【ABB机器人】RobotWare Add-Ins 1/7(共计7个章节)

目录

3.1  概述

3.2 命令用法介绍

---$-------------------------------------------------------

# ----------------------------------------------------------------------

config----------------------------------------------------------

copy ----------------------------------------------------------

delay ----------------------------------------------------------

delete ----------------------------------------------------------

direxist ----------------------------------------------------------

echo ----------------------------------------------------------

------------------------------------------------------fileexist ----------------------------------------------------------

------------------------------------------------------find_replace -----------------------------------------------

getkey-----------------------------------------------

goto-----------------------------------------------

------------------------------------------------------ifstr -----------------------------------------------

---------------------------------------------------include -----------------------------------------------

--------------------------------------------------math_lib_set_mem_size ------------------------------------

mkdir -----------------------------------------------------------

onerror -----------------------------------------------------

print ---------------------------------------------------------------

rapid_delete_palette -----------------------------------------

rapid_delete_palette_instruction ---------------------------------------

setenv -----------------------------------------------

 setstr ----------------------------------------------------

text ------------------------------------------------------------

timestamp --------------------------------------------------

-----------------------------------------------------  Registers：-----------------------------------------------

---

3.1  概述

instalt.cmd文件是一个安装脚本，它定义了要加载的配置文件和事件日志消息文件。例如：定义了其中一个配置文件（sys.cfg）要加载的快速程序文件（.sys）

本节介绍可以在安装脚本安装.cmd中使用的命令的语法。

当使用重启模式重置系统自动安装许多不同的文件，如配置文件或文本文件时，将执行脚本安装。Install.cmd文件可以包含条件，因此只有在某些条件为真时才执行某些操作。

3.2 命令用法介绍

---$-------------------------------------------------------

$ defines the name of a string variable.

Example:

setstr -strvar $LANG -value "en"

Predefined strings:

String	Predefined value
$BOOTPATH	The folder where install.cmd is executed. For example: /hd0a/<system name>/PRODUCTS/<Add-In folder>
$HOME	/hd0a/<system name>/HOME
$SYSPAR	/hd0a/<system name>/SYSPAR
$RWTEMP	/hd0a/tem

# ----------------------------------------------------------------------

Comment, if # followed by a space.

Label, if no space between # and text.

Example:

# A comment  @#后有空格为备注

#Label        @#后无空格为标签

config----------------------------------------------------------

This command can be used for two different purposes:

• Erase unprotected contents of a configuration domain before loading a new

content.

• Modify existing contents of a configuration domain.

Erase unprotected contents

The config command can be used to erase unprotected contents of a configuration domain before loading a new content.

Parameter	Description	Default
domain	The topic of the cfg file. Allowed values are: • SIO - Communication • SYS - Controller • EIO - I/O • MMC - Man-machine communication • MOC - Motion
erase	Erase unprotected instances of the specified configuration	FALSE

Example:

config -erase -domain MOC

Modify existing contents

The config command can be used to modify existing contents of a configuration

domain.

The following operations are possible:

1• Add new instances

2• Replace existing instances

3• Modify existing instances in the specified configuration domain

Parameter	Description	Default
filename	The cfg file name, including file path.
load	The types and instances specified in the cfg file will be added  to the cfg database. If an instance with the same name already exists, an error will be generated and the cfg file will not be loaded. To overwrite the existing instances, use option -replace.	TRUE
internal	Load an internal configuration file. All instances loaded with this option will be write-protected. Once they have been loaded, they cannot be overwritten.	FALSE
modify	Modify all existing instances with the same name as those in the loaded cfg file. With this option it is possible to change one or several parameters of each instance and all other mandatory parameters are not needed.	FALSE
replace	Replace all existing instances with the same name as those in the loaded cfg file.	FALSE

Example:

config -filename $BOOTPATH/eio.cfg -load

config -filename $BOOTPATH/sys.cfg -internal

config -filename $BOOTPATH/eiopw.cfg -replace

config -filename $BOOTPATH/awNoSimPrompt.cfg -replace -internal

copy ----------------------------------------------------------

Parameter	Description	Default
from	The file to be copied, including the file path.
to	The new file name, including the file path.

