Fanuc TPE Translators

FANUC Instruction Support

The following table summarizes the level of support for each FANUC file by the DELMIA FANUC translator and DELMIA simulation.

Using RRS Virtual Robot Files

In the table above, when RRS is connected, the files with a .dat extension are read from the RRS virtual robot directory, if found. The RRS virtual robot folder is created from a FANUC controller backup using the FANUC virtual robot utility. This utility also generates the DAT-files and stores them in a sub folder of the virtual robot named *_rrs. For RRS, this virtual robot folder is then placed in the Virtual Robots folder and, when connecting with RRS, you specify the relative path to this virtual robot. On the RCS server, create a windows file share called Virtual Robots to share the directory that contains all of the virtual robots. If you cannot share that directory, you must copy the virtual robots folder onto your computer into C:\ProgramData\FANUC\Shared\Off Line\Virtual Robots.

In the example below, the virtual robot folder is HMA2_SPO2_R22B. The virtual robot has a sub folder HMA2_SPO2_R22B_rrs that contains the DAT-files. The RCS server v0003deu generally has a directory C:\ProgramData\FANUC\Shared\Off Line\Virtual Robots. Share this folder on the RRS server. The FANUC translator will then look in \\v000deu\Virtual Robots\HMA2_SPO2_R22B\HMA2_SPO2_R22B_rrs for the DAT-files.

Table 1. RRS .dat file read from virtual robot directory

1		File \\v0003deu\Virtual Robots\HMA2_SPO2_R22B\HMA2_SPO2_R22B_rrs\posreg.dat used for position register data.
2		File \\v0003deu\Virtual Robots\HMA2_SPO2_R22B\HMA2_SPO2_R22B_rrs\uframe.dat used for uframe data.
3		File \\v0003deu\Virtual Robots\HMA2_SPO2_R22B\HMA2_SPO2_R22B_rrs\utool.dat used for utool data.
40		POSREG.DAT found in RRS server files and posreg.va found in upload directory. RRS server data will be used.

If one of the files is found in both the RRS directory and in the current upload directory a warning will be displayed and the RRS data will be used.

The following table summarizes the level of support for each FANUC instruction by the DELMIA FANUC translator and DELMIA simulation. Any instruction which does not appear in this table is uploaded as a comment instruction and is not used in simulation.

Preparing for Upload

A standard FANUC robot backup contains only the binary files. To upload files into DELMIA, you must convert the TP-files (binary) to LS-files (text). This can be done on the robot controller, or using FANUC's OlpcPRO software. On the robot controller, LS files can be listed using the file menu and copied to an external device (drive). With the OlpcPRO software, you can load a controller backup and then save as LS-files.

DELMIA also makes use of system variable files, if available, during upload to create the tool and object frame profiles along with some other data. The binary system variable (SV) files must be converted to text files (VA-files). This can be done either on the robot controller by copying all VA-files, or by using OlpcPRO.

Loading Files on Controller after Download

DELMIA generates LS-files (text) during the download for each task. To load these files on a FANUC robot controller, you must have the FANUC "Ascii Upload" option installed on the controller, or you must convert to TP-files (binary) before loading them. LS to TP conversion can be done using FANUC's OlpcPRO software.

It is not possible to load system variables on a FANUC controller. Any system variable information (such as UTOOLs, UFRAMEs and position registers) must be entered manually at the controller. The sysvars.ls file generated during download contains much of the information required to manually enter at the robot controller.

Unsupported Instructions

To ensure that the file generated on download is a valid FANUC task, any instruction that is not supported is skipped. A message is displayed indicating that the DELMIA instruction is not supported by the FANUC TP language. If an unsupported logic instruction contains other instructions (such as the instructions inside a DO WHILE loop), they are also skipped. Such instructions must be removed from the DO WHILE loop to be downloaded.

Goto

A DELMIA Goto instruction is translated into a JMP LBL. In DELMIA, the label is defined on a specific instruction.

