Programming Languages for Industrial Robots

1 Introduction.- 2 Fundamentals.- 2.1 Terminology.- 2.2 Concepts in Computer Science.- 2.2.1 Variables.- 2.2.1.1 Treatment of Variables from a Programmer's Viewpoint.- 2.2.1.2 Treatment of Variables During Program Execution.- 2.2.1.3 Evaluation of Variable Addresses.- 2.2.1.4 Representation of Variable Addresses.- 2.2.2 Principle of Stack Operation.- 2.2.3 Block Structuring.- 2.2.3.1 Scope and Life Span of Variables.- 2.2.3.2 Block Structures and Memory Allocation.- 2.2.3.3 Memory Organization on the Stack.- 2.2.4 Subroutines, Procedures, Functions and Macros.- 2.2.4.1 Subroutines.- 2.2.4.2 Procedures and Functions.- 2.2.4.3 Macros.- 2.2.5 Recursion.- 2.2.6 Processes, Tasks and Coroutines.- 2.2.7 Synchronization.- 2.3 Concepts for Robot Languages.- 2.3.1 The Concepts of Frames.- 2.3.2 Coordinate Transformations and Trajectory Planning.- 2.3.3 Types of Move Control for Industrial Robots.- 2.3.4 Programming Languages on Mainframe Computers..- 2.3.5 Robot-Specific Programming Languages.- 2.3.6 NC Programming.- 2.3.7 Production Schedules, Colloquial Language.- 2.3.8 World Models.- 3 Data Structures.- 3.1 Data Objects.- 3.1.1 Declarations.- 3.1.2 Definitions of Constants.- 3.1.3 Standard Data Types.- 3.1.4 Geometric Data Types.- 3.1.5 Structured Data Types.- 3.1.5.1 Arrays.- 3.1.5.2 Records.- 3.1.5.3 Files.- 3.1.5.4 Aggregates.- 3.1.6 Pointer Type and Word Model.- 3.2 Manipulation of Data.- 3.2.1 Operators.- 3.2.1.1 Arithmetic Operators.- 3.2.1.2 Geometric Operators.- 3.2.1.3 Comparing Operators.- 3.2.1.4 Logical Operators.- 3.2.2 Standard Functions.- 3.2.3 Complex Expressions.- 3.3 Assignments.- 3.3.1 Value Assignments.- 3.3.2 Inputs.- 3.3.2.1 User Inputs.- 3.3.2.2 Reading of Current Robot Position and Orientation.- 3.3.3 Assignments to Pointers.- 3.4 Output of Text and Numbers.- 4 Instructions.- 4.1 Instructions for World Models.- 4.2 Motion Instructions.- 4.2.1 Implicit Motion Instructions.- 4.2.2 Explicit Motion Instructions.- 4.2.3 Simple Motion Instructions.- 4.2.4 Motion Instructions with Parameters.- 4.2.5 Motion Instructions with Sensor Integration.- 4.2.5.1 Motion Instructions with Sensory Monitoring.- 4.2.5.2 Motion Instructions with Sensor-Monitored Parameters.- 4.2.6 Motion Instructions with Event Monitoring.- 4.2.7 Motion Instructions with Time-Out Monitoring.- 4.2.8 Parallel Processing.- 4.2.9 Moving to a Home Position.- 4.3 Effector Instructions.- 4.3.1 Simple Effector Instructions.- 4.3.2 Effector Instructions with Parameters.- 4.3.3 Effector Instructions with Sensory Monitoring.- 4.3.4 Effector Instructions with Sensor-Monitored Parameters.- 4.4 Stopping a Robot or Effector Movement.- 4.5 Sensor Instructions.- 4.5.1 Program Branching Subject to Sensory Information..- 4.5.2 Input of Sensory Information.- 4.5.3 Sensory Monitoring.- 4.5.4 Sensor Instructions for Vision Systems.- 4.6 Block Structuring and Instruction Sequencing.- 4.7 Program Flow Control.- 4.7.1 Program Branches.- 4.7.1.1 Conditional Branches.- 4.7.1.2 Case Statements.- 4.7.2 Loops.- 4.7.2.1 Counting Loops.- 4.7.2.2 Conditional Loops.- 4.7.3 Synchronization Commands.- 4.7.4 Wait Instructions.- 4.8 System Switches and Status Report.- 4.9 Treatment of Exceptional Situations.- 5 Integration of a Teach-In Procedure.- 6 Subroutines, Procedures and Functions.- 6.1 Subroutines.- 6.2 Procedures.- 6.3 Functions.- 6.4 Recursive Procedures and Functions.- 7 Multitasking and Synchronization.- 7.1 Parallel Blocks.- 7.2 Tasks.- 7.3 Coroutines.- 8 Programming and Run-Time Systems.- 8.1 Editor.- 8.2 Compiler and Processor.- 8.3 Interactive Component.- 8.4 Run-Time System.- 8.4.1 Interpreter.- 8.4.2 Motion Control.- 8.5 Software Interface IRDATA.- 8.5.1 Different Levels of Programming and Control.- 8.5.1.1 Descriptive Elements in Software Interfaces.- 8.5.1.2 Action Elements in Software Interfaces.- 8.5.2 Intention and Structure of IRDATA.- 8.5.3 IRDATA Interpreter and Move Control Interface.- 8.6 Simulators and Program Test.- 8.7 Implementation.- References.- Appendix A: SRL.- I. Main Elements of SRL.- II. Syntax Diagrams.- Appendix B: PASRO.- I. Summary of PASRO Procedures.- II. Predefined Datatypes and Variables of PASRO.- Appendix C: PASCAL.- Appendix D: AL.- Appendix E: AML.- I. Motion Control.- II. Safety Instructions.- III. Sensor Instructions.- IV. Arithmetic.- V. Data Manipulation.- VI. Calibration.- Appendix F: VAL-II.- I. Monitor Commands.- II. Program Instructions.- III. Real-Value Functions.- IV. Location Functions.- Appendix G: HELP.- Appendix H: SIGLA.- Appendix I: ROBEX.- I. Short Reference Manual.- II. Addendum: Planned or Realized Extensions to ROBEX.- III. ROBEX-M-(Quick Reference).- Appendix J: RAIL.- Appendix K: IRDATA.- Appendix L: Table of Comparison.