• Yaskawa viewer (JBI editor)
  • Job header
  • Tooltips: variables, I/O, macros
  • Labels: go to, references
  • Blocks: IFTHEN / ENDIF, WHILE / ENDWHILE ...
  • Double-click and context menu
  • Yaskawa menu
• Point table
• Motion instruction editor
• Syntax check
• Saving a job

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▲ Yaskawa viewer (JBI editor)

A job is opened in the Yaskawa viewer (setting Add Yaskawa viewer automatically to *.jbi file). The viewer shows the instructions between NOP and END with syntax highlighting, indentation of IF / WHILE blocks, an icon at every motion line and the line markers of the syntax check. Keyword completion and templates of instructions are available as in the other editors of DReS.

Job header

By default the header of the job (/JOB, //POS with all points, //INST, ///ATTR, ///GROUP ...) is hidden and only the program is shown - the header icon in the first line shows it as a tooltip. The points are edited in the point table and the point editor; the header is rebuilt from them when the job is saved. The header can be shown in the text with Show header text in viewer (context menu or settings).

Tooltips: variables, I/O, macros

Moving the mouse over a word shows what the controller knows about it:

• global variables (B, I, D, R, S, P, BP, EX) - the name from VARNAME.DAT and the value at the time of the backup from VAR.DAT,
• inputs and outputs (IN#, OT#, IG#, OG# ...) - the name from IONAME.DAT,
• macros - MACRO1 MJ#(5) shows the macro job from MACRO.DAT and the names of its arguments with the values of the call,
• called jobs - the comment of the job,
• labels - *START in a JUMP or on the label line shows the line of the label and the lines of all JUMPs to it (see Labels).

The same names are shown in the long-text column on the right side of the viewer. Go to (context menu, or Ctrl+click) opens the called job - for a macro the macro job from MACRO.DAT. While Ctrl is held, a job name that exists in the backup (CALL JOB:CELL, JUMP JOB:..., MACRO1 MJ#(5)) or a label of a JUMP is underlined under the mouse and the cursor becomes a hand, as with a link.

Labels: go to, references

• Ctrl+click on the label of JUMP *START (or JUMP *OK-1 IF ...) moves the cursor to the label line *START,
• the context menu of a JUMP line has Go to label *START (line n),
• the context menu of a JUMP line or of the label line has References of *START (n) - a submenu with the label line and every JUMP to the label; clicking an entry moves the cursor there.

Labels are compared without case. JUMP JOB:... is a jump to a job (Go to opens it); JUMP LABEL: S000 and JUMP B000 take the label from a variable. The syntax check tests the labels as well.

Blocks: IFTHEN / ENDIF, WHILE / ENDWHILE ...

The instructions that open, divide and close a block belong together:

Block	Opening	Middle	Closing
IF	IFTHEN, IFTHENEXP	ELSEIF, ELSEIFEXP, ELSE	ENDIF
WHILE	WHILE, WHILEEXP		ENDWHILE
SWITCH	SWITCH	CASE, DEFAULT	ENDSWITCH
FOR	FOR		NEXT

• with the text cursor on such a keyword all parts of its block are highlighted (like matching brackets): the keywords of the opening, middle and closing lines get a bold text on an orange background, e.g. IFTHEN, ELSE and ENDIF of one block. Nested blocks of the same kind are matched level by level, so the inner ENDIF never pairs with the outer IFTHEN. The status bar shows the block (ENDIF - block of line 66 IFTHEN LB001<>2, 70: ELSE),
• Ctrl+click goes to the other end of the block (IFTHEN → ENDIF, ENDIF → IFTHEN), from a middle line (ELSE, CASE) to the next part,
• the tooltip of a keyword shows the other parts of the block with their line numbers; on ENDIF, ELSE, ENDWHILE ... the condition of the opening line (e.g. IFTHEN LB001<>2) comes first.

A block with a closing line can be collapsed: the opening line (IFTHEN, WHILE, SWITCH, FOR) has a triangle at the right edge of the line number area. A click on it hides the lines of the block - the opening and the closing line (ENDIF, ENDWHILE ...) stay visible - a second click shows them again; Ctrl+click on a triangle collapses / expands all blocks. Nested blocks that were collapsed stay collapsed when the outer block is expanded. Go to or Ctrl+click to a hidden line expands the blocks above it, and a block whose closing line is removed or which gets a new line is expanded automatically. The line numbers stay the numbers of the lines of the job. Blocks that are not closed or have no opening line are reported by the syntax check.

Double-click and context menu

• double-click on the instruction of a motion line (MOVJ, MOVL ...) opens the motion instruction editor,
• double-click on a point name (C00012, P003 ...) opens the point editor of this point.

The context menu contains, besides the usual editing functions: Go to job / macro, Go to label and References of *label (Labels), Edit motion instruction..., Edit point C..... for every point of the line (or Point editor... on other lines), Show header text in viewer, Check full syntax and Viewer settings.

