kobbled/tp_plus：FANUC TP 抽象

Apache License 2.0

项目介绍

kobbled/tp_plus 是一个托管在 GitHub 上的开源项目，主要使用 Ruby 编写，采用 Apache License 2.0 许可证，目前获得 43 个 Star、5 次 Fork。

仓库全名: kobbled/tp_plus
开源许可证: Apache License 2.0
Star 数: 43
Fork 数: 5
未关闭 Issue: 16

README 摘要

TP+ === TP+ is a higher-level language abstraction that translates into FANUC TP. It features many useful utilities that makes creating TP programs easier: Functions and inline functions Importing numerous files Namespacing Variable declaration for registers, position registers, IO, etc. Local variables Readable motion statements Streamlined position declaration Position manipulation Build the same program for…

完整内容见 GitHub 原始 README 或本页。

常见问题

tp_plus 用什么语言开发？

主要使用 Ruby 编写，采用 Apache License 2.0 许可证，目前有 43 个 Star。

tp_plus 可以免费商用吗？

如何获取 tp_plus 的源码？

可以直接克隆仓库：git clone https://github.com/kobbled/tp_plus.git，默认分支为 master；安装与运行步骤见仓库 README。

tp_plus 最近还在维护吗？

仓库最近一次更新为 9月25日，当前有 16 个未关闭 Issue；Star 数为 43，可作为社区活跃度的参考。

关于

GitHub 原始描述（英文）

FANUC TP abstraction

描述取自 GitHub 官方 API，保持仓库作者书写的原文。

简要分析

热度分

价值分

活跃状态

活跃

fanuc grammer parser roboguide ruby

GitHub

语言占比

Batchfile

C++

HTML

LiveScript

Ruby

Yacc

Release

TP+ v1.0.0-beta2022年11月22日

贡献者

README

TP+

TP+ is a higher-level language abstraction that translates into FANUC TP. It features many useful utilities that makes creating TP programs easier:

Functions and inline functions
Importing numerous files
Namespacing
Variable declaration for registers, position registers, IO, etc.
Local variables
Readable motion statements
Streamlined position declaration
Position manipulation
Build the same program for multiple controllers through the use of environment files and imports
Managing Register sets on controller
Register and Postion ranges for easy declaration of blocks of registers
Preprocessor
Automatic label numbering
Improved looping
Easier managment of numerous TP files
Can be used with the package manager Rossum

This branch was forked from the archived repo TP+

[!NEW]

A Preprocessor ppr was added! See examples.md for details.

Local variables can be declared! See examples.md for details.

Info 信息

see Features for a quick look at the features
see examples.md for an indepth introduction to TP+
Test example .tpp files can be found in ./examples directory of this repository

Install

Note 注意

A Standalone .exe can be found in https://github.com/kobbled/tp_plus/releases, where you do not have to install anything. Simply add the location where the tpp.exe file resides onto your environment Path. However, with this method you will not recieve up to date changes to TP+.

Install Ruby
Install git
Install bundler gem install bundler
Clone the repo git clone https://github.com/kobbled/tp_plus.git
move into tp_plus folder; cd tp_plus
Install dependencies with bundle
Build the parser and run the tests with bundle exec rake
Make sure all tests pass
Add full path of ./tp_plus/bin to your environment path

set PATH=%PATH%;\path\to\tp_plus\bin

You will have to manually update ppr to kobbled fork, as gem is not updated. clone:

git clone https://github.com/kobbled/ppr

Go to ppr gem location (i.e. C:\Ruby34-x64\lib\ruby\gems\3.4.0\gems\ppr-0.0.8) copy bin and lib folder over from kobbled/ppr, and replace all files.

Info 信息

Alternatively there is a docker image located in the docker-container branch. However due to Roboguide and Fanuc tools being windows only, the workflow is too awkward for the standard user and is not recommended. Furthermore, the build tools vscode-tpp-extension, and Rossum currently do not have docker interoperability support.

Updating

In a command prompt, or git shell run

git fetch && git pull
rake

Usage

print output to console:

tpp filename.tpp

print output to file (must be the same filename):

tpp filename.tpp -o filename.ls

interpret using an environment file:

tpp filename.tpp -e env.tpp

include folders:

tpp filename.tpp -i ../folder1 -i ../folder2

build karel hash table from environment file. The first argument is to specify the filename (without the extension) that the hash will be written to. The second argument specifies if you also want to clear the register values on execution of the karel program.

Warning 警告

Setting to true will wipe the registers, position registers, and string registers from the controller

tpp filename.tpp -k 'karelFilename',false

See tpp --help for options.