On upload the label is set on the first instruction after the LBL. The label is named "x : comment". If there are no more instructions, a custom activity is created with the name "LBL[x : comment]". If the LBL referenced by a GOTO does not exist in the program, a warning is displayed and the Goto instruction does not point to any label.

On download, the LBL instruction is output just before the instruction that has the DELMIA label defined on it. If the label name is in the format "x : comment", where x is a number, then the comment is used in the LBL instruction and x is used for the label number. If the label name is not in that format and the DELMIA label name contains a number, that number is used for the label, unless the number is not unique. Otherwise, the label number is automatically generated. Indirect label addressing is not supported.

Condition

A DELMIA Condition instruction is translated into an IF. The expression for the IF must conform to the FANUC IF rules. Additionally, multiple expressions can be joined with AND and OR expressions, however AND and OR cannot be mixed.

On download, any instructions in the DELMIA ELSE clause are ignored. If it is not empty, a warning is displayed. The DELMIA THEN clause must contain only one instruction and that instruction must be a run for a procedure or a Goto. If the first instruction is not a Goto or run, the Condition instruction is skipped and a warning is displayed. If any other instruction exists in the sequence, it is ignored and a warning is displayed.

On upload, a condition instruction with one instruction in the THEN sequence is created. The expression is an exact translation of the FANUC expression.

FANUC supported IF expressions (from FANUC Robotics SYSTEM R-J3iB HandlingTool Setup and Operations Manual):

Custom

A custom instruction text is downloaded into the task exactly as is. On upload, any unsupported instruction is created as a custom instruction with the name of the custom instruction being the TP instruction's text. The TP line number and ending semicolon are removed from the instruction on upload, and added back on download.

Grab/Release

On download, the instruction name is downloaded exactly as is. This is generally the macro name used to grab the product.

On upload, if the name of a macro instruction contains the phrase “grab” or “pick”, a grab activity is created. If it contains “release” or “drop”, a release activity is created. The part to grab or release is specified in the PartGrabbed parameter of the Fanuc Controller Profile.

Assign

A DELMIA assign instruction is translated into a Fanuc TP assignment.

The expressions for the assignment must conform to the Fanuc TP assignment restrictions on download. A Fanuc register is a local variable in DELMIA. For register assignments, simple expressions are allowed.

Output IOs are also assigned with this statement. This includes DO, RO, AO, GO, UO, SO. The Fanuc PULSE syntax of output assignment is not supported. If encountered, the instruction is uploaded as a custom activity. Output IOs can either be assigned a constant value or the value of a register.

On upload, TIMER and TIMER_OVERFLOW are not supported. A warning is displayed and a custom instruction is created from the assignment.

Wait

A DELMIA Wait instruction is translated as a Fanuc TP WAIT instruction.

On download, the expression for the wait must conform to the Fanuc wait expression syntax.

The Fanuc “WAIT time” expression format corresponds to a DELMIA Wait instruction with the expression set to the constant “false.” The DELMIA timeout value is the time. This is a pure delay. If a register is used for the Fanuc wait time and the corresponding register is found in a numreg.va file, the register value will be used: [*NUMREG*]$NUMREG Storage: CMOS Access: RW : ARRAY[500] OF Numeric Reg [34] = 4.296000

For download the syntax WAIT R[34] must be used in the display name because a variable in the DELMIA TimeOut value is not supported.

If the WAIT instruction has a TIMEOUT with label it will be uploaded using the WaitGotoOnTimeout template.

The WaitGotoOnTimeout is uploaded only if the robot simulation templates have been imported. The Timeout value is defaulted to 30 sec but is read from the system.va file: [*SYSTEM*]$WAITTMOUT Storage: CMOS Access: RW : INTEGER = 3000.

On upload, WAIT instructions are uploaded as custom activities if the parameter “CommentWaitSignal” of the profile “Fanuc Controller Profile” is set to true. This is the default value. The robot program will pause during simulation at the WAIT instruction unless all of the robot’s IO have been set up and the full station behavior is being simulated.

The On+ (leading edge) and Off- (trailing edge) Fanuc TP wait options are not supported. If encountered, the WAIT instruction is uploaded as a custom instruction.

