E A S Y – R O B F I L E S

EASY-ROB™ Files 3

This Chapter will introduce you to all files available in EASY-

ROB™, which you can load, save, unload or edit. The files can
be grouped in three parts:

System files
Robotics files
CAD files

With System files you can set a general settings of the

Application. System files include:

Config.dat
Environment file *.env
moni_msg.txt
License.dat

Robotics files are used for loading robot and its components
(tools, bodies, views, tags) as well as program for robot
simulation. Robotic files include:

Work cell files

Robot files
Tool files
Program files
Mimic files
Environment (body) files
View files
Tag files

CAD files are used for 3D modeling with EASY-ROB™. CAD

files which can be read with EASY-ROB are:
• IGRIP file
• STL file
• Rhino 3dm file

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File Config.dat - Project structure

Config.dat file contains information about project structure:

Path of working directory

Path of IGRIP Partfile and other CAD files
Path of License.dat file
File names of EASY-ROB™ projects (*.bod, *.rob, *.tol,
*.prg, etc)
Preferred editor

You can also edit Config.dat by choosing:

File-> Edit-> EASY-ROB System files->

Config.dat

The picture below shows the default Config.dat file.

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File Environment *.env

Environment file helps you to modify the environment variables:

Floor states ON/OFF, Wire frame/Fill

Background color
Mouse buttons
etc.

You can change states of environment variables by:

• Load-> Edit-> EASY-ROB System files->

Environment.env

Saving environment variable by:

• File-> Save-> Environment file

The picture below shows the easy-rob.env

The order of
statements
is very
important
and you
must not
change it.

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The table below describes all available statements in

easy-rob.env.

ERCL Command Description

FLOOR_ON ON=1, OFF=0
FLOOR_WIRE_ON ON=1, OFF=0
FLOOR_LENGTH Length of floor in [m]
FLOOR_DLENGTH Length of each square on the
floor in [m]
FLOOR_COLOR RGB color of the floor
BACKGROUND_COLOR RGB color for the background
HITHER Distance from view point to the
hither plane
YONDER Distance from view point to the
yonder plane
VIEW_STEPS Number of view steps.
2_MOUSE_BUTTONS ON=1, OFF=0
MONI_MSG_OUTPUT ON=1, OFF=0

You can also modify these variables via View menu. For more
information see Chapter 4 “User Panel”. EASY-ROB™ will start
in default mode, if the easy-rob.env does not exist.

File license.dat

License.dat file contains your unique License key, and

expiration date. For more information please see the Chapter 2
“License and Hardware Number”.

File moni_msg.txt
Moni_msg.txt is monitoring of your general system information:

Working directory
Date and Time
License Key

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Enabled or Disabled option etc.

You can view the moni_msg.txt file by choosing:

• Load-> Edit-> EASY-ROB System files->

moni_msg.txt

Set MONI_MSG_OUTPUT to 0 in easy-rob.env to avoid time-

consuming output during file loading and simulation.

Important Remark:

In case you have any troubles, errors or program crashes,

please send the moni_msg.txt file per email to
support@easy-rob.com.

Work cell Files

With Work cell files (*.cel) you can load Robot and Program for
simulation. It contains:

Robot
Tool
Program file name
Mimic file name
View
Body or Environment
Tag Points

Important Information:

A workcell file saves the complete Render Scene.

Concerning all CAD geometries, a workcell file saves only the
filen name for each CAD geometry and NOT the content. While
loading a workcell, EASY-ROB™ tries to find the filename in
one of the IGPDIR pathes, defined in configuration file
config.dat.

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The picture below depicted structure of Work cell file.

Work Cell file

contains all
information for
robot, and stores
information of
robot, views,
program for
simulation and
environment, as
well as tag points.

You can load Work cell file name by choosing:

• File-> Load-> Cell file.

Or save by:

• File-> Save-> Cell file.

You can also load Work Cell file from Load/Save toolbar by
choosing the Icon, or short cut Ctrl+O

Edit Cell File by choosing:

• File-> Edit-> Cell file.