Example:

copy -from $BOOTPATH/instopt.cmd -to $RWTEMP/instopt.cmd

delay ----------------------------------------------------------

Parameter	Description	Default
time	Number of milliseconds to delay.	100

Example:

delay -time 1000

delete ----------------------------------------------------------

Parameter	Description	Default
name	Name of file to delete, including file path.

Example:

delete -path $RWTEMP/opt_l0.cmd

direxist ----------------------------------------------------------

Parameter	Description	Default
path	The complete path to the folder.
label	The label to go to if the folder exists.

If a directory exists, go to a label.

Example:

direxist -path $TEMP/MyFolder -label CLEANUP_0

echo ----------------------------------------------------------

Echo (print) a message to the VxWorks console output during the system start.

Parameter	Description	Default
text	The text to show on the FlexPendant.

Examples:

echo -text "Installing configuration files"

------------------------------------------------------fileexist ----------------------------------------------------------

If a file exists, go to a label.

Parameter	Description	Default
path	File name, including the file path.
label	The label to go to if the file exists.

Example:

fileexist -path $RWTEMP/opt_l0.cmd -label CLEANUP_0

------------------------------------------------------find_replace -----------------------------------------------

Find and replace occurrences of a string in a file. Only the first occurrence of the

string in each line of the text is replaced.

Parameter	Description	Default
path	File to search, including the file path.
find	String to find.
replace	String to replace with.

Example:

find_replace -path $HOME/myfile.txt -find "ABC" -replace "CBA"

getkey-----------------------------------------------

A number of selections can be made by user at the time of system creation. Values of these selections come from product manifest file and are stored by the system as a number of keys. The values stored in these keys can be read at the system startup time using the getkey command.

Parameter	Description	Default
id	Name of the key whose value is to be retrieved.
strvar	Name of the variable where the result (the key value) is stored.
errlabel	Label to go to if an error occurs.

Example:

getkey -id "LangSelect" -strvar $ANSWER -errlabel ENGLISH

goto-----------------------------------------------

Go to a label.

The label to go to can either be specified directly, using the parameter label, or via

a string containing the label name, using the parameter strvar.

Parameter	Description	Default
strvar	A string containing the label name to go to.
label	Label to go to

Examples:

goto -strvar $ANSWER

goto -label END_LABEL

------------------------------------------------------ifstr -----------------------------------------------

If a string variable is equal to a string value, go to the specified label. If not equal,

the next statement is executed.

If the string variable is undefined, the command returns an error code.

Parameter	Description	Default
strvar	String variable to be compared with a string value.
value	String value to compare the string variable with.
label	Label to go to if the comparison is true.

Example:

ifstr -strvar $ANSWER -value "IRT5454_2B" -label APP2

------------------------------------------------------ifvc -----------------------------------------------

If the script containing this command is run on the virtual controller, go to the

specified label.

Parameter	Description	Default
label	Label to go to if the script is run on a virtual controller

Example:

ifvc -label NO_START_DELAY

---------------------------------------------------include -----------------------------------------------

Include the script of another command file. Executes all commands in the script

and then return to the current script.

Parameter	Description	Default
path	The file name of the included script, including the file path.

Example:

include -path $BOOTPATH/instdrv.cmd

--------------------------------------------------math_lib_set_mem_size ------------------------------------

Used to increase the size of the memory pool used for matrix calculations in RAPID.

Parameter	Description	Default
size	The size in bytes.	20000 bytes

The default size is 20000 bytes.

Minimum allowed size is 20000 (same as default size).

Maximum allowed size is 20000000, that is, 20 MB.

If several calls to math_lib_set_mem_size are made, the largest value is used.

mkdir -----------------------------------------------------------

Make a directory.

Parameter	Description	Default
path	Directory name, including the path.

