Nº SU00085D

COMAU TFUTIL Data 02/03/02

ROBOTICA
Foglio 1 di 7

TFUTIL Tool

Firma Compilatore Firma Approvazione

Ferla, Renga Cantello

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Introduction
The Tool/Frame Utility (TFUTIL) is a software utility that operates on the PC and can be used
for analysing and modifying variable (.VAR) files of PDL2 programs. The main operation
performed by this tool is to modify program positions (POSITION) or extended positions
(XTNDPOS) with changes due to a new set of tool or frame values. The new positional variables
are written out to a new variable file.

How it works?
TFUTIL is based upon a combination of a very limited interpreter and the RCS motion library.
The utility is able to load .COD and .VAR programs (similar to Memory Load command); interpret
them to determine motion statements and the tool and frame applicable at the statement; perform
kinematics (inverse and direct) on the determined motion destination.

Files needed
Two files are provided as part of this utility: TFUTIL.EXE and RCSCOMAU.DLL. Both should be
in the path directory.
Also the following files should be present in the directory: C3G.SYS of 5.6x software version,
TT_TOOL1.VAR and TUVFRAME.VAR.

Command and its Arguments

TFUTIL is a DOS command with the following command line arguments:

• /a <axis> <min> <max> eg. /a 5 -10 10

Perform the axis check operation and the check on the specified axis within limits. Positions
which generate joint positions within the range will be identified.

• /b <x><y><z><a><e><r> eg. /b 1000 2000 3000 10 20 30

For the operation use the specified base values. If no values are specified the values from
the manipulator file (C3G.SYS) are used. $BASE statements are not interpreted.

• /c <file_name> eg. /c lp2x

The PDL2 program code file to be analysed. This is the default option so /c is not
necessary.

• /f <user_frame_file> eg. /f tuvframe

File containing the user frame values. The default is TUVFRAME.

• /g <new_user_frame_file> eg. /g tuvframe

The PDL2 variable file that contains the new values of the modal $UFRAME. This is
used when performed tool/frame update operation. If no value is specified the same as
the original frame values are used.

• /h
Help information on usage of the utility.

• /i <value> eg. /i 8191

The information that is displayed can be configured with the following options:

1: Display motion lines that failed (included in default)

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2: Display motion lines that are Ok.

4: Include line number in display (included in default)
8: Include variable number in display (included in default)
16: Include variable value in display
32: Include joint position in display
64: Include tool and frame number in display
128: Include tool and frame values in display
256: Include ASCII error message (included in default)
512: Display tool and frame information
1024: Display statistics (included in default)

• /k <prog_file> eg. /k sch_1

Handle difference in calibration data.
Max difference of calibration data is +32657 or -32657 bits (mean turn resolver)

• /l <log_file> eg. /l lp2x

Output the data into the log file as opposed to console.

• /m <manipulator_file> eg. /m c3g.sys

Use the specified manipulator file as opposed to the default of c3g.sys in the current
working directory.

• /n
Action to perform data analysis with the new tool/frame data.

• /o <angle> eg. /o 180

Angle of repeat for axis checks. For example, if the check is specified as -10 to 10 and the
repeat angle at 180, then checks will be performed at -370..-350 and -190..-170 and -
10..10 and 170..190 and 350..370

• /p <directory> eg. /p rcs\

Path as to where the manipulator file can be located.

• /q <sys_file> eg. /q c3g_new.sys

Specifies the new C3G.SYS file

• /s
Handling changes in C3G.SYS. his includes difference in $BASE, $TX_RATE and the
check of the integrated slide.

• /t <tool_file> eg. tt_tool1

File containing the tool values. The default is TT_TOOL1

• /u <new_tool_file> eg. tt_tool1

File containing the new tool values when the /n action is being performed. If no value is
specified the original tool values are used.

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• /v <variable_file> eg. /v lp2x

File containing the variables to be checked.

• /w <new_variable_file> eg. /w lp2xnew

File produced containing the variables when the /n action is being performed.

• /x <+/-><axis><delta_resol.> <prog_file> eg. /x- 5 68432 sch_2

Turn_set different for a specific axis (number of turns)

Example
The command:

TFUTIL /n /c lp24 /w lp24a /g tuvnew /u tt_new

updates the variables of lp24 into a new variable file lp24a taking into account new frames and
new tools. Variables which have already been converted or which fail are displayed.

 To use the command a BATCH file needs! (See “Use of command (.BAT) files for starting
TFUTIL”).

Error messages
There are three "sources" of error messages and three ranges:

1. < 0
RCS generated error. Consult RCS manual.

2. 43009..43021
TFUTIL generated errors. Note that these are not the same errors as those used by applications
programs on the controller.

• 43009:"Error loading a program"

The specified program could not be loaded. The COMAU error is always displayed.

• 43010:"Cannot find the variable”

A specific variable such as vp_frames could not be located within the file.

• 43011:"Cannot find the program"

A specific program eg. tt_tool1 could not be located in memory.

• 43012:"Variable uninitialised"
The variable is uninitialised.

• 43013:"Transformation failed"
The conversion from Cartesian to joint position failed.

• 43014:"Parse failure"
The motion statement could not be parsed.

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• 43015:"No variable found on line"

No motion variable was found on the line.

• 43016:"No tool/frame found"

No tool or frame found on the motion line.