If you want to unload Cellfile from the Render Scene choose;

• File-> Unload -> Cell file

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Robot Files
Robot file contains information about Robot. All information can
be divided in the following groups:

Geometrical
Kinematics
Dynamics
Motion Planner
Tooldata

Geometrical information includes dimensions of robot,

position of joints and tool etc.
Kinematics information includes kinematics parameters for
robot such as degree of freedom, kinematics identification,
number of active and passive joints, Denavit Hartenbergs
parameters of joints, velocity and accelerations etc.

Dynamics information includes dynamic parameters of Robot

such as inertia, Forces and Torques etc.

Motion Planner information includes parameters for motion

planner ID, Interpolation sample rate (ROB_DT_IPO), Lead/Lag
time, joint speed/acceleration, Cartesian speed/acceleration,
etc.

Robot file also contains information about tool. We can say that
the Robot tool is not a part of Robot file (as you can see on
picture “Files in EASY-ROB™”).
Robot tool information is included in Tool file, so you can
choose the appropriate tool for your Robot.
For more information about tool file see “Tool files”. Robot file
has the *.rob extension. The picture below shows the code of
robot file.

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Load Robot file by choosing:

• File-> Load-> Robotfile..

Or save by:

• File-> Save-> Robot file.

Editing Robot file can be achieved by

• File-> Edit-> Robot file.

Unload Robot file with:

• File-> Unloa -> Robot file.

Note: If you load Robot file, you cannot run animation because
Program file is not loaded. Load robot file only if you want to
make you own animation of loaded robot. Otherwise load an
existing Program file. For more information about program file
see “Program files”.

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Tool File
Tool file includes information about Robot Tool. You can load
specified toll for robot depending on simulation. EASY-ROB
provides variety of tool type files, which you can find in .\Proj
directory. Picture on the next page shows Arc_Gun.tol file.

Load Tool file by choosing:

• File-> Load-> Tool file.

Or save by:

• File-> Save-> Tool file.

Editing Tool file can be archived by

• File-> Edit-> Tool file.

Unload Tool file with:

• File-> Unload-> Tool file.

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Environment (Body) Files

Body files are files for virtual environment in which the Robot
works. Body file provides full virtual reality in which the robot
may operate. Enabling Collision while running animation, robot
detects environment bodies. You can also simulate any kind of
environment where the Robot can operate. EASY-ROB™
provides predefined environments that you can load. The
picture below shows the Arc_dev.bod file.

You can load Body file name by choosing:

• File-> Load-> Body file.

Or save by:

• File-> Save-> Body file.

Edit Body file by choosing:

• File-> Edit-> Body file

If you want to unload Body file choose;

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• File-> Unload-> Body file

View files
View file contains robot-viewing information. Render scene is
viewed from the position and orientation specified in the view
file. You can also choose predefined view (Top, Bottom, Rear,
Front, Left, Right) from the View menu. For more information
about predefined view see Chapter 4. Picture below shows
Uni_temp.vie file.

You can load View file name by choosing:

• File-> Load-> View file.

Or save by:

• File-> Save-> View file.

A view file can be also loaded during program execution, using

the ERCL Command ERC LOAD VIEW ’file name’

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Program File
Program files are used for Robot simulation. The program file
contains set of ERPL (EASY-ROB™ Program Language) and
ERCL (EASY-ROB™ Command Language) commands
controlling robot motion.

You can load Program file name by choosing:

• File-> Load-> Program file.

Or save by:

• File-> Save-> Program file.

Edit Program file by choosing:

• File-> Edit-> loaded Program file

If you want to unload Program file choose;

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• File-> Unload-> Program file

Note: The easy way for editing program file is by Teach

Window. With Teach Window you don’t need special knowledge
about the ERPL and ERCL program syntax and for
programming the robot. For more information about
programming robot see Chapter 5 “Robot Programming and
Simulation”.

Tag files
Tag file is used for setting tag points that define Robot target
locations. You can load, save or unload tag file choosing
respectively:

• File-> Load-> Tag Point files-> Tag.

• File-> Save-> Tag Point files-> Tag.

You can also edit or unload tag file choosing

• File-> Edit-> Tag Files.

