- Supported Activities
- Command Mapping
- Parameter Data
- Notes
Supported Activities
Currently, the following activities are supported in download and upload for the Panasonic CSR translator:
- Move Activity
- Delay Activity
- I/O Activities (Set and Wait Signal)
- Call Task Activity
- Comments
Command Mapping
This table displays the mapping between Panasonic CSR commands, XML elements, and V5 functionality:
| CSR Command | XML Element | V5 Task Activity |
|---|---|---|
| MOVEP, P1, … MOVEP, GA#(1:name), … | DNBRobotMotionActivity with MotionType Joint | RobotMotion with MotionType JNT |
| MOVEL, P1, … MOVEL, GA#(1:name), … |
DNB DNBRobotMotionActivity with MotionType Linear |
RobotMotion with MotionType LIN |
| MOVEC, P1, … MOVEC, GA#(1:name), … |
DNB DNBRobotMotionActivity with MotionType Circular or CircularVia(first MOVEC) | RobotMotion with MotionType CIR or CIRV |
| P1, AJ, … | (joint target for robot motions) | (joint target for robot motions) |
| OUT, O1#(1:name), ON|OFF | DNBSetSignalActivity with PortNumber and SignalName | Set IO Operation |
| CALL, progname | DNBIgpCallRobotTask with CallName progname | Call Task activity |
| DELAY, timeinsec | DelayActivity | DelayActivity |
| TOOL, 1:name | (set precomment of next operation, set toolprofile for next robot motion operation) | (precomment of next operation) |
| ARC-ON, filename, number | <UserProfile Type="PANArcON"> | <UserProfile Type="PANArcON"> |
| ARC-OFF, filename, number | <UserProfile Type="PANArcOFF"> | <UserProfile Type="PANArcOFF"> |
| ARC-SET, num, num, num | <UserProfile Type="PANArcSET"> | <UserProfile Type="PANArcSET"> |
| CRATER, num, num, num | <UserProfile Type="PANArcCRATER"> | <UserProfile Type="PANArcCRATER"> |
Parameter Data
Following are parameters which can be associated with a CATProduct. For information on how to set parameters for a CATProduct see the section of this manual.
| Parameter Name | Value Type | Usage | Default Value | Description |
|---|---|---|---|---|
| ProgramFileEncoding | String | Download and Upload | UTF-8 | This parameter specifies the
encoding of the robot program to be uploaded, or to be created.
Commonly used are ISO-8859-1 (West European), and SHIFT_JIS (Japanese). |
| OLPStyle | String | Upload | General | This parameter is used to
determine, whether a comment in a robot program is uploaded as an
attribute of a motion activity, or an individual operation.
Valid values are General or OperationComments. |
| CommentWaitSignal | Boolean | Upload | True | By default, WAIT IO statements are commented out during upload. If this is not desired, set this parameter to false. |
| IOName | String | Upload | DO[] | This parameter specifies the
output signal names for Set-IO activities. These IOs must be there
before upload.
If the parameter ends with a pair of square brackets ("[]"), the signal names would be <io_name>[<port_number>]; otherwise the signal names would be <io_name><port_number>. |
Notes
-
Use absolute Motion Basis when specifying a Motion Profile for linear or circular moves.
DELMIA V5 motion planning for linear and circular moves with percentage speeds is different than that of Panasonic CSR. Therefore, if percentage speed value is specified for linear or circular motion, the cycle time will be much different when compared with an actual robot. - V5 does not synchronize robot and auxiliary device motions for robots with auxiliary axes (robot rail/track and workpiece positioned), therefore the TCP trace in V5 is different than the actual robot TCP trace.
- Robots do not simulate the weave motion in V5, therefore the cycle time will differ from that of a robot that does weave motion.
- Motion activity attribute TargetNum:
For the targets in the programs to retain their original numbers, an attribute TargetNum is created upon upload for each motion activity. When a target is used more than once, the value of this attribute is automatically increased from the largest target number defined in the program. The values of this attribute are used to generate the target position number on download.
When this attribute does not exist, e.g. downloading a task created in V5, the target numbers are automatically generated in the sequence they are used in the motion activities.