Instruction Support
Denso Instruction Support
The DENSO Translator supports upload and download of all instructions in the DELMIA Robotics language that are available in the DENSO PAC language. All features of the supported instructions that apply to DENSO are supported.
The translation outputs PAC-files that can be loaded into the DENSO software and converted into binary files which can be loaded into the G2 or G3 DENSO controller. On upload, any unsupported DENSO PAC instructions are stored as custom instructions so that the program can be downloaded again without loss of data.
The following table summarizes the level of support for each DENSO Instruction by the DELMIA DENSO translator and DELMIA simulation. Any instruction which does not appear in this list is uploaded as a V6 Comment instruction and will not be used in simulation.
| DELMIA Instruction | Level of Support | DENSO Instructions | Comments |
|---|---|---|---|
| Goto | Supported | GOTO | |
| Condition | Supported | IF REG/IPORT THEN ELSE; also single line IF condition THEN … [ELSE …] | |
| For | Supported | For | |
| Do While, While do | Supported | Do … Loop [While/Until] condition; Do [While/Until] condition … Loop | |
| Return | Supported | RETURN | |
| Break | Supported | EXIT DO; EXIT FOR | |
| Run (service) | Not Supported | NA | |
| Run (procedure) | Partial Support | CALL | No arguments |
| Procedure | Not Supported | NA | |
| Custom | Supported | Any unsupported instruction | |
| Grab/Release | Not Supported | Custom instruction | |
| Assign | Partial Support | No complex data types. Any unsupported data will be placed in a custom instruction (not simulated). Custom instructions are always downloaded as NRL commands. Outputs of data type Boolean, Integer, with a valid port number are supported. | |
| Wait | Partial Support | DELAY, WAIT | No complex data types. Any unsupported data will be placed in a custom instruction (not simulated). Custom instructions are always downloaded as NRL commands. Input data types of Boolean, Integer with a valid port number are supported. |
| Robot Motion | Supported | MOVE P (joint) MOVE L (linear) MOVE C (circular) | |
| Define Tool | Supported | TOOL 1, (x,y,z,Ya[,P,R]) | Define a tool frame |
| Set Tool | Supported | CHANGETOOL 1 | Use the tool frame by the frame number |
| Define Object frame | Supported | WORK 1, (x,y,z,Ya[,P,R]) | Define an object frame |
| Set Object frame | Supported | CHANGEWORK 1 | Use the object frame by the frame number |
| Arc Operation | Not Supported | ||
| Seam Search Operation | Not supported | NA | |
| Spot Operation | Not Supported | NA |
- Unsupported Instructions
- Any instruction that is not supported on download is skipped, and a message is displayed to indicate that this DELMIA instruction is not supported by the DENSO PAC language. This is done so that the generated file will be a valid DENSO task.
- Goto
-
In DELMIA, the label is defined on a specific instruction. In Denso, a label is itself an instruction.
- GoSub
-
Denso GoSub calls a subroutine specified by the label. In Denso, both Goto and GoSub use a label. The subroutine starts with its label and ends with a "RETURN" DENSO instruction.
- Condition
- A DELMIA Condition instruction is translated into an IF.
- Custom
- A custom instruction text is downloaded into the program exactly as is. On upload, any unsupported instruction is created as a custom instruction, with the name of the custom instruction being the DENSO instruction's text.
- Grab/Release
- Not supported.
- Assign
- Supported.
- Wait
- Run (procedure)
-
A DELMIA Wait (FALSE) Timeout instruction is translated as a DENSO DELAY instruction.
A DELMIA Wait (input) Timeout instruction is translated as a DENSO WAIT. Timeout is included in the WAIT as a T=<timeout>. For upload, an input variable named IO<port> of type integer will be created and the port number set. For download, if a Wait condition has an input integer or Boolean with port number set (i.e. input1:=1), a WAIT will be output.
- Robot Motion
- The following are DENSO standard robot motion commands. The table below provides basic information on the level of support for different motion options.
MOVE [P/L/C], [@E/@P/@0~99] <target>, [S=0~100/ACCEL=0~100/DECEL=0~100]
DENSO Motion Option Support Level DELMIA Equivalent Description Translation Notes MOVE P, MOVE L, MOVE C Supported Joint, Linear, Circular motion type @E/P/0~99 Supported Accuracy Accuracy profile If ignored, it is processed as @0, which is the default value, when the robot moves in the end movement Target Supported target J[1] P[2] (x,y,z,Ya,[P,R,]config) J2P(j1,j2,j3,j4[,j5,j6]) for 4-axis and 6-axis Speed/S Supported speed Speed value Speed value is percent. ACCEL Supported acceleration Accel value Accel value is percent. DECEL Supported deceleration Decel value Decel value is percent. - Arc Welding
- Not supported.