• File-> Unload-> Tag Point files-> Tag.

If you want to create a tag point in a Tag file, you need to define
the following:

• Path_name (a path consists of one or more tags)

• Wobj name (each path has a work object frame)
• Tag_Wobj (location of the work object frame)
• Tag attribute
• Name of tag
• Position and orientation

The code below shows creating manually tag point in tag file.

PATH_NAME my_path
WOBJ_NAME my_wobj
TAG_WOBJ 0 0 0 0 0 0
TAG_ATTRIB T_ 0 0 0.0000 0.0000 0.0000 0

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TAG 12 12 4 0.05 0.25 0.00 0.20 0.00 180.00

0.00

The first and 2nd line define the name for the path and the work
object.
rd
The 3 line defines the position and orientation (RotX* RotY*
RotZ) of the work object frame. All defined Tag points are with
respect to this work object frame.
th
The 4 line describes tag attributes (prefix name ’T_’, motion
type ’0-default’, render type ’0-default’, ptp speed, cp speed,
orientation speed, robot configuration)
th
The 5 line shows the number, postfix name, color, size, and
position with orientation of Tag point.
Tag file has extension *.tag.

Note: The easy and user friendly way for creating Tag points
(Tags) is by Tag Window Dialog. For More information see
Chapter 6 “Tag Point”.

STL file *.stl and IGRIP Part file *.igp

EASY-ROBTM provides capability to load STL- (ascii and binary)
and IGRIP® Part files. The loaded geometries via those files
can be colored and scaled. For more information please see
Chapter 1 “Introduction” and Chapter 6 “3D CAD.

You can also export a Workcell as vrml 1.0 or as Igrip part file.
Using vrml, the complete cell with the track is saved into one file
*.wrl.

Using File-> Save-> World to IGRIP Part V11, will

save the following:

• The file containing all information about Work cell.

• The file containing only environment bodies post fix "_b"
• One file containing only tool bodies post fix "_t"
• One file containing only robot bodies post fix "_r"
• One file for each robot joint, postfix "_r1..n", which
contains a number of degrees of freedom DOF.

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EASY-ROB Library
EASY-ROBTM Library allows the user the ability to open,
preview and organize all available EASY-ROB files. The picture
below shows EASY-ROB Library Dialog Box with the Image
property page, which is on the Right side of Dialog Box. The full
path of file is displayed on the top right side of Library Dialog
box.

Use

• File-> Load-> Load from Library

or short cut Ctrl+Shift+O to open the EASY-ROB Library dialog.

About Bitmap: The image is a bitmap *.bmp and must have the
same name as the cell, rob, tol, etc. file. The max size of the
image file is 250x 250 pixels.
For example cnc.cel has an image file cnc.bmp in the same
folder and as description file cnc.txt or cnc.rtf.

The EASY-ROB™ Library will save the path into the file carat.ini
in the Windows System directory, see Label:

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[EASYROB_LIB]
LastPath=C:\Document and Settings\Admin\EASY-
ROB\Lib...

The next picture shows Combo Box, which provides the

selection of all available drives on your PC.
When you choose the drive, List control under Combo Box
shows the contents of selected drive. The second List control
shows the contents of selected directory (EASY-ROB files).

The Combo Box on the bottom allows you to choose the

different types of files. The picture below shows the Combo Box
for choosing specified file type.

As picture shows, you can select All EASY-ROB files to show in

List Control.

When you choose Information property page, you can find all
available information about selected file. You can also edit the

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information property page. The picture below shows Library

Dialog Box with opened Information property page.

Selecting the appropriate

file, the List of
Information property
page Loads txt or rtf file
that contains information
about selected file. You
can also directly edit the
file.

The Information property page contains toolbar for editing. The

picture below shows the toolbar of information property page.

The toolbar contains the standard set of function for editing and
printing. The table below shows all available functions in
Information property page toolbar.

Icon Description
Import text file

Save current text.

Print the contents of information property page.
Printer Setup.
Copy selected text to Clipboard.
Paste text from Clipboard.
Cut the selected text.
Delete the selected text.
Undo.

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