ONE Robotics Company

TP+ is a slightly higher-level language that translates into valid FANUC TP code. Its goal is to make programming FANUC robots easier. TP+ includes a number of features from newer programming languages that TP does not support.

Features

• Variables for registers, I/O, etc.
• Automatic label numbering
• IF-ELSE blocks
• Improved readability
• Less stringent syntax
• Syntax sugar

Demo

You can try out TP+ here: TP+ Demo

Example code:

Paste this code into the demo and see how it’s translated into TP.

  # example
  # this is a comment

  # variable definitions
  foo       := R[1]
  tb_val    := R[2]
  another   := R[3]
  cnt_val   := R[4]
  bar       := DO[1]
  home      := PR[1]
  my_offset := PR[2]

  # variable assignment
  foo = 1
  foo = foo + 1

  # increment/decrement shortcuts
  foo += 1
  foo -= 1
  foo += another

  # label definitions
  # notice automatic label numbering
  @foo
  @bar

  # jump to labels
  jump_to @foo

  # if statements
  # notice automatic mixed logic if possible
  if foo==1
    foo=2
  end

  if foo==1
    # this one cannot be done with mixed logic
    # because it has multiple lines inside
    # the block
    turn_on bar
  end

  # if-else statements
  if foo==1
    foo=2
  else
    foo=3
  end

  # unless statements
  unless foo==1
    foo=0
  end

  # io readability
  turn_on bar
  turn_off bar
  toggle bar

  # inline conditionals
  turn_on bar if foo < 10
  jump_to @bar unless foo == 3

  # program calls
  my_program()
  my_program(1,2,3)
  my_program(foo)

  # motion readability
  linear_move.to(home).at(2000mm/s).term(0)
  # separate motion options onto multiple lines
  linear_move.
    to(home).
    at(max_speed).
    term(cnt_val).
    offset(my_offset).
    time_before(tb_val, open_gripper())

Motivation

TP+ is heavily inspired by the Ruby programming language. It’s simple, readable and therefore easy to understand. You shouldn’t have to worry about getting your capitalization, spacing or semi-colons right; let TP+ take care of all that for you.

Under Construction

TP+ is still in the very early alpha stage of development. I’ll put up a separate mini-site for it eventually. Stay tuned for updates.

For now please try it out and let me know what you think!