Info 信息

All of these options can be accessed through vscode using the Fanuc TP-Plus Language Extension

Info 信息

All of these options can be specified in the Rossum package manager through the package.json file

Features

Pose Declarations

TP+ TP

TP_GROUPMASK = "1,*,*,*,*"
TP_COMMENT = "test prog"

p := P[1..6]

tool := UTOOL[5]
frame := UFRAME[3]

use_utool tool
use_uframe frame

#declare a default pose to set all positions to
#if they are not explicitly declared
default.group(1).pose -> [0, 0, 0, 0, 0 ,0]
default.group(1).config -> ['F', 'U', 'T', 0, 0, 0]

#declare joint pose
p1.group(1).joints -> [180, 23.2, 90.5, 0, 60.8, -90.5]
joint_move.to(p1).at(30, '%').term(-1)

#declare position
p2.group(1).pose -> [0,50,100,0,90,0]
p2.group(1).config -> ['F', 'U', 'T', 0, 0, 0]

#independently set position and orientation
p3.group(1).xyz -> [0,30,0]
p3.group(1).orient -> [90,0,0]
p3.group(1).config -> ['F', 'U', 'T', 0, 0, 0]

arc_move.to(p2).at(50, 'mm/s').term(100)
arc_move.to(p3).at(50, 'mm/s').term(100)

#batch declare poses, as well as apply offsets
(p4..p6).group(1).xyz.offset -> [0, 0 ,50]
linear_move.to(p4).at(50, 'mm/s').term(-1)
linear_move.to(p5).at(30, 'mm/s').term(100)
linear_move.to(p6).at(30, 'mm/s').term(-1)

/PROG TEST10
COMMENT = "test prog";
DEFAULT_GROUP = 1,*,*,*,*;
/MN
 : UTOOL_NUM=5 ;
 : UFRAME_NUM=3 ;
 :  ;
 : ! declare joint pose ;
 : J P[1:p1] 30% FINE ;
 :  ;
 : ! declare position ;
 :  ;
 : ! independently set position and ;
 : ! orientation ;
 :  ;
 : A P[2:p2] 50mm/sec CNT100 ;
 : A P[3:p3] 50mm/sec CNT100 ;
 :  ;
 : ! batch declare poses, as well as ;
 : ! apply offsets ;
 : L P[4:p4] 50mm/sec FINE ;
 : L P[5:p5] 30mm/sec CNT100 ;
 : L P[6:p6] 30mm/sec FINE ;
/POS
P[1:"p1"]{
   GP1:
  UF : 3, UT : 5,
    J1 = 180.000 deg, J2 = 23.200 deg, J3 = 90.500 deg,
    J4 = 0.000 deg, J5 = 60.800 deg, J6 = -90.500 deg};
P[2:"p2"]{
   GP1:
  UF : 3, UT : 5,  CONFIG : 'F U T, 0, 0, 0',
  X = 0.000 mm, Y = 50.000 mm, Z = 100.000 mm,
  W = 0.000 deg, P = 90.000 deg, R = 0.000 deg};
P[3:"p3"]{
   GP1:
  UF : 3, UT : 5,  CONFIG : 'F U T, 0, 0, 0',
  X = 0.000 mm, Y = 30.000 mm, Z = 0.000 mm,
  W = 90.000 deg, P = 0.000 deg, R = 0.000 deg};
P[4:"p4"]{
   GP1:
  UF : 3, UT : 5,  CONFIG : 'F U T, 0, 0, 0',
  X = 0.000 mm, Y = 30.000 mm, Z = 50.000 mm,
  W = 90.000 deg, P = 0.000 deg, R = 0.000 deg};
P[5:"p5"]{
   GP1:
  UF : 3, UT : 5,  CONFIG : 'F U T, 0, 0, 0',
  X = 0.000 mm, Y = 30.000 mm, Z = 100.000 mm,
  W = 90.000 deg, P = 0.000 deg, R = 0.000 deg};
P[6:"p6"]{
   GP1:
  UF : 3, UT : 5,  CONFIG : 'F U T, 0, 0, 0',
  X = 0.000 mm, Y = 30.000 mm, Z = 150.000 mm,
  W = 90.000 deg, P = 0.000 deg, R = 0.000 deg};
/END