Example:

mkdir -path $RWTEMP/newdir

onerror -----------------------------------------------------

Set the default behavior of the script motor in case a script command fails and

returns an error status code.

It is always the most recent onerror command that sets the current default

behavior. The onerror semantics of included scripts does not affect the onerror semantics of any script that includes it.

Parameter	Description	Default
action	Defines if an error should result in: go to label, continue execution- continue , stop execution, system failure or return from included script to the including script action Defines what behavior an error should result in. The allowed values are: • goto - Go to a label • continue - Ignore errors and continue execution • stop - Stop execution of startup task using assert() • sysfail - Call SYS_FAIL() • return - If used by a script included by another script, execution returns to the calling script. The included script returns an error code that needs to be handled by the including script.
label	The label to go to if action is goto.

Examples:

onerror -action goto -label MY_LABEL1

onerror -action continue

onerror -action stop

onerror -action sysfail

onerror -action return

print ---------------------------------------------------------------

Prints a text to the VXWorks console.

Parameter	Description	Default
text	The text to show on the console.

Example:

print -text "Copying files to $BOOTPATH"

rapid_delete_palette -----------------------------------------

Deletes a picklist in the FlexPendant programming window.

Parameter	Description	Default
palette	The name of the picklist to be deleted.

Example:

rapid_delete_palette -palette "M.C 3"

rapid_delete_palette -palette "Settings"

rapid_delete_palette_instruction ---------------------------------------

Deletes a RAPID instruction in a picklist in the FlexPendant programming window.

Parameter	Description	Default
palette	The name of the picklist.
instruction	The name of the RAPID instruction to be deleted.

Example:

rapid_delete_palette_instruction -palette "Common" -instruction

"FOR"

rapid_delete_palette_instruction -palette "Common" -instruction

":="

rapid_delete_palette_instruction -palette "Common" -instruction

"MoveAbsJ"

rapid_delete_palette_instruction -palette "M.C 1" -instruction

"MoveJ

setenv -----------------------------------------------

Define an environment variable and set its value.

An environment variable can be used in the RAPID code or in cfg files.

If you define the path to your add-in folder as an environment variable, this variable

can be used in your programs instead of hard coding the path.

Parameter	Description	Default
name	The environment variable to be assigned a new value.
value	The string to assign to the environment variable.

Example:

setenv -name CIRCLEMOVE -value $BOOTPATH

System environment variables

The following environment variables are set up by the system and cannot be

overwritten

Environment variable	value
HOME	/hd0a/<system name>/HOME
BACKUP	/hd0a/BACKUP
SYSPAR	/hd0a/<system name>/SYSPAR
TEMP	/hd0a/temp
SYSTEM	/hd0a/<system name>
RELEASE	/hd0a/<system name>/Products/ROBOTWARE_6.XX.XXXX

 setstr ----------------------------------------------------

Define a string variable and set its value. The string can only be used in the

installation script.

Parameter	Description	Default
strvar	The string variable to be assigned a new string.
value	The string to assign to the string variable.

Examples:

setstr -strvar $LANG -value "en"

setstr -strvar $CFGPATH -value $SYSPAR

text ------------------------------------------------------------

This command loads a text description file into a text resource of a package. It

accomplishes the same thing as the RAPID instruction TextTabInstall, but can also specify different texts for different languages.

Parameter	Description	Default
filename	Name of the description file, including the file path.
package	Package for building the text resource.

Example:

text -filename $BOOTPATH/language/en/text_file.xml -package "en"

timestamp --------------------------------------------------

Parameter

Description

Default

-----------------------------------------------------  Registers：-----------------------------------------------

目录

3.1  概述

3.2 命令用法介绍

---$-------------------------------------------------------

---# ----------------------------------------------------------------------

----config----------------------------------------------------------

------------------------------------------------------copy ----------------------------------------------------------

------------------------------------------------------delay ----------------------------------------------------------

----delete ----------------------------------------------------------

----direxist ----------------------------------------------------------

----echo ----------------------------------------------------------

------------------------------------------------------fileexist ----------------------------------------------------------