Run (procedure)

A DELMIA run instruction that is calling a procedure is translated into a Fanuc CALL instruction.

Run instructions can have arguments. The argument expression in the run instruction must conform to the FANUC TP argument requirements. An argument can be a constant, string, local variable (R[x]) or procedure input variable (AR[x]). TP allows for a maximum of ten arguments. A warning is displayed if more than ten are used, however the arguments are included. The run instruction arguments have a direction. Only input arguments are supported by FANUC TP.

Robot Motion

The following table indicates the level of support for different motion options. Any unsupported options are stored in an applicative profile attached to the motion instruction so they can be downloaded again.

Applicative Profile Motion Options

The Fanuc Controller allows options to be used for each robot motion command. The following motion options are upload/downloaded to applicative profiles that are linked as described for each option. Any motion options not included here or in the table above will be stored in a "Fanuc Motion Profile" applicative profile which is linked to the robot motion.

Corner Speed (CS=*)

The Fanuc corner speed specifies the speed to be used along the robots trajectory in a flyby move. The syntax is P[1] 100mm/sec CNT100 CS=50mm/sec. The applicative profile "Fanuc Corner Speed Parameters" is used to store this value and is linked to the motion instruction's accuracy profile.

Parameter	Measure	Default	Uploaded Value
CornerSpeed	Velocity	-1	Set based on CS=<speed> motion option.

The corner speed parameters are displayed in a dialog accessed from the accuracy profile.

Path Option (PTH)

The Fanuc path option allows a move to be treated as a path rather than treating each move independently. The syntax is P[1] 100mm/sec CNT100 PTH. The applicative profile "FanucPath" is used to store this value and is linked to the motion instruction using the same interface that is used for other motion instruction profile types such as motion or accuracy profiles.

Parameter	Measure	Default	Uploaded Value
PthOption	Boolean	False	Set based on PTH motion option.

Extended Velocity (EV)

The Fanuc extended velocity option allows extended axes velocities to be set. The syntax is P[1] 100mm/sec CNT100 EV100% or P[1] 100mm/sec CNT100 Ind.EV100%. The applicative profile "Fanuc Extended Velocity Parameters" is used to store this value and is linked to the motion instruction's motion profile.

Parameter	Measure	Default	Uploaded Value
EVMode	Integer	1	Set based on EV option used. 0 - NoEV, 1 - Simultaneous, 2 - independent
EVSpeed	Ratio	100	Percentage of maximum speed

The extended velocity parameters are displayed in a dialog accessed from the motion profile.

Payload

The Fanuc payload instruction allows an index to be specified for a move or series of moves. The syntax is PAYLOAD[1] where the index 1 points to a group of Fanuc system variables that give the mass, cog, and inertia for the current tool. The applicative profile "Fanuc Payload Parameters" is used to store this value and is linked to the motion instructions tool profile. Below is the parameter and default value.

In addition to setting this index and linking the PAYLOAD to the tool profile, the uploader will also read the system variables for mass, cog and inertia using these to set the corresponding values of the tool profile.

Override Speed

The Fanuc override instruction allows a percent speed to be specified for a move or series of moves. The syntax is OVERRIDE = 100%, meaning that the motions are run a certain percentage of programmed speed. The applicative profile "Fanuc Override Speed" is used to store this value and is linked to the motion instruction using the same interface that is used for other motion instruction profile types, such as motion or accuracy profiles.

Time and Distance Triggers

For Fanuc, time before/after and distance before a trigger is used following the robot motion.

The trigger can use a positive or negative time value. The action is either a call task or a Set Variable.

L P[5] 1000mm/sec FINE TA 0.80sec,CALL HEN_RIVE ;
L P[5] 49mm/sec CNT100 TB 0.30sec,DO[12:Try Digital] = ON ;

The trigger can use a negative distance value.