Namespaces

TP+ TP

namespace ns1
  VAL1 := 1
  VAL2 := 2
end

namespace ns2
  VAL1 := 3.14
  VAL2 := 2.72
end

def test()
  using ns1, ns2

  foo := R[1]
  bar := R[2]
  foostr := SR[3]

  foo = ns1::VAL1
  bar = ns1::VAL2

  foostr = Str::set(ns2::VAL1)
  foo = ns3::test2()
end

/PROG TEST
COMMENT = "TEST";
DEFAULT_GROUP = *,*,*,*,*;
/MN
 :  ;
 :  ;
 : R[1:foo]=1 ;
 : R[2:bar]=2 ;
 :  ;
 : CALL STR_SET(3.14,3) ;
 : CALL NS3_TEST2(1) ;
/END

Functions

TP+ TP

namespace Math
  M_PI := 3.14159

  def arclength(ang, rad) : numreg
    return(ang*rad*M_PI/180)
  end

  def arcangle(len, rad) : numreg
    return(len/rad*180/M_PI)
  end
end

arclength := R[1]
arcangle := R[2]

arclength = Math::arclength(90, 85)
arcangle = Math::arclength(arclength, 85)

/PROG TEST
COMMENT = "TEST";
DEFAULT_GROUP = 1,*,*,*,*;
/MN
 : CALL MATH_ARCLENGTH(90,85,1) ;
 : CALL MATH_ARCLENGTH(R[1:arclength],85,2) ;
/POS
/END

/PROG MATH_ARCANGLE
COMMENT = "MATH_ARCANGLE";
DEFAULT_GROUP = *,*,*,*,*;
/MN
 : R[AR[3]]=(AR[1]/AR[2]*180/3.14159) ;
 : END ;
/END

/PROG MATH_ARCLENGTH
COMMENT = "MATH_ARCLENGTH";
DEFAULT_GROUP = *,*,*,*,*;
/MN
 : R[AR[3]]=(AR[1]*AR[2]*3.14159/180) ;
 : END ;
/END

Inline Functions

TP+ TP

namespace Math
  M_PI := 3.14159

  inline def arclength(ang, rad) : numreg
    return(ang*rad*M_PI/180)
  end

  inline def arcangle(len, rad) : numreg
    return(len/rad*180/M_PI)
  end
end

arclength := R[1]

arclength = Math::arclength(90, 85)

/PROG TEST
COMMENT = "TEST";
DEFAULT_GROUP = 1,*,*,*,*;
/MN
 : ! inline Math_arclength ;
 :  ;
 : R[1:arclength]=(90*85*3.14159/180) ;
 : ! end Math_arclength ;
 :  ;
/POS
/END

Importing Files

TP+ TP

import math_imp

arclength := R[30]
degress   := R[31]
radius    := R[32]

degress = 90
radius = 85

arclength = Math::arclength(degress, radius)

math_imp.tpp

namespace Math
  M_PI := 3.14159

  inline def arclength(ang, rad) : numreg
    return(ang*rad*M_PI/180)
  end

  inline def arcangle(len, rad) : numreg
    return(len/rad*180/M_PI)
  end
end

/PROG TEST
COMMENT = "TEST";
DEFAULT_GROUP = 1,*,*,*,*;
/MN
 :  ;
 : R[31:degress]=90 ;
 : R[32:radius]=85 ;
 :  ;
 : ! inline Math_arclength ;
 :  ;
 : R[30:arclength]=(R[31:degress]*R[32:radius]*3.14159/180) ;
 : ! end Math_arclength ;
 :  ;
/POS
/END

Local Variables

TP+ TP

local := R[50..70]

sum := LR[]

def ratio(ar1) :numreg
    divisor := LR[]

    if (ar1 % 2 == 0)
      divisor = 2
    else
      divisor = 1
    end

    return(ar1/divisor)
end

def addin() : numreg
    foo := LR[]
    bar := LR[]

    bar = multiple(bar)
    return(foo + bar)
end

def multiple(ar1) : numreg
    multiplier := LR[]

    multiplier = 10
    return(ar1*multiplier)
end

sum = addin()
sum = ratio()

/PROG TEST
COMMENT = "TEST";
DEFAULT_GROUP = 1,*,*,*,*;
/MN
 : CALL ADDIN(50) ;
 : CALL RATIO(50) ;
/POS
/END

/PROG ADDIN
COMMENT = "ADDIN";
DEFAULT_GROUP = *,*,*,*,*;
/MN
 :  ;
 : CALL MULTIPLE(R[52:bar],52) ;
 : R[AR[1]]=R[51:foo]+R[52:bar] ;
 : END ;
/END

/PROG MULTIPLE
COMMENT = "MULTIPLE";
DEFAULT_GROUP = *,*,*,*,*;
/MN
 :  ;
 : R[53:multiplier]=10 ;
 : R[AR[2]]=AR[1]*R[53:multiplier] ;
 : END ;
/END