------------------------------------------------------find_replace -----------------------------------------------

------------------------------------------------------getkey-----------------------------------------------

------------------------------------------------------goto-----------------------------------------------

------------------------------------------------------ifstr -----------------------------------------------

---------------------------------------------------include -----------------------------------------------

--------------------------------------------------math_lib_set_mem_size ------------------------------------

--------------------------------------------------mkdir -----------------------------------------------------------

------------------------------------------------------onerror -----------------------------------------------------

------------------------------------------------------print ---------------------------------------------------------------

------------------------------------------------------rapid_delete_palette -----------------------------------------

--------------------------------------rapid_delete_palette_instruction ---------------------------------------

------------------------------------------------------setenv -----------------------------------------------

----------------------------------------------------------  setstr ----------------------------------------------------

-----------------------------------------------------  text ------------------------------------------------------------

-----------------------------------------------------  timestamp --------------------------------------------------

-----------------------------------------------------  Registers：-----------------------------------------------

---

Registers additional information from an xml to controller registers, depending on

the type parameter.The supported types are:

【根据从xml寄存器到控制器寄存器的附加信息 类型参数。支持的类型有：】

1• Error messages (elogmes)

– register the xml-file to the elogtext_registry.xml file. Once registered, these messages can be used by the RAPID program.

【将xml文件注册到elogtext_registry.xml文件中。一旦注册了，这些消息就可以被快速程序使用】

2• Error message titles (elogtitle)

– register the xml-file to the elogtext_registry.xml file.

【将xml文件注册到elogtext_registry.xml文件中】

3• Options (option)

- Registers the option in the option_registry.xml file. This will enable automatic loading of FlexPendantapplications from the tps folder for the add-in.

【在option_registry.xml文件中注册该选项。这将支持从加载项的tps文件夹中自动加载弹性扩展式应用程序】

4• RAPID meta data (rapid_metadata)

– Registers additional RAPID argument settings to the rapid_metadata_registry.xml.

【向rapid_metadata_registry.xml注册其他快速参数设置】

5• RAPID texts (rapid_text)

– Registers additional RAPID texts with support for Unicode characters in rapid_text_registry.xml.

【在rapid_text_registry.xml中注册了一些支持Unicode字符的额外快速文本】

Registers	type parameter	xml文件
1	Error messages (elogmes)	elogtext_registry.xml
2	Error message titles (elogtitle)	elogtext_registry.xml
3	Options (option)	option_registry.xml
4	RAPID meta data (rapid_metadata)	rapid_metadata_registry.xml
5	RAPID texts (rapid_text)	rapid_text_registry.xml

Parameter	Description	Applies to type
type	Defines which type (for example elogmes, elogtitle, option, rapid_metadata, or rapid_text) that is being registered.
Domain_no	Error messages are stored in different domains. Which domain to register in is defined by domain_no. For add-ins, domain_no should always be 9.	elogmes elogtitle
min	The first message number in the file being registered.	elogmes elogtitle rapid_text
max	The last message number in the file being registered.	elogmes elogtitle rapid_text
prepath	The path to the language directory.	elogmes elogtitle rapid_metadata rapid_text
postpath	The rest of the path, after the language directory, including the character \ (backslash) and the file name.	elogmes elogtitle rapid_metadata rapid_text
extopt	A flag indicating that the add-in is an external add-in.	option
Description	The name of the add-in.	option
path	The path to the add-in.	option

Examples:

# Register event log message for Add-In

register -type elogmes -domain_no 11 -min 5001 -max 5001 -prepath

$BOOTPATH/language/-postpath /CircleMove_elogtext.xml

-extopt

# Register path for Add-In

register -type option -description MyAddIn -path $BOOTPATH

# Register path for RAPID meta data

register -type rapid_metadata -prepath $HOME/ -postpath

my_rapid_edit_rules.xml

# Register path for RAPID text resource with Unicode support

register -type rapid_text -min 1 -max 123 -resource myAddIn -prepath

$BOOTPATH/language/ -postpath myAddInTexts.xml