Yaskawa menu

• Comment / uncomment selected text Ctrl+/,
• Check syntax F6 - full check of the job, see Syntax check,
• Yaskawa Template - inserts a template of an instruction (file yaskawa.template.xml).

▲ Point table

Under the viewer the point table lists all points of the //POS section of the job.

Column	Meaning
Name	C (robot), BC (base axis), EC (station), P / BP / EX (position variables)
Group	control group of the point taken from the instruction that uses it (///GROUP1 ... with +MOVJ parts)
Type	PULSE or RECTAN (BASE / ROBOT / USER / TOOL)
Tool	tool of the point (///TOOL)
S, L, U, R, B, T ...	values as in the file - pulses, or X, Y, Z, Rx, Ry, Rz for RECTAN

• robot points, base / station points and the global position variables used by the job (from VAR.DAT, read only) are shown in separate tables,
• points not used by any instruction are grey and italic with a warning icon,
• values outside the soft limits of the controller have a red background, the tooltip says which limit,
• a value can be edited in place (double-click on the value) - the change goes directly into the header of the job,
• the points of the line with the text cursor are selected in the table; a double-click on the name of a point jumps to the first instruction that uses it.

Context menu of the table:

Jump to C.....	first instruction that uses the point
Edit motion instruction of C.....	opens the motion instruction editor for that line
Point editor C.....	opens the point editor
Copy C..... coordinates	copies C00002=-97993,1990,... to the clipboard
Assign coordinates	assigns the coordinates copied before to the selected point
Copy selected coordinates as plain text	table of the selected points (e.g. for Excel)
Set equal <axis> value for selected points	one value of the column for all selected points
Axis difference [pulse]	differences of two selected points axis by axis
Cartesian distance	distance of two RECTAN points (same frame and tool)
Select all

▲ Motion instruction editor

A double-click on the instruction of a motion line opens the editor of this line.

• Instruction - MOVJ, MOVL, MOVC, MOVS, SMOVC, SMOVL. When the motion changes between joint and linear, the speed changes between VJ [%] and V [mm/s] and the editor warns that the path of the robot changes,
• Speed - VJ, V, VR or VE, or no speed (the speed of the previous line),
• Positioning - PL 0..8 or none,
• Additional motion - the station part of the line (+MOVJ EC00012 VJ=...) with its own speed,
• Point values - values of all points of the line; values outside the soft limits are marked red,
• the line New: shows the result before OK. Everything else of the line (other tags, comment, white spaces) stays unchanged; the change can be undone with Ctrl+Z.

▲ Syntax check

Every line of the job is checked with the INFORM parser (ANTLR4) built according to the official documentation DX200 Options - Instructions for INFORM language (part number 165301-1CD), and the points are checked against the //POS section:

• syntax errors of instructions and header lines,
• points used by an instruction but not declared in //POS,
• points declared in //POS but not used by any instruction,
• labels: JUMP *LABEL to a label that is not defined in the job and a label defined more than once (errors), a label not used by any JUMP (warning - not reported when the job contains JUMP LABEL: / JUMP B000, which can jump to any label),
• blocks (errors): IFTHEN without ENDIF, ENDIF / ELSE without IFTHEN, the same for WHILE / ENDWHILE, SWITCH / CASE / ENDSWITCH, FOR / NEXT, and blocks crossing each other (IFTHEN ... WHILE ... ENDIF),
• missing /JOB, NOP, END, lines after END,
• values of parameters outside their allowed range - the ranges are defined in the Yaskawa parser limits file (template/yaskawa.limits.ini) and can be adapted:

The result is shown by markers in the margin of the line numbers (tooltip with the message) and, for a full check, in the list of messages:

When	Setting	Default
on demand - Check syntax F6, context menu Check full syntax	-
when a job is opened	Check programm syntax on load	off
before a job is saved	Check programm syntax on file save	on
while typing (after a short pause), markers only, no dialog	Check programm syntax on flow during editing	off

The check during editing waits for a pause: every change (a letter, Ctrl+Z, Ctrl+Y, paste) restarts a 0.5 s timer, and only when nothing changes for 0.5 s the job is checked once - typing 50 letters fast gives one check, not 50. After undoing the change that caused an error the marker disappears by itself. To check many jobs at once use the ANTLR Validator plugin.

▲ Saving a job

Ctrl+S writes the job in the format of the controller:

• the header is rebuilt from the points (///NPOS, the counts of the local variables), ///DATE is set to the current date, ///COMM takes the comment of the document,
• indentation and empty lines inside the program are kept - an unchanged job is saved identical to the original except the date,
• with Check programm syntax on file save the job is checked first; if there are errors or warnings they are listed and the job can still be saved or the saving cancelled:

• a backup copy of the original file is made when enabled in the general settings of the editor,
• after saving, the PowerShell callback script can be run (settings).