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
Dr J.Iqbal

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.
Dr J.Iqbal

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()
Dr J.Iqbal

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

Dr J.Iqbal

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
Dr J.Iqbal

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.

Dr J.Iqbal

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.

Dr J.Iqbal

Introduction to VBA
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.

Dr J.Iqbal

Introduction to VBA
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.
Dr J.Iqbal

Introduction to VBA
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.
Dr J.Iqbal

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.

Dr J.Iqbal

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.
Dr J.Iqbal

Macro
Create Box
Sub myBox()
ThisDocument.Box "box", 300, 300, 300
End Sub

Dr J.Iqbal


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
Dr J.Iqbal
Result: The macro is run again.

Macro
Create Box
Sub myBox()
ThisDocument.Box "box", 300, 300, 300
End Sub

Delete Box
Sub delete()
ThisDocument.CadObject(box").Delete
End Sub
Dr J.Iqbal

Create delete Form.wsp

Dr J.Iqbal

Create_mov_delete form.wsp

Dr J.Iqbal

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. Dr J.Iqbal

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.
Dr J.Iqbal

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.
Dr J.Iqbal

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. Dr J.Iqbal

Create_mov_delete form

Dr J.Iqbal

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

Dr J.Iqbal

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

Dr J.Iqbal

Move Absolute
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
name = TextBox7.Text
ThisDocument.CadObject(name).MoveAbsolute x, y, z
Rem x, y, z
End Sub

Dr J.Iqbal

Move Relative
Private Sub MoveRelativeButton_Click()
name = TextBox7.Text
ThisDocument.CadObject(name).MoveRelative x, y, z
End Sub

Dr J.Iqbal

Delete Box
Private Sub deleteButton_Click()
name = TextBox7.Text
ThisDocument.CadObject(name).Delete
End Sub

Exit

Private Sub CancelButton_Click()

Hide
End Sub
Dr J.Iqbal

Attaching Macro with GPs

Example Stabuli Puma 761

Dr J.Iqbal

Create Box - Size 140,400,275

Location X=1100,y=700,z=600

Conveyor moving with ABB.wsp

Dr J.Iqbal

 Dr J.Iqbal

Move Part Fwd

Option Explicit
Dim Part As CadObject
Dim CartPos As New RCSCartPos
Dim rRobot As Robot

Explicit
option force
you to
declare var
before using

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

Dr J.Iqbal

Move part back

Public Sub MovePartBack()
'Declaration of the local variables
'The position properties of CartPos are assigned the objects target
cartesian pos
CartPos.px = 1100
CartPos.py = 700
CartPos.pz = 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

Dr J.Iqbal

Moving Conveyor example.wsp

Dr J.Iqbal

Moving Conveyor Belt

Public Sub MovePart()
'Declaration of the local variables

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
'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
Dr J.Iqbal

Named View - Camera

View -> Named view -> saved view

Demo -> view camera.wsp

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Named View - Camera

Dr J.Iqbal

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

Dr J.Iqbal

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
Sub viewside()
Set rRobot = ThisDocument.GetRobot("ABB IRB2400_10")
ThisDocument.MoveToNamedView "camera3", 1000
rRobot.Delay 10000
End Sub
Sub viewsmall()
Set rRobot = ThisDocument.GetRobot("ABB IRB2400_10")
ThisDocument.MoveToNamedView "camera5", 1000
rRobot.Delay 50000
End Sub

Dr J.Iqbal

Demo
Wspace. Wspacefolder.g10finalwithoutlang

Wspace. Demo

Dr J.Iqbal