/PROG RATIO
COMMENT = "RATIO";
DEFAULT_GROUP = *,*,*,*,*;
/MN
 :  ;
 : IF ((AR[1] MOD 2<>0)),JMP LBL[100] ;
 : R[51:divisor]=2 ;
 : JMP LBL[101] ;
 : LBL[100] ;
 : R[51:divisor]=1 ;
 : LBL[101] ;
 :  ;
 : R[AR[2]]=AR[1]/R[51:divisor] ;
 : END ;
/END

Expressions in Arguments

TP+ TP

local := R[70..80]

foo := R[10]
bar := R[11]
biz := R[12]
baz := R[13]

namespace Math
  PI := 3.14159

  def test(ar1, ar2, ar3) : numreg
    return(Math::test2(ar1, ar2)*(ar1+ar2+ar3))
  end

  def test2(ar1, ar2) : numreg
    if ar1 > ar2
      return(0.5)
    end

    return(1)
  end
end

foo = Math::ln(2)

foo = Math::test(5+3, bar*biz/2, -1*biz*Math::PI)

foo = Math::test(bar*biz/2, set_reg(biz), -1*biz*Math::PI)

foo = Math::test3(bar*Math::PI*set_reg(baz))

/PROG TEST
COMMENT = "TEST";
DEFAULT_GROUP = 1,*,*,*,*;
/MN
 : CALL MATH_LN(2,10) ;
 :  ;
 : R[70:dvar2]=5+3 ;
 : R[71:dvar3]=(R[11:bar]*R[12:biz]/2) ;
 : R[72:dvar4]=((-1)*R[12:biz]*3.14159) ;
 : CALL MATH_TEST(R[70:dvar2],R[71:dvar3],R[72:dvar4],10) ;
 :  ;
 : CALL SET_REG(R[12:biz],74) ;
 : R[73:dvar5]=(R[11:bar]*R[12:biz]/2) ;
 : R[75:dvar7]=((-1)*R[12:biz]*3.14159) ;
 : CALL MATH_TEST(R[73:dvar5],R[74:dvar6],R[75:dvar7],10) ;
 :  ;
 : CALL SET_REG(R[13:baz],76) ;
 : R[77:dvar9]=(R[11:bar]*3.14159*R[76:dvar8]) ;
 : CALL MATH_TEST3(R[77:dvar9],10) ;
/POS
/END

/PROG MATH_TEST
COMMENT = "MATH_TEST";
DEFAULT_GROUP = *,*,*,*,*;
/MN
 : CALL MATH_TEST2(AR[1],AR[2],78) ;
 : R[AR[4]]=(R[78:dvar1]*(AR[1]+AR[2]+AR[3])) ;
 : END ;
/END

/PROG MATH_TEST2
COMMENT = "MATH_TEST2";
DEFAULT_GROUP = *,*,*,*,*;
/MN
 : IF (AR[1]<=AR[2]),JMP LBL[100] ;
 : R[AR[3]]=0.5 ;
 : END ;
 : LBL[100] ;
 :  ;
 : R[AR[3]]=1 ;
 : END ;
/END

Preprocessor

With the ppr preprocessor things like conditional inclusion, file inclusion, text macros, executing internal ruby code is possible.

Below is an example of running a ruby script to output the arc motion path of a circle in TP.

TP+ TP

use_utool 3
use_uframe 2

TP_GROUPMASK = "1,1,*,*,*"
TP_STACK_SIZE = "600"

default.group(1).pose -> [0,0,0,90,180,0]
default.group(1).config -> ['F','U','T', 0, 0, 0]
default.group(2).joints -> [0]


.assign RADIUS :< 80
.assign INCREMENTS :< 20
.assign DISTANCE :< 100

.do
  #define points
  :< "p := P[1..#{@INCREMENTS}]"

  #set first point
  :< "joint_move.to(p1).at(15, '%').term(-1)\n"

  inc = @INCREMENTS.to_i
  degree = 0
  for i in 1..inc do
    #get degree
    degree = 360*(i-1)/(inc-1)
    :< "p#{i}.group(1).pose.polar.z -> [#{(-1*degree).to_s}, #{@RADIUS.to_s}, #{@DISTANCE.to_s}, 90, 180, 0]\n"
    :< "p#{i}.group(2).joints -> [#{(degree).to_s}]\n"
    :< "arc_move.to(p#{i}).at(50, 'mm/s').term(#{(i == 1 || i == inc) ? '-1' : '100'}).coord\n"
  end
.end

