About Nachi AW/AX Translators

• Controller Profiles
• Applicative Profiles
• Action Libraries
• Robot Parameter Data
• Program Logic/IO
• Weld Guns
• Syntax Map
• Robot Parameter Map
• Spot Welding Application
• Arc Welding Application

Controller Profiles

Every robot controller has certain profiles each of which define characteristics of different aspects of the controller. By default, controllers by the name Default are defined for Motion, Tool, Accuracy and Object Profile.

During download, tool profiles are sequentially numbered. However, tool profiles can be named in the format "H=number" such as "H=1" to download to the desired tool numbers.

Please see Device Task Definition: Workbench Description: Robot Controller Toolbar for more information on controller profiles.

Applicative Profiles

The purpose of applicative profile is to store application process data, or any data the user considers meaningful, but not accounted for in standard controller profiles (motion, accuracy, tool and object).

Please see Device Building: Advanced Tasks: Creating and Editing Profiles: Creating Applicative Profiles for more details.

Action Libraries

Action library consists of a sequence of activities that users create to perform specific operations within a robot task.

Please see Device Task Definition: User Tasks: Device Task Programming Tasks: Creating and Modifying an Action Library for more details.

Parameter Data

The purpose of parameter data is to include device specific and task specific information that is not stored in robot programs.

The following procedure describes how to define device parameters.

Open the NachiAWDownload_start.CATProcess file.

Right-click a robot in the PPR tree, e.g. AV06.1, and select Properties. The properties dialog box opens. Click the Define other properties button. The Define Other Properties dialog box opens. Select the type of parameter from the list and click the New Parameter of type button. The newly created parameter appears in box listing the parameters (for example, in the dialog box above, ProgramFileEncoding has been added). In the Edit name and value field, enter a name and value as required. In Nachi robots, the robot’s third axis can be adjusted via the robot’s second axis. Internally, this is done by defining a relation between the two axes and the magnitude for adjustment. Define a device parameter that specifies joint3 to be linked with joint2 with the following attributes: Parameter Name: Joint3Linked Parameter Value: true Parameter Type: Boolean Or instead, you can skip steps 3-4 and import parameters from a .txt file using External properties. The .txt file must have the following format: parameter_name         parameter_value ....                           .....

Program Logic/IO

IOs enable users to synchronize resources using signals in a process where resource programs run in parallel.

Please see Workcell Sequencing: Workbench Description: IO Management Toolbar for more details.

Weld Guns

Weld guns (servo / non-servo) are represented as mounted devices.
A non-servo gun is a weldgun that is simply mounted to the robot but, not defined as an auxiliary axes device. If a weldgun is defined as an auxiliary device then the joint value is output for each RobotMotion activity as joint 7 (in the case of a single axis weldgun).
For Nachi, regardless of whether a weldgun is a servo or non-servo, the AWSpotWeld/AXSpotWeld actions along with their attributes will be output as a SPOT command.

Special Considerations

For Nachi robots, the adjustment for axis 3 is done by default. This is achieved by defining two device parameters as explained below.

If the user does not define these two device parameters explicitly, default values will be used by the downloader and uploader.

In case the user does not want the default behavior or wants to assign different values, he has to explicitly define these two parameters and assign their values.

Parameter Name: Axis3Adjust
Parameter Type: Real
Parameter Value: 90 (default value)
Description: This parameter determines the amount of adjustment of axis 3 during download/upload. For most Nachi robots, this value is 90; for tilt robots, the value is 0; for some models, it is set to –90. The value of this parameter is used in the Joint3Linked parameter description. By default, the value of this parameter is set to 0; it is the responsibility of the user to set it to the appropriate value depending on the robot model type.

Parameter Name: Joint3Linked
Parameter Type: Boolean
Parameter Value: false
Description: This parameter controls the adjustment of axis 3 during download and upload. If this is set to true, which indicates that joint2 and joint3 are linked, no axis 3 adjustment will take place. Otherwise, axis 3 will be adjusted based on the following relation:

Upload: igrip_axis_3 = robot_axis_3 – robot_axis_2 + axis3adjust
Download: robot_axis_3 = igrip_axis_3 + igrip_axis_2 - axis3adjust

where,

igrip_axis_3 = robot’s joint 3 value as shown by the Jog command/dialog.
igrip_axis_2 = robot’s joint 2 value as shown by the Jog command/dialog.
robot_axis_3 = value of robot’s axis 3 in the downloaded program (as output by V5 OLP)
robot_axis_2 = value of robot’s axis 2 in the robot program (as output by V5 OLP)
axis3adjust = the parameter Axis3Adjust defined above.

Syntax Map

Please refer to the SLIM_V5_XML worksheet in the SLIM_V5_XML_MAP.xls file for detailed syntax map and examples with screen captures.

Robot Parameter Map

Refer to the Parameter Data worksheet in the SLIM_V5_XML_MAP.xls file.

Spot Welding Application

This section illustrates the translation of V5 spot actions to SLIM commands. The table below shows the syntax map between V5, XML and SLIM specifically for the Spot application.:

Below is the illustration of V5 spot weld action to SLIM spot translation that is common to both AW and AX controllers:

Arc Welding Application

The table below gives a syntax map between V5, XML and SLIM specifically for the Arc-Welding application for AW controllers:

The table below gives a syntax map between V5, XML and SLIM specifically for the Arc-Welding application for AX controllers: