About Mitsubishi Translators

This section provides basic information about the Mitsubishi translator. The information includes: 
  • Supported Activities
  • Syntax Map
  • Parameter Data
 

Supported Activities

The following activities are supported in Download and Upload for the Mitsubishi CRnQ/CRnD Controller. Mitsubishi program files(.prg) are listed for upload selection.
 

  • Move Activity
  • Delay Activity
  • I/O Activities (Set and Wait Signal)
  • Call Task Activity
  • Comments
 

Syntax map

The following table details the mapping among Mitsubishi MELFA-BASIC commands, XML elements, and V5 task activities.

MELFA-BASIC Commands XML Element V5 Task Activity
MOV P1|J1
*Note		 DNBRobotMotionActivity
with MotionType Joint		 RobotMotion
with MotionType JNT
MVS P1|J1
*Note		 DNBRobotMotionActivity
with MotionType Linear		 RobotMotion
with MotionType LIN
MVR P1|J1, P2|J2, P3|J3
*Note		 DNBRobotMotionActivity
with MotionType Linear to P1, CircularVia to P2, and Circular to P3		 RobotMotion
with MotionType LIN, CIRV, CIR
Cnt 0
Cnt 1, number		 AccuracyProfile
with FlyBy Off
with FlyBy On, accuracy value=number		 AccuracyProfile used in subsequent moves
Ovrd v MotionProfile
with percentage speed v		 MotionProfile used in subsequent moves
JOvrd vPercent MotionProfile
with percentage speed v*vPercent		 MotionProfile used in subsequent moves
Spd vAbsolute MotionProfile
with absolute speed v*vAbsolute		 MotionProfile used in subsequent moves
Accel rate MotionProfile
with acceleration set to rate		 MotionProfile used in subsequent moves
Position variable
P1=(X,Y,Z,A,B,C,L1,L2)(FL1,FL2)		 robot motion targets
(X,Y,Z,Yaw,Pitch,Roll), L1 and L2 are auxiliary axis values and FL1 denotes configuration and FL2 denotes joint turns		 (data used to create targets for motion activities)
Joint variable
J1=(j1,j2,j3,j4,j5,j6,j7,j8)		 robot motion targets
Joint target with robot joint values and auxiliary joint values.		 (data used to create joint target for motion activities)
M_Out(PortNumber)=1|0 DNBSetSignalActivity
with PortNumber and SignalName		 Set IO Operation
Wait M_In(PortNumber)=1|0 DNBWaitSignalActivity
with PortNumber and SignalName		 Wait IO Operation
CALLP "prognumber" DNBIgpCallRobotTask
with CallName prognumber		 Call Task activity
DLY timeinsec DelayActivity DelayActivity
TOOL (x,y,z,a,b,c) (set toolprofile for next robot motion operation) ToolProfile used in subsequent moves
HOpen * Action GrabActivity
(all parameters upload as a type string attribute)		 Operation Pick
HClose hand_num Action ReleaseActivity
(parameter hand_num uploads as a type string attribute)		 Operation Drop
Rem comment
OR
' comment 		When parameter OLPStyle=General
AttributeList to the following Activity with AttributeValue comment		 Activity attribute
When parameter OLPStyle=OperationComments
Operation with AttributeValue comment		 Operation
Unsupported Mitsubishi statements Operation type Activity element with attribute set to the Mitsubishi statement Operation with attribute set to the Mitsubishi statement

Note: Targets can appear directly in the move commands (Mov, Mvs, and Mvr) as position/joint constants. They are uploaded into DELMIA as Cartesian/Joint targets without tag names.
 

Robot Parameter Map

 
Name Type Usage Default Value Description
ProgramFileEncoding string Download
and Upload		 UTF-8 The 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 OperationComments 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>.
GrabPart string Upload The gripper mounted on robot This parameter specifies the tool used to grab a part for action MitsubishiHClose.
PartGrabbed string Upload - This parameter specifies the part being grabbed or released for the actions MitsubishiHClose and MitsubishiHOpen.
OrentMode string Upload 2_axis This parameter specifies the orient mode for linear and circular motions uploaded. Valid values are "1_axis", "3_axis", and "wrist".
PickHome string Upload Home position name starts with "C" of the mounted gripper This parameter specifies the name of the gripper close home position.
DropHome string Upload Home position name starts with "O" of the mounted gripper This parameter specifies the name of the gripper open home position.