L P[7] 150mm/sec CNT5 ACC80 RTCP DB 0.60mm,CALL HEN_RIVE SE ;
L P[6] 150mm/sec CNT5 ACC80 RTCP DB 2.00mm,GO[12:SCA Segment Select] = 11 SS[1] ;

Spot Welding

Only servo guns are supported for spot welding. Gun changes are not supported. Spot instructions are output as a move with a SPOT option.

 J P[10] 100% CNT100 SPOT[P=16,S=66,BU=2]

The upload and download behavior of SPOT links the applicative profiles created from uploading the SGPARAM.DAT and WDELAY.SCD files with the spot profile so that the uploaded values are used in simulation. Other spot profile parameters are also configured with the appropriate values.

If any of the SGPARAM.DAT, WDELAY.SCD, or SPRESS.VA files are not present during upload, the spot profile is created with default values for these profiles.

In the most common cases, the SPOT instruction will be automatically generated on download based on the parameters in the spot profile. In these cases, the spot profile will also be configured during upload so that simulation with and without RRS will be as accurate as possible. When necessary, you can override the auto generation feature and specify the exact SPOT syntax in the spot profile name.

The parameters used in simulation are EQ, P, S, BU, SD and ED. The following table lists all of the known arguments to the SPOT instruction used in RJ3 and R30 controllers, and describes any limitations with regard to auto generation of the instruction during download and simulation support.

Pressure Schedule

On upload the spot servo pressure schedules will be uploaded into an applicative profile named "Fanuc Spot Pressure Schedule". Values will be uploaded from a SGPARAM.DAT file.

Parameter	Default Value	Measure
Index	1	Integer
GunNumber	1	Integer
COMMENT		String
WELD_PRESS	0.0kgf	Force
THICKNESS	0.0m	Length
PUSH_DEPTH	0.001m	Length
GUNSAGVAL	0.0m	Length
SOFT_TOUCH	True	Boolean
SFTCH_TA	.005m	Length
SFTCH_TB	0.0m	Length
SYNC_TA	0.0	Length
SYNC_TB	0.0	Length
SYNC_TERM	-1	Ratio
SYNC_ACC	100	Ratio
DECEL_RATE	100	Ratio
PRSCLS_TERM	-1	Ratio
PRSCLS_ACC	100	Ratio
SFTOPN_TA	0.0m	Length
SFTOPN_TB	0.0m	Length
SFTOPN_TERM	0	Ratio
GUN_OPEN	False	Boolean
AWAY_TERM	0	Ratio
AWAY_ACC	100	Ratio
PRESS_TIME	0s	Time
TIME_OUT	5s	Time
STOKE_LEN	0.0m	Length
MOTION_TYPE	0	Integer
SPEED	100	Ratio
TERM_TYPE	1	Integer
TERM_VAL	100	Ratio
PS_ACC_USE	0	Integer
ACC_USE	True	Boolean
ACC_VALUE	100	Ratio
PS_PATH_USE	0	Integer
PATH_USE	False	Boolean
USE_MANUAL	False	Boolean

These values come directly from the SGPARAM.DAT or the SYSPRESS.VA file if it exists in the same folder as the LS-files being uploaded. SGPARAM.DAT is a file generated by FANUC's "Virtual Robot Converter" software. SYSPRESS.VA can be exported from Fanuc RJ3 and R30 controllers. It has the same format for all controllers. The file format for the SGPARAM.DAT file is as follows.

