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Dev #5

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b58a9d3
added speed
richtepa Sep 16, 2025
d6549f5
test/bugfixes
richtepa Sep 17, 2025
6222047
bugfixes
richtepa Sep 18, 2025
8d28c15
Merge pull request #4 from m-tec-com/speed
richtepa Mar 16, 2026
b4c795e
added point log
richtepa Mar 16, 2026
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3 changes: 2 additions & 1 deletion RAPID/LOGGER.mod
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@ PERS num BUFFER_LEFT;
PERS bool BUFFER_LOCKED;
PERS bool MOVING;
CONST num MAX_BUFFER := 128;

PERS num POINTS_DONE;

!//Logger sampling rate
!PERS num loggerWaitTime:= 0.01; !Recommended for real controller
Expand Down Expand Up @@ -87,6 +87,7 @@ PROC main()
! data := data + NumToStr(position.rot.q4,3) + " ";
!data := data + NumToStr(bufferLeft, 0) + " ";
data := data + NumToStr(BUFFER_LEFT, 0) + " ";
data := data + NumToStr(POINTS_DONE, 0) + " ";

IF connected = TRUE THEN
SocketSend clientSocket \Str:=data;
Expand Down
13 changes: 11 additions & 2 deletions RAPID/MOVE.mod
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@ MODULE move
PERS speeddata bufferSpeeds{MAX_BUFFER};
PERS num BUFFER_POS;
PERS num BUFFER_LEFT;
PERS num POINTS_DONE;
PERS tooldata currentTool;
PERS wobjdata currentWobj;
PERS speeddata currentSpeed;
Expand All @@ -12,7 +13,9 @@ MODULE move
PERS bool MOVING;
VAR triggdata Movement;

PERS robtarget target := [[0,0,500],[0,0,-1,0], [0,0,0,0], [ 11, 12.3, 9E9, 9E9, 9E9, 9E9]];
PERS robtarget target := [[700,500,10],[1,0,0,0], [0,0,0,0], [ 11, 12.3, 9E+09, 9E+09, 9E+09, 9E+09]];
TASK PERS wobjdata wobjTest:=[FALSE,TRUE,"",[[1000,-1000,1000],[0.5,0.5,-0.5,0.5]],[[0,0,0],[1,0,0,0]]];
CONST robtarget positionZero:=[[0,0,300],[1,0,0,0],[-1,1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

PROC main()
BUFFER_LEFT := MAX_BUFFER;
Expand All @@ -23,7 +26,8 @@ MODULE move
MOVING := FALSE;
BUFFER_LOCKED := FALSE;
ConfL \Off;
SingArea \LockAxis4;
!SingArea \LockAxis4;
!SingArea \Wrist;

!BUFFER_POS := 0;
WHILE TRUE DO
Expand All @@ -36,6 +40,7 @@ MODULE move
ENDPROC



PROC movePoint()
MoveL bufferTargets{BUFFER_POS}, bufferSpeeds{BUFFER_POS}, currentZone, currentTool \WObj:=currentWobj;
WHILE BUFFER_LOCKED DO
Expand All @@ -51,6 +56,10 @@ MODULE move
BUFFER_POS := BUFFER_POS - MAX_BUFFER;
ENDIF
BUFFER_LOCKED := FALSE;
POINTS_DONE := POINTS_DONE + 1;
IF BUFFER_LEFT = MAX_BUFFER THEN
POINTS_DONE := 0;
ENDIF
!TriggL bufferTargets{1}, bufferSpeeds{1}, Movement, currentZone, currentTool \WObj:=currentWobj;
!moveBuffer;
ENDPROC
Expand Down
29 changes: 22 additions & 7 deletions RAPID/SERVER.mod
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Original file line number Diff line number Diff line change
Expand Up @@ -5,8 +5,8 @@ MODULE SERVER
!////////////////

!//Robot configuration
PERS tooldata currentTool := [TRUE,[[0,0,0],[-0.27065,0.65328,-0.2706,0.65328]],[0.001,[0,0,0.001],[1,0,0,0],0,0,0]];
PERS wobjdata currentWobj := [FALSE,TRUE,"",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];
PERS tooldata currentTool := [TRUE,[[-319.5,116.3,100.5],[0.21263,-0.62721,0.32651,-0.67438]],[0.001,[0,0,0.001],[1,0,0,0],0,0,0]];
PERS wobjdata currentWobj := [FALSE,TRUE,"",[[0,0,0],[1,0,0,0]],[[1317,-952,125.1],[1,0.006,0.007,-0.016]]];
PERS speeddata currentSpeed;
PERS zonedata currentZone;

Expand Down Expand Up @@ -35,10 +35,11 @@ VAR bool moveCompleted; !Set to true after finishing a Move instruction.

