inform-2d

convert vector paths to MOTOMAN INFORM (.JBI) files in rectangular coordinates with tool up/down in z

This file format is used on big industrial robot arms, like the one at sudoroom.

Watch the algorithm in action.

online svg to inform converter

example

var inform = require('inform-2d');
var points = require('./points.json');
 
var src = inform(points, {
    name: 'wow',
    xangle: -168.90,
    yangle: -11.30,
    zangle: -68.01,
    xmin: 900, xmax: 1200,
    ymin: -650, ymax: -350,
    zup: 150.4, zdown: 140.4
 
});
console.log(src);

For this points.json file as input:

[ [ [ 108.10421752929688, 74.8239974975586 ], [ 95.56915283203125, 94.93888092041016 ], [ 95.31151580810547, 96.2403793334961 ], [ 102.90857696533203, 113.43411254882812 ], [ 104.03355407714844, 114.13746643066406 ], [ 121.85356903076172, 114.98860168457031 ], [ 123.01776885986328, 114.35240936279297 ], [ 137.21041870117188, 92.79154205322266 ], [ 137.24737548828125, 91.46550750732422 ], [ 129.8736572265625, 79.62474060058594 ], [ 128.72239685058594, 78.96514129638672 ], [ 108.10421752929688, 74.8239974975586 ] ], [ [ 276.0107727050781, 81.7242660522461 ], [ 257.1794738769531, 95.9311752319336 ], [ 256.23870849609375, 97.2276611328125 ], [ 253.68801879882812, 116.92826080322266 ], [ 254.5357666015625, 118.2863540649414 ], [ 276.5599365234375, 125.3462905883789 ], [ 278.153564453125, 125.1825942993164 ], [ 300.3292541503906, 113.54671478271484 ], [ 300.6111755371094, 112.25702667236328 ], [ 297.1383972167969, 91.92383575439453 ], [ 296.3144226074219, 90.55220794677734 ], [ 276.0107727050781, 81.72425842285156 ] ], [ [ 98.73597717285156, 162.2274169921875 ], [ 298.413330078125, 168.28604125976562 ], [ 303.9494934082031, 168.68817138671875 ], [ 303.54071044921875, 189.12786865234375 ], [ 302.4870300292969, 194.5781707763672 ], [ 292.7845153808594, 226.38218688964844 ], [ 290.4404296875, 231.41366577148438 ], [ 268.3999328613281, 255.50604248046875 ], [ 263.2607116699219, 257.598876953125 ], [ 176.0184326171875, 273.0849609375 ], [ 170.74020385742188, 271.4090270996094 ], [ 145.1450653076172, 260.71746826171875 ], [ 140.2852783203125, 258.03570556640625 ], [ 123.30693817138672, 243.90589904785156 ], [ 120.06871032714844, 239.40306091308594 ], [ 113.86951446533203, 224.5026397705078 ], [ 115.03231048583984, 219.08340454101562 ], [ 103.79267883300781, 200.3572540283203 ], [ 102.04824829101562, 195.0880126953125 ], [ 98.73596954345703, 162.22743225097656 ] ] ]

the script generates a JBI INFORM file:

/JOB
//NAME WOW
//POS
///NPOS 50,0,0,0
///TOOL 0
///RECTAN
///RCONF 0,0,0,0,0
C000=975.182,-600.551,150.400,-168.90,-11.30,-68.01
C001=975.182,-600.551,140.400,-168.90,-11.30,-68.01
C002=966.465,-587.258,140.400,-168.90,-11.30,-68.01
C003=966.285,-586.398,140.400,-168.90,-11.30,-68.01
C004=971.569,-575.035,140.400,-168.90,-11.30,-68.01
C005=972.351,-574.570,140.400,-168.90,-11.30,-68.01
C006=984.744,-574.007,140.400,-168.90,-11.30,-68.01
C007=985.554,-574.428,140.400,-168.90,-11.30,-68.01
C008=995.424,-588.677,140.400,-168.90,-11.30,-68.01
C009=995.450,-589.553,140.400,-168.90,-11.30,-68.01
C010=990.322,-597.378,140.400,-168.90,-11.30,-68.01
C011=989.521,-597.814,140.400,-168.90,-11.30,-68.01
C012=975.182,-600.551,140.400,-168.90,-11.30,-68.01
C013=975.182,-600.551,150.400,-168.90,-11.30,-68.01
C014=1091.954,-595.991,150.400,-168.90,-11.30,-68.01
C015=1091.954,-595.991,140.400,-168.90,-11.30,-68.01
C016=1078.858,-586.602,140.400,-168.90,-11.30,-68.01
C017=1078.204,-585.745,140.400,-168.90,-11.30,-68.01
C018=1076.430,-572.726,140.400,-168.90,-11.30,-68.01
C019=1077.019,-571.828,140.400,-168.90,-11.30,-68.01
C020=1092.336,-567.162,140.400,-168.90,-11.30,-68.01
C021=1093.445,-567.271,140.400,-168.90,-11.30,-68.01
C022=1108.867,-574.960,140.400,-168.90,-11.30,-68.01
C023=1109.063,-575.813,140.400,-168.90,-11.30,-68.01
C024=1106.648,-589.250,140.400,-168.90,-11.30,-68.01
C025=1106.075,-590.157,140.400,-168.90,-11.30,-68.01
C026=1091.954,-595.991,140.400,-168.90,-11.30,-68.01
C027=1091.954,-595.991,150.400,-168.90,-11.30,-68.01
C028=968.667,-542.789,150.400,-168.90,-11.30,-68.01
C029=968.667,-542.789,140.400,-168.90,-11.30,-68.01
C030=1107.535,-538.785,140.400,-168.90,-11.30,-68.01
C031=1111.385,-538.519,140.400,-168.90,-11.30,-68.01
C032=1111.100,-525.011,140.400,-168.90,-11.30,-68.01
C033=1110.368,-521.409,140.400,-168.90,-11.30,-68.01
C034=1103.620,-500.391,140.400,-168.90,-11.30,-68.01
C035=1101.990,-497.066,140.400,-168.90,-11.30,-68.01
C036=1086.661,-481.144,140.400,-168.90,-11.30,-68.01
C037=1083.087,-479.761,140.400,-168.90,-11.30,-68.01
C038=1022.414,-469.526,140.400,-168.90,-11.30,-68.01
C039=1018.743,-470.634,140.400,-168.90,-11.30,-68.01
C040=1000.943,-477.700,140.400,-168.90,-11.30,-68.01
C041=997.563,-479.472,140.400,-168.90,-11.30,-68.01
C042=985.755,-488.810,140.400,-168.90,-11.30,-68.01
C043=983.503,-491.786,140.400,-168.90,-11.30,-68.01
C044=979.192,-501.633,140.400,-168.90,-11.30,-68.01
C045=980.000,-505.214,140.400,-168.90,-11.30,-68.01
C046=972.184,-517.590,140.400,-168.90,-11.30,-68.01
C047=970.970,-521.072,140.400,-168.90,-11.30,-68.01
C048=968.667,-542.789,140.400,-168.90,-11.30,-68.01
C049=968.667,-542.789,150.400,-168.90,-11.30,-68.01
//INST
///DATE 2014/11/05 13:45
///ATTR 0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
///FRAME BASE
NOP
*1
MOVL C000 V=200 CONT
PAUSE
MOVL C001 V=50 CONT
MOVL C002 V=50 CONT
MOVL C003 V=50 CONT
MOVL C004 V=50 CONT
MOVL C005 V=50 CONT
MOVL C006 V=50 CONT
MOVL C007 V=50 CONT
MOVL C008 V=50 CONT
MOVL C009 V=50 CONT
MOVL C010 V=50 CONT
MOVL C011 V=50 CONT
MOVL C012 V=50 CONT
MOVL C013 V=200 CONT
MOVL C014 V=200 CONT
MOVL C015 V=50 CONT
MOVL C016 V=50 CONT
MOVL C017 V=50 CONT
MOVL C018 V=50 CONT
MOVL C019 V=50 CONT
MOVL C020 V=50 CONT
MOVL C021 V=50 CONT
MOVL C022 V=50 CONT
MOVL C023 V=50 CONT
MOVL C024 V=50 CONT
MOVL C025 V=50 CONT
MOVL C026 V=50 CONT
MOVL C027 V=200 CONT
MOVL C028 V=200 CONT
MOVL C029 V=50 CONT
MOVL C030 V=50 CONT
MOVL C031 V=50 CONT
MOVL C032 V=50 CONT
MOVL C033 V=50 CONT
MOVL C034 V=50 CONT
MOVL C035 V=50 CONT
MOVL C036 V=50 CONT
MOVL C037 V=50 CONT
MOVL C038 V=50 CONT
MOVL C039 V=50 CONT
MOVL C040 V=50 CONT
MOVL C041 V=50 CONT
MOVL C042 V=50 CONT
MOVL C043 V=50 CONT
MOVL C044 V=50 CONT
MOVL C045 V=50 CONT
MOVL C046 V=50 CONT
MOVL C047 V=50 CONT
MOVL C048 V=50 CONT
MOVL C049 V=200 CONT
JUMP *1
END

Make sure you don't accidentally strip the '\r' characters, since MOTOMAN expects '\r\n' separators.

methods

var inform = require('inform-2d')

var src = inform(paths, opts)

Return a JBI file string src that will trace out the vector image described by paths. Each item in paths is an array of points of the form [x,y] that describe a path.

Optionally, configure:

• opts.name - the name to use, uppercased, truncated to 8 chars
• opts.xangle - x axis euler angle to hold the tool
• opts.yangle - y axis euler angle to hold the tool
• opts.zangle - z axis euler angle to hold the tool
• opts.zup - z value to hold the tool in the up (not tracing) position
• opts.zdown - z value to hold the tool in the down (tracing) position
• opts.vup - velocity to use when z is up (not tracing) in mm/sec
• opts.vdown - velocity to use when z is down (tracing) in mm/sec
• opts.xmin, opts.xmax - path x coordinates are scaled to this domain
• opts.ymin, opts.ymax - path y coordinates are scaled to this domain

install

With npm do:

npm install inform-2d

license

MIT