$SGSCH1[1].$COMMENT = 'Weld1'
$SGSCH1[1].$WELD_PRESS = 1.000000e+02
$SGSCH1[1].$THICKNESS = 2.500000e+00
$SGSCH1[1].$PUSH_DEPTH = 2.000000e+01
$SGSCH1[1].$GUNSAGVAL = 0.000000e+00
$SGSCH1[1].$SOFT_TOUCH = TRUE
$SGSCH1[1].$SFTCH_TA = 3.000000e+01
$SGSCH1[1].$SFTCH_TB = 1.000000e+01
$SGSCH1[1].$SYNC_TA = 1.000000e+01
$SGSCH1[1].$SYNC_TB = 0.000000e+00
$SGSCH1[1].$SYNC_TERM = 100
$SGSCH1[1].$SYNC_ACC = 150
$SGSCH1[1].$DECEL_RATE = 4.800000e+01
$SGSCH1[1].$PRSCLS_TERM = 0
$SGSCH1[1].$PRSCLS_ACC = 150
$SGSCH1[1].$SFTOPN_TA = 1.000000e+01
$SGSCH1[1].$SFTOPN_TB = 0.000000e+00
$SGSCH1[1].$SFTOPN_TERM = 100
$SGSCH1[1].$SFTOPN_ACC = 150
$SGSCH1[1].$GUN_OPEN = TRUE
$SGSCH1[1].$AWAY_TERM = 0
$SGSCH1[1].$AWAY_ACC = 150
$SGSCH1[1].$PRESS_TIME = 0.000000e+00
$SGSCH1[1].$TIME_OUT = 5.000000e+00
$SGSCH1[1].$STROKE_LEN = 0.000000e+00
$SGSCH1[1].$MOTION_TYPE = 0
$SGSCH1[1].$SPEED = 100
$SGSCH1[1].$TERM_TYPE = 1
$SGSCH1[1].$TERM_VAL = 100
$SGSCH1[1].$PS_ACC_USE = 0
$SGSCH1[1].$ACC_USE = TRUE
$SGSCH1[1].$ACC_VALUE = 150
$SGSCH1[1].$PS_PATH_USE = 0
$SGSCH1[1].$PATH_USE = FALSE
$SGSCH1[1].$USE_MANUAL = TRUE

The Index is used for download of the pressure schedule. The other values are used to set applicative profile and/or spot profile values. These values are used by RRS for servo weld gun simulation.

The pressure schedule for Fanuc is an index into the $SGSCH1 (gun1) and $SGSCH2 (gun2) array. A P=1 indicates that for that spot weld the $SGSCH1[1] system parameters are used. The index is stored in the "Fanuc Spot Pressure Schedule" applicative profile. Several of the $SGSCH1 values are used to set spot profile values, shown in the following tables.

Table 2. Spot Profile Model Parameter values

Parameter	Measure	Specify for each gun?	Uploaded Value
Profile Name	String	No	SPOT[P=1,S=1,BU=1]
Gun Enabled	Boolean	Yes	True if Gun present i.e. P=(1,1) for both gun 1 and gun 2 pressure schedules
Part Thickness	Double	Yes	Set based on $SGSCH1[1].$THICKNESS
Approach Enabled	Boolean	No	Set based on $SGSCH1[1].$SOFT_TOUCH. For R30 controller always FALSE. R30 no longer uses approach/depart moves and SD/ED correspond to pressure start/end.
Pressure Start Enabled	Boolean	No	True
Pressure End Enabled	Boolean	No	True
Backup Enabled	Boolean	No	Set based on $SGSCH1[1].$GUN_OPEN. For R30 controller always FALSE. R30 no longer uses approach/depart moves and SD/ED correspond to pressure start/end.

Table 3. Spot Profile Approach Move Parameter values

Parameter	Measure	Specify for each gun?	Uploaded Value
Approach Moving Tip Clearance	Length	Yes	Set based on $SGSCH1[1].$SFTTCH_TA
Approach Stationary Tip Clearance	Length	Yes	Set based on $SGSCH1[1].$SFTTCH_TB

Table 4. Spot Profile Pressure Start Move Parameter values

Parameter	Measure	Specify for each gun?	Uploaded Value
Pressure Start Moving Tip Clearance	Length	Yes	Set based on $SGSCH1[1].$SYNC_TA
Pressure Start Stationary Tip Clearance	Length	Yes	Set based on $SGSCJ1[1].$SYNC_TB
Pressure Start Accuracy Profile	Accuracy Profile	No	Set based on $SGSCH1[1].$SYNC_TERM (i.e. 100 sets to "100%")
Pressure Start Acceleration	Percent	No	Set based on $SGSCH1[1].$SYNC_ACC

Table 5. Spot profile Pressure move and weld values

Parameter	Measure	Specify for each gun?	Uploaded Value
Pressure Move Accuracy Profile	Accuracy Profile	No	Set based on $SGSCH1[1].$PRSCLS_TERM (i.e. 100 sets to "100%")
Pressure Move Acceleration	Percent	No	Set based on $SGSCH1[1].$SPRSCLS_ACC
Pressure Move Push Depth	Length	Yes	Set based on $SGSCH1[1].$PUSH_DEPTH
Speed Factor	Percent	Yes	Set based on $SGSCH1[1].$DECEL_RATE.

