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.
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).
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.
Global variable with its name and backup value; macro call with the macro job and its arguments.
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.
- 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,
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.
- Comment / uncomment current line Ctrl+/,
- Check syntax F6 - full check of the job, see Syntax check,
- Yaskawa Template - inserts a template of an instruction (file yaskawa.template.xml).
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 | |
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.
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,
- 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:
VJ=120.00 exceeds the allowed range 0.01 .. 100.
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 |
To check many jobs at once use the
ANTLR Validator plugin.
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).