/PROG TEST41
/ATTR
COMMENT = "TEST41";
TCD:  STACK_SIZE	= 600,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP = 1,1,*,*,*;
/APPL
/MN
 : UTOOL_NUM=3 ;
 : UFRAME_NUM=2 ;
 :  ;
 :  ;
 :  ;
 :  ;
 : J P[1:p1] 15% FINE ;
 : A P[1:p1] 50mm/sec FINE COORD ;
 : A P[2:p2] 50mm/sec CNT100 COORD ;
 : A P[3:p3] 50mm/sec CNT100 COORD ;
 : A P[4:p4] 50mm/sec CNT100 COORD ;
 : A P[5:p5] 50mm/sec CNT100 COORD ;
 : A P[6:p6] 50mm/sec CNT100 COORD ;
 : A P[7:p7] 50mm/sec CNT100 COORD ;
 : A P[8:p8] 50mm/sec CNT100 COORD ;
 : A P[9:p9] 50mm/sec CNT100 COORD ;
 : A P[10:p10] 50mm/sec CNT100 COORD ;
 : A P[11:p11] 50mm/sec CNT100 COORD ;
 : A P[12:p12] 50mm/sec CNT100 COORD ;
 : A P[13:p13] 50mm/sec CNT100 COORD ;
 : A P[14:p14] 50mm/sec CNT100 COORD ;
 : A P[15:p15] 50mm/sec CNT100 COORD ;
 : A P[16:p16] 50mm/sec CNT100 COORD ;
 : A P[17:p17] 50mm/sec CNT100 COORD ;
 : A P[18:p18] 50mm/sec CNT100 COORD ;
 : A P[19:p19] 50mm/sec CNT100 COORD ;
 : A P[20:p20] 50mm/sec FINE COORD ;
 :  ;
 :  ;
/POS
/END

Environment Files

You can save the robot controller configuration into an environment file. This can be swiched out depending on which robot you are using, and can be used to manage the register names on the controller (see: examples.md)

#----------
#Constants
#----------
FINE  :=  -1
CNT  := 100
PI    := 3.14159

#----------
#Frames
#----------
world        := UFRAME[1]
frame        := UFRAME[2]
tool         := UTOOL[1]

#----------
#Laser IO
#----------
Laser_Enable         := DO[1]
Laser_Ready          := DI[2]
Laser_On             := DO[3]

Laser_Power         :=  AO[1]

#----------
# User IO
#----------
system_ready    := UO[2]
Prgm_Run        := UO[3]
Prgm_Pause      := UO[4]

#-----------
# HMI Flags
#-----------
Hmi_Start            := F[1]
Hmi_Stop             := F[2]
Hmi_Laser_Enable        := F[3]
Hmi_Laser_Disable       := F[4]

#----------
#Program Registers
#----------
program_name := SR[1]

Alarm_Reg       := R[1]
Mem_Tool_No     := R[2]
Mem_Frame_No    := R[3]

j := R[50]
passes := R[51]
l := R[52]
layers := R[53]


#----------
#Workstations
#----------

namespace Headstock
  frame := UTOOL[2]
  select := F[38]
  home := PR[3]
.def Headstock_GROUP :< 2
.def Headstock_DIRECTION :< -1

end

namespace Positioner
  frame := UTOOL[3]
  select := F[37]
  home := PR[4]
.def Positioner_GROUP :< 3
.def Positioner_DIRECTION :< 1

end

#----------
#EEF Tools
#----------
namespace Tool1
  frame := UTOOL[1]
  read_pin := AI[1]
  interupt_pin := DI[8]
  SEARCH_DIST := 10
  SEARCH_SPEED := 3
end

namespace Tool2
  frame := UTOOL[3]
  read_pin := AI[2]
  interupt_pin := DI[10]
  SEARCH_DIST := 50
  SEARCH_SPEED := 6
end

#----------
#LAM Parameters
#----------
namespace Lam
  power          := R[60]
  flowrate       := R[26]
  speed          := R[61]
  strt           := DO[3]
  enable         := DO[1]
end

# ----------
# local variables
# -----------
local         := R[250..300]
local         := PR[80..100]

Documentation

Build rdocs with:

rake rdoc

License

TP+ is released under the MIT License.

tp_plus

项目介绍

README 摘要

常见问题

相关仓库

关于

简要分析

语言占比

Release

贡献者

README

TP+

Install

Updating

Usage

Features

Pose Declarations

Namespaces

Functions

Inline Functions

Importing Files

Local Variables

Expressions in Arguments

Preprocessor

Environment Files

Documentation

License

评论