About Denso Translators

This section provides basic information about the Denso translator. The information includes: 
 

Supported Activities

The following activities are supported in Download & Upload for the Denso RC7 Controller. Denso program files (.pac) 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 Denso PAC commands, XML elements, and V5 task activities.

Denso PAC Commands XML Element V5 Task Activity
MOVE , [@Accuracy ][,[@Accuracy ] [EXA ((Jnumber, Jvalue))][, ][,NEXT]
where
Interpolation: P, L, C
Accuracy: P, 0(default),
Motion Option: Speed, Accel, Decel 		DNBRobotMotionActivity  RobotMotion  
Interpolation P,L,C is translated to motion type Joint, Linear, and CircularVia and Circular. ("MOVE C" needs 2 targets.)

Accuracy P is Speed type and accuracy value is 1; accuracy is Distance type, and when =0, FlyBy=Off.

"Next" is uploaded as an attribute and is appended when the motion activity is downloaded.  
APPROACH <Interpolation>, <Target>,[@Accuracy ]<Offset>[,<Motion Option>][,NEXT]
where
Interpolation: P, L 		 DNBRobotMotionActivity  RobotMotion  
For 6-axis robots, DELMIA-Target = Denso-Target – Offset in Z

For 4-axis robots, DELMIA-Target = Denso-Target + Offset in Z

An attribute "Offset" with value=Offset is uploaded and is taken out of DELMIA-Target when the motion activity is downloaded as APPROACH command. 
DEPART <Interpolation>, [@Accuracy ]<Offset>[,<Motion Option>][,NEXT]
where
Interpolation: P, L 		 DNBRobotMotionActivity  RobotMotion  
For 6-axis robots, DELMIA-Target = Current-Target – Offset in Z

For 4-axis robots, DELMIA-Target = Current-Target + Offset in Z

An attribute "Depart" is uploaded and the motion activity is downloaded as DEPART command if the target only differs with the previous target in Z direction.
 
GOHOME DNBRobotMotionActivity  RobotMotion  
Same as Denso MOVE P, @0 HOME 
HOME <position variable> robot motion target (data used to create target for GOHOME) 
SPEED <speed value> MotionProfile
with percetage speed		 MotionProfile used in subsequent moves
ACCEL <acceleration> MotionProfile
with Accel Value set 		MotionProfile used in subsequent moves
Position variables defined in Var_P.csv
PvarNum,X,Y,Z,RX,RY,RZ,FIG
where RX=Yaw, RY=Pitch, RZ=Roll		 robot motion targets
(X,Y,Z,Yaw,Pitch,Roll), with configuration and turns 		(data used to create targets for motion activities) 
DEFPOS <PvarName>[=<position constant>]
Joint variables defined in Var_J.csv
JvarNum,j1,j2,j3,j4,j5,j6,""		 robot motion targets
Joint target with robot joint values and auxiliary joint values.  		 (data used to create joint target for motion activities)
DEFJNT <JvarName>[=<joint constant>]
SET IO[PortNumber][,duration]
RESET IO[PortNumber]		 DNBSetSignalActivity
with PortNumber and SignalName 		Set IO Operation 
WAIT
IO[PortNumber][=ON|OFF][,<Timeout>[,<Storage Variable>]]		 DNBWaitSignalActivity
with PortNumber, MaxWaitTime and SignalName 		Wait IO Operation
<Storage Variable> if present will be uploaded as an attribute. 
CALL <PROnumeral> DNBIgpCallRobotTask
with CallName pronumeral 		Call Task activity
DELAY <Delay time>
delay time unit: millisecond		 DelayActivity DelayActivity  
TOOL <tool number>, <position constant or variable> ToolProfile definition ToolProfile definition  
CHANGETOOL <tool number> (set toolprofile for next robot motion operation) ToolProfile used in subsequent moves 
WORK <number>, <position constant or variable> ObjectProfile definition ObjectProfile definition  
CHANGEWORK <number> (set objectprofile for next robot motion operation)   ObjectProfile used in subsequent moves
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 Denso statements Operation type Activity element with attribute set to the Denso statement   Operation with attribute set to the Denso statement

Note: Targets can appear directly in the move commands 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 & 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 IO[] This parameter specifies the output signal names for Set-IO activities. These IOs must be defined 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>.  
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". 

 

Notes

  • Accuracy Type 'Speed' is considered to be Denso Pass Motion '@P', regardless of the Accuracy Profile's FlyByMode or Accuracy Value.
  • For Accuracy Type 'Distance', if FlyByMode is 'Off', it is considered to be Denso Encoder Value Check Motion '@E'. If FlyByMode is 'On', it is considered to be Denso End Motion '@IntegerValueInMM'.
  • For upload, if this option is omitted, the default setting '@0' is assumed.