Table 6. Spot profile Pressure end move values

Parameter	Measure	Specify for each gun?	Uploaded Value
Pressure End Moving Tip Clearance	Length	Yes	Set based on $SGSCH1[1].$SFTOPN_TA
Pressure End Stationary Tip Clearance	Length	Yes	Set based on $SGSCH1[1].$SFTOPN_TB
Pressure End Accuracy Profile	Accuracy Profile	No	Set based on $SGSCH1[1].$SFTOPN_TERM (i.e. 100 sets to "100%")
Pressure End Acceleration	Percent	No	Set based on $SGSCH1[1].$SFTOPN_ACC

Table 7. Spot profile Backup move values

Parameter	Measure	Specify for each gun?	Uploaded Value
Backup Stationary Tip Clearance	Length	Yes	Set based on $SGSCH1[1].$SFTTCH_TB. Never used for R30 controller.
Backup Accuracy Profile	Accuracy Profile	No	Set based on $SGSCH1[1].$AWAY_TERM (i.e. 100 sets to "100%"). Never used for R30 controller.
Backup Acceleration	Percent	No	Set based on $SGSCH1[1].$AWAY_ACC. Never used for R30 controller.

The Fanuc Pressure Schedule applicative profile is linked to the Spot Profile.

Weld Schedule

On upload, the spot servo pressure schedules are uploaded into an applicative profile named "Fanuc Weld Schedule". The values are uploaded from a WDELAY.SCD file.

Parameter	Default Value	Measure
Index	1	Integer
WeldDelay	0.25s	Time

These values come directly from the WDELAY.SCD file if exists in the same folder as the LS-files being uploaded. WDELAY.SCD does not come from the FANUC controller and must be created by you. If this file does not exist, Fanuc weld schedules are created with a default weld delay of 0s. After upload, you can modify the weld delay values to match their pressure schedules.

WDELAY.SCD uses the following format:

1,0.3
2,0.3
3,0.3
4,0.3
5,0.3
6,0.3
7,0.3
8,0.3
9,0.3
10,0.3
11,0.35
12,0.35
13,0.35
14,0.35
15,0.35
16,0.35
17,0.35
18,0.35
19,0.35
20,0.35

Index is used for download of the weld schedule. WeldDelay sets the weld delay in the spot profile.

The weld schedule is used to indicate which weld delay value from the WDELAY.SCD file is used. The index is stored in the "Fanuc Weld Schedule" applicative profile.

Table 8. Spot Profile Pressure Move and Weld Parameter values

Parameter	Measure	Specify for each gun?	Uploaded Value
Weld Delay	Seconds	Yes	Set based on WDELAY.SCD indexed value (i.e. 1, 440 for index 1 and .440 seconds)

Distance Schedule (R30 controller only)

On upload, the spot servo distance schedules are uploaded into applicative profiles named "Fanuc Start Distance Schedule" and "Fanuc End Distance Schedule". Values are uploaded from a SYSDIST.VA file.

Table 9. Fanuc Distance Schedule default values (R30 controller only)

Parameter	Default Value	Measure
Index	1	Integer
GunNumber	1	Integer
COMMENT		String
DIST_GUN	0.0m	Length
DIST_RBT	0.0m	Length
AP_TERMTYP	0	Integer
AP_ACC	100	Ratio
RT_TERMTYP	0	Integer
RT_ACC	100	Ratio

These values will come directly from the SYSDIST.VA file if it exists in the same folder as the LS-files being uploaded. SYSDIST.VA can be exported from the R30 controller. The file format is as follows.