!//Buffered move variables
CONST num MAX_BUFFER := 128;
PERS bool paused := TRUE;
PERS bool paused := FALSE;
PERS num BUFFER_POS;
PERS num BUFFER_LEFT;
PERS bool MOVING;
PERS num POINTS_DONE;
PERS robtarget bufferTargets{MAX_BUFFER};
PERS speeddata bufferSpeeds{MAX_BUFFER};
PERS bool BUFFER_LOCKED;
Expand Down Expand Up @@ -168,6 +169,10 @@ PROC main()
VAR robtarget pwobj3;
VAR wobjdata cwobj;
VAR num writePos := 1;
VAR num speed := 0;
VAR speeddata newSpeed;

POINTS_DONE := 0;


!//Motion configuration
Expand All @@ -191,7 +196,7 @@ PROC main()
addString := "";

!//Wait for a command
SocketReceive clientSocket \Str:=receivedString \ReadNoOfBytes:=67 \Time:=WAIT_MAX;
SocketReceive clientSocket \Str:=receivedString \ReadNoOfBytes:=76 \Time:=WAIT_MAX;
ParseMsg receivedString;

!//Execution of the command
Expand Down Expand Up @@ -325,11 +330,13 @@ PROC main()
currentZone.pzone_tcp := 0.0;
currentZone.pzone_ori := 0.0;
currentZone.zone_ori := 0.0;
!currentZone := [false, 0.1, 0.1, 0.1, 0.01, 0.1, 0.01];
ELSE
currentZone.finep := FALSE;
currentZone.pzone_tcp := params{2};
currentZone.pzone_ori := params{3};
currentZone.zone_ori := params{4};
!currentZone := [false, 0.1, 0.1, 0.1, 0.01, 0.1, 0.01];
ENDIF
ok := SERVER_OK;
ELSE
Expand All @@ -340,11 +347,18 @@ PROC main()
WHILE BUFFER_LOCKED DO
!wait
ENDWHILE
IF nParams = 7 THEN
IF nParams = 8 THEN
cartesianTarget :=[[params{1},params{2},params{3}],
[params{4},params{5},params{6},params{7}],
[0,0,0,0],
externalAxis];
speed := params{8};
if speed < 1 OR speed > 250 THEN
newSpeed := [250, 250, 250, 250];
ELSE
newSpeed := [speed, speed, speed, speed];
ENDIF

! IF BUFFER_POS < MAX_BUFFER THEN
! BUFFER_POS := BUFFER_POS + 1;
! bufferTargets{BUFFER_POS} := cartesianTarget;
Expand All @@ -356,7 +370,7 @@ PROC main()
writePos := writePos - MAX_BUFFER;
ENDIF
bufferTargets{writePos} := cartesianTarget;
bufferSpeeds{writePos} := currentSpeed;
bufferSpeeds{writePos} := newSpeed;
BUFFER_LEFT := BUFFER_LEFT - 1;
ENDIF
!addString := NumToStr(MAX_BUFFER - BUFFER_POS,2);
Expand All @@ -380,6 +394,7 @@ PROC main()
BUFFER_POS := 1;
ENDIF
ok := SERVER_OK;
POINTS_DONE := 0;
ELSE
ok:=SERVER_BAD_MSG;
ENDIF
Expand Down Expand Up @@ -557,4 +572,4 @@ ERROR (LONG_JMP_ALL_ERR)
ENDTEST
ENDPROC

ENDMODULE
ENDMODULE
11 changes: 6 additions & 5 deletions abb_node/packages/abb_communications/abb.py
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Original file line number Diff line number Diff line change
Expand Up @@ -104,10 +104,11 @@ def readLogger(self):
#self.bufferLeft = int(data[9])
self.pose = []
self.bufferLeft = int(data[2])
pointsDone = int(data[3])

print(self.pose, self.bufferLeft)
print(self.pose, self.bufferLeft, pointsDone)
if self.callback != None:
self.callback(self.pose, self.bufferLeft)
self.callback(self.pose, self.bufferLeft, pointsDone)


def set_units(self, linear, angular):
Expand Down Expand Up @@ -201,12 +202,12 @@ def set_zone(self,
msg += format(zone[2], "+08.4f") + " " #10
self.send(msg) #33

def buffer_add(self, pose):
def buffer_add(self, pose, speed = 250):
'''
Appends single pose to the remote buffer
Move will execute at current speed (which you can change between buffer_add calls)
'''
msg = "30 " + self.format_pose(pose)
msg = "30 " + self.format_pose(pose) + format(speed, "+08.2f") + " "
self.send(msg, False)

def clear_buffer(self):
Expand Down Expand Up @@ -257,7 +258,7 @@ def sender(self):
message = msg["message"]
wait_for_response = msg["wait_for_response"]

while len(message) < 66:
while len(message) < 75:
message += "*"
message += "#"

Expand Down