• 43017:"Tool uninitialised"
The specified tool has not been initialised. Initialisation of a tool is checked by the
tool mass not the dimension.

• 43018:"Axis within range"

The jointposition calculated is within the specified range.

• 43019:"Variable already converted"

During the /New operation the positional variable on the line has already been converted
and therefore is not converted again. There is no check that the same tool and frame is
being used

• 43020:"Error saving new variables"

The new variable file could not be saved.

• 43021:"Remote frame uninitialised"

The specified remote frame has not been initialised. Initialisation of a remote frame is
checked by the frame mass not the dimension.

3. The rest
Standard C3G COMAU errors. Use the PCINT tool for inquiring about the meaning of a single
error or for generating the file with the description of each COMAU error.

Rules
The utility works based upon a defined set of rules. These rules were defined by Volvo and include
the following:

• Motion statement must be in the format of MOVE <move_type> TO <variable> WITH

$PAR
• Motion variables should be global variables and can be exported (EXPORTED FROM clause).
• Nodal motion is implemented with $PAR and TF or RTF functions.
• Tool and frames must be integer literals (e.g. 1).
• There should not be an explicit setting of $BASE, $TOOL or $UFRAME.
• Operations must be related to a single arm.
• A tool/frame variable file should contain the possible tools and frames.
• For the integrated slide it can work only in JOINT and XTNDPOS points. It doesn’t work with
POSITION points.

Notes:
• If a new position is out of range, it is not updated so at least the old position can be used and
manually modified.
• Multi-arm robot programs cannot be handled.

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• If a variable is declared in the robot program and the /new operation is performed then the
newly created .VAR file will contain this variable with an uninitialised value.

Use of command (.BAT) files for starting TFUTIL

To use TFUTIL it is necessary to execute a command file.

Example of batch files:

DOIT.BAT for changing the tool, with the following content:

TFUTIL /n /c %1 /v %2 /w %1 /t tt_old /u tt_tool1 /l %1 /d %1

DOIT_F.BAT, for changing the frame, with the following content:

TFUTIL /n /c %1 /v %2 /w %1 /f tuv_old /g tuvframe /l %1 /d %1

DOIT_TF.BAT, for changing the tool and the frame, with the following content:

TFUTIL /n /c %1 /v %2 /w %1 /t tt_old /u tt_tool1 /f tuv_old /g tuvframe /l %1 /d %1

TF.BAT, to handle the change in C3G.SYS, with the following content:

TFUTIL /s /c %1 /v %2 /m c3g_old.sys /q c3g.sys /w %1 /l %1 /d %1

DOIT_CAL.BAT, for changing the calibration data, with the following content:

TFUTIL /s /k /i511 /ltf.log /dtf.dbg /v%1.var /c%1.cod /mc3g_old.sys /qc3g_new.sys

/w%1/r7

DOIT_TR.BAT, for changing the turn-set, with the following content:

TFUTIL /s /x%1 %2 %3 /i511 /ltf.log /dtf.dbg /v%4.var /c%4.cod /mc3g_old.sys

/qc3g_new.sys /w%4 /r7

• Create on your PC a dedicated directory. Assume, for example, C:\TFUTIL.

• Copy in this directory the files: TFUTIL.EXE, RCSCOMAU.DLL, DOIT_T.BAT, DOIT_F.BAT,

DOIT_TF.BAT, TF.BAT, DOTI_TR.BAT, DOTI_CAL.BAT.

• Copy the variable file <program_name>.VAR in <program_name>_OLD.VAR.

• Copy the TT_TOOL1.VAR in TT_OLD.VAR.

• Copy the TUVFRAME.VAR in TUV_OLD.VAR.

• Modify the tools and/or frames in the TT_TOOL1.VAR and/or TUVFRAME.VAR accordingly to
what needed.

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• Copy in C:\TFUTIL directory the files: C3G.SYS (of 5.6x version), <program_name>.COD and
<program_name>_OLD.VAR.

• If only TT_TOOL1.VAR file has been modified, copy in C:\TFUTIL the files: TT_TOOL1.VAR and
TT_OLD.VAR. Issue, from DOS prompts in C:\TFUTIL, the command:

DOIT_T <program_name> <program_name>_OLD

• If only TUVFRAME.VAR file has been modified, copy in C:\TFUTIL the files: TUVFRAME.VAR and
TUV_OLD.VAR. Issue, from DOS prompts in C:\TFUTIL, the command:

DOIT_F <program_name> <program_name>_OLD

• If both TT_TOOL1.VAR and TUVFRAME.VAR files have been modified, copy in C:\TFUTIL the
files: TT_TOOL1.VAR, TT_OLD.VAR, TUVFRAME.VAR and TUV_OLD.VAR. Issue, from DOS
prompts in C:\TFUTIL, the command:

DOIT_TF <program_name> <program_name>_OLD

• The result of these operation is a <program_name>.VAR file. This file must be copied in the
controller Ram Disk (RD:). The updated TT_TOOL1.VAR and TUVFRAME.VAR file should be
copied in RD: tool if not present yet.

• The <program_name>.LOG file is also created.

• If LP26 is the name of a program containing movements, examples of how the .BAT files can be
run is:
DOIT_T LP26 LP26_OLD

DOIT_F LP26 LP26_OLD

DOIT_TF LP26 LP26_OLD

• The LP26.VAR and LP26.LOG files are created.

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