the same code

module. Type Sub MoveBoxAbsolute and press Enter. Right click and select List Properties\Methods. Select MoveBoxDialog Type . Select Show. Select File \ Close and Return to Workspace. Select Options \ Macros \ Run In the Macros dialog box select

Module1.MoveBoxAbsolute and press Run. Result: The UserForm you created appears. Enter 100 for x, y, and z and press OK. Result: The box moves to the location 100x, 100y, 100z Note: You can check this from the boxes Property page.

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Create_mov_delete form

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Use of Forms (create from text move delete.wsp)

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Create Box using form

Private Sub CommandButton2_Click()

Dim x As Double

Dim y As Double

Dim z As Double

x = TextBox4.Text

y = TextBox5.Text

z = TextBox6.Text

name = TextBox7.Text

ThisDocument.Box name, x, y, z

End Sub

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Private Sub CommandButton1_Click()

Dim x As Double

Dim y As Double

Dim z As Double

x = TextBox1.Text

y = TextBox2.Text

z = TextBox3.Text


ThisDocument.CadObject(name).MoveAbsolute x, y, z

Rem x, y, z

End Sub

Move Absolute

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Move Relative

Private Sub MoveRelativeButton_Click()


ThisDocument.CadObject(name).MoveRelative x, y, z

End Sub

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Delete Box

Private Sub deleteButton_Click()


ThisDocument.CadObject(name).Delete

End Sub

Private Sub CancelButton_Click()

Hide

End Sub

Exit

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Attaching Macro with GPs

Example Stabuli Puma 761

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Create Box - Size 140,400,275 Location X=1100,y=700,z=600

Conveyor moving with ABB.wsp

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Move Part Fwd Option Explicit

Dim Part As CadObject

Dim CartPos As New RCSCartPos

Dim rRobot As Robot

Public Sub MovePart()

'Declaration of the local variables

'The position properties of CartPos are assigned the objects target cartesian pos

CartPos.px = 1100 1100

CartPos.py = -100 700

CartPos.pz = 600 600

'Assign the object part with the CAD object to be moved

Set Part = ThisDocument.CadObject("workpiece")

'The object part is being accessed and the setObjectNextTarget method

'is used to set the object next target. The target is the cartesian

'position of CartPos

Part.SetObjectNextTarget CartPos

End Sub

Explicit

option force

you to

declare var

before using

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Move part back Public Sub MovePartBack()


'The position properties of CartPos are assigned the objects target

cartesian pos

CartPos.px = 1100

CartPos.py = 700

CartPos.pz = 600


Set Part = ThisDocument.CadObject("workpiece")





End Sub

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Moving Conveyor example.wsp

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Moving Conveyor Belt Public Sub MovePart()


Dim Part As CadObject

Dim CartPos As New RCSCartPos

'The position properties of CartPos are assigned the objects target cartesian pos

CartPos.px = -10

CartPos.py = 700

CartPos.pz = 469


Set Part = ThisDocument.CadObject("Workpiece")





End Sub

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Named View - Camera

View -> Named view -> saved view

Demo -> view camera.wsp

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Named View - Camera

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Named View - Camera

Dim rRobot As Robot

Sub viewall()

Set rRobot = ThisDocument.GetRobot("ABB IRB2400_10")

ThisDocument.MoveToNamedView "camera2", 1500

rRobot.Delay 4000

End Sub

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Named View - Camera Dim rRobot As Robot

Sub viewall()



rRobot.Delay 4000

End Sub

Sub viewside()



rRobot.Delay 10000

End Sub

Sub viewsmall()



rRobot.Delay 50000

End Sub

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Demo

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4 - WSpace - Programming

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