$SGDST1[1].$COMMENT  = 'Gun-5 RB-1'
$SGDST1[1].$DST_GUN  = 5.000000e+00
$SGDST1[1].$DST_RBT  = 1.000000e+00
$SGDST1[1].$RT_TERMTYP  = 100
$SGDST1[1].$RT_ACC  = 100
$SGDST1[1].$AP_TERMTYP  = 100
$SGDST1[1].$AP_MOTYP  = 0
$SGDST1[1].$AP_SPEED  = 100
$SGDST1[1].$AP_ACC  = 100

The Index is used for download of the SD/ED schedule. The other values are used to set applicative profile and/or spot profile values. These values will be used by RRS for servo weld gun simulation.

The SD/ED distance schedules for Fanuc are indexes into the $SGDST1 (gun1) and $SGDST2 (gun2) array. A SD=1 indicates that for that spot weld the $SGDST1[1] system parameters will be used. The index is stored in the "Fanuc Start Distance Schedule" or "Fanuc End Distance Schedule" (for ED) applicative profile. Several of the $SGDST1 values are used to set spot profile values.

Table 10. Fanuc Spot Profile Start Pressure Move Parameter values (R30 controller only)

Parameter	Measure	Specify for each gun?	Uploaded Value
Pressure Start Moving Tip Clearance	Length	Yes	Set based on $SGDST1[1].$DST_GUN.
Pressure Start Stationary Tip Clearance	Length	Yes	Set based on $SGDST1[1].$DST_RBT.
Pressure Start Accuracy Profile	Accuracy Profile	No	Set based on $SGDST1[1].$AP_TERMTYP (i.e. 100 sets to "100%").
Pressure Start Acceleration	Percent	No	Set based on $SGDST1[1].$AP_ACC.

Table 11. Fanuc Spot Profile End Pressure Move Parameter values (R30 controller only)

Parameter	Measure	Specify for each gun?	Uploaded Value
Pressure End Moving Tip Clearance	Length	Yes	Set based on $SGDST1[1].$DST_GUN.
Pressure End Stationary Tip Clearance	Length	Yes	Set based on $SGDST1[1].$DST_RBT.
Pressure End Accuracy Profile	Accuracy Profile	No	Set based on $SGDST1[1].$RT_TERMTYP (i.e. 100 sets to "100%").
Pressure End Acceleration	Percent	No	Set based on $SGDST1[1].$RT_ACC.

Thickness Schedule (R30 controller only)

On upload, the spot servo thickness value is uploaded into an applicative profile named "Fanuc Thickness Schedule". Values are uploaded from the t=<thickness> option in the Fanuc SPOT command.

Table 12. Fanuc Thickness Schedule default values (R30 controller only)

Parameter	Default Value	Measure
Index	1	Integer
GunNumber	1	Integer
Thickness	0.0m	Double

The Thickness is used for download of the t=<thickness> value. The Thickness value is used to set applicative profile and/or spot profile values. These values are used by RRS for servo weld gun simulation.

Table 13. Fanuc Spot Profile Model Parameter values

Parameter	Measure	Specify for each gun?	Uploaded Value
Part Thickness	Length	Yes	Set based on SPOT t=<thickness> value.

Backup Schedule

On upload, the spot servo backup schedules are uploaded into an applicative profile named "Fanuc Backup Schedule". Values are uploaded from a SGPARAM.DAT file or a sysstrok.va file.

Table 14. Backup Schedule default values

Parameter	Default Value	Measure
Index	1	Integer
GunNumber	1	Integer
COMMENT		String
STROKE	0.0m	Length
USE_MANUAL	False	Boolean

These values come directly from the sparam.dat file or the sysstrok.va file if it exists in the same folder as the LS-files being uploaded. SGPARAM.DAT is a file generated by FANUC's "Virtual Robot Converter" software. SYSSTROK.VA can be exported from the RJ3 controller. The R30