VW VASS · KUKA VKRC · FANUC VFANUC

Robot documentation from VASS backups

RobDoc reads backups of KUKA robots running VKRC and FANUC robots running VFANUC, configured to the Volkswagen VASS standard, and generates the robot documentation the standard requires as a Word document.

Cover page of a generated robot documentation — Cover page of a generated document

Scope

Built for one standard

RobDoc is made specifically for robots programmed to the Volkswagen VASS standard. Robots with the manufacturer's standard software are not supported.

Manufacturer	Controller software	Standard	Input	Output
KUKA	VKRC	VW VASS	Robot backup (.zip)	Word document (.docx)
FANUC	VFANUC	VW VASS	Robot backup (.zip)	Word document (.docx)

Program conversion

From controller code to readable steps

VASS programs store every inline form as a fold with encoded parameters. RobDoc decodes them into the instructions a technician actually works with.

In the backup.src

;FOLD LIN VB=200[mm/s] VE=0% ACC=100% RobWzg=1 Base=0 SPSTrig=5[1/100s] P ;%{P}%MKUKATPVW,%CMOVE8,%VLIN,%P 1:2, 2: VB=, 3:200, 4:[mm/s], 5: VE=, 6:0, 7:%, 8: ACC=, 9:100, 10:%, 11: RobWzg=, 12:1, 13: Base=, 14:0, 15: SPSTrig=, 16:5, 17:[1/100s], 18: P, 19:7, 20:-1, 21:7
   ;FOLD 1: FB PSPS = EIN ;%{SE}%MKUKATPVW %CVW_SPS %VFBPSPS %P 2:FB PSPS = EIN,3:FBPSPS
   ;ENDFOLD
   ;FOLD 2: A23 = AUS ;%{SE}%MKUKATPVW %CVW_SPS %VBOASG %P 2:A23 = AUS,3:BOASG
   ;ENDFOLD
   ;FOLD 3: WARTE BIS !E16 & E23 ;%{SE}%MKUKATPVW %CVW_SPS %VWBOASG %P 2:WARTE BIS !E16 & E23,3:WBOASG
   ;ENDFOLD
   ;FOLD 4: -- Posicion a ON -- ;%{SE}%MKUKATPVW %CVW_COM %VCOMMENT %P 2:-- Posicion a ON --,3:VW_COMMENT
   ;ENDFOLD
   ;FOLD 5: A75 = EIN ;%{SE}%MKUKATPVW %CVW_SPS %VBOASG %P 2:A75 = EIN,3:BOASG
   ;ENDFOLD
   ;FOLD 6: -- G1KYP12R -- ;%{SE}%MKUKATPVW %CVW_COM %VCOMMENT %P 2:-- G1KYP12R --,3:VW_COMMENT
   ;ENDFOLD
   ;FOLD 7: F2 = EIN ;%{SE}%MKUKATPVW %CVW_SPS %VBOASG %P 2:F2 = EIN,3:BOASG
   ;ENDFOLD
   ;FOLD 8: SPSMAKRO342 = EIN ;%{SE}%MKUKATPVW %CVW_SPS %VMAKRO %P 2:SPSMAKRO342 = EIN,3:MAKRO
   ;ENDFOLD
   ;FOLD 9: SPSMAKRO340 = EIN ;%{SE}%MKUKATPVW %CVW_SPS %VMAKRO %P 2:SPSMAKRO340 = EIN,3:MAKRO
   ;ENDFOLD
   ;FOLD 10: WARTE BIS M33 ;%{SE}%MKUKATPVW %CVW_SPS %VWBOASG %P 2:WARTE BIS M33,3:WBOASG
   ;ENDFOLD

In the documentationreadable

7: LIN VB=200[mm/s] VE=0% ACC=100% RobWzg=1 Base=0 SPSTrig=5[1/100s] P {Pno1=7,Pno2=-1,SPSno=7}
  1: FB PSPS = EIN
  2: A23 = AUS
  3: WARTE BIS !E16 & E23
  4: -- Posicion a ON --
  5: A75 = EIN
  6: -- G1KYP12R --
  7: F2 = EIN
  8: SPSMAKRO342 = EIN
  9: SPSMAKRO340 = EIN
  10: WARTE BIS M33

Document contents

What the documentation covers

Chapters of a typical VKRC document, filled in from the backup.

Description and system descriptionRobot, controller and software data
TopologyBus devices and modules
Load data reportTools, bases and payloads
Inputs, outputs and markersAll signals used in the programs
Counters, timers and flagsIncluding system timers
Analog and binary outputsUsed output channels
MacrosEach macro in readable form
Sequences (Folgen)Each sequence in readable form
Subprograms (UPs)Each subprogram in readable form

Custom templates

Your layout, filled from the backup

Besides the standard templates, documents can be generated from your own Word template. Place pre-defined tokens anywhere in the .docx and RobDoc replaces them with data from the backup: single values, tool and base data, or whole lists such as programs.

View the available tokens

In your template.docx

Robot serial number: {{ rob_sn }}

Tool: X {{ tool.x }}  Y {{ tool.y }}  Z {{ tool.z }}

Programs ({{ programs.length }}):
{% for program in programs %}
  {{ program.name }} – {{ program.type }}
{% endfor %}

Process

How it works

Upload the backup

Upload the robot backup archive (.zip) as exported from the controller.

Choose a template

Use one of the standard templates, or your own .docx template.

Download the document

The finished .docx appears in your recent documents, along with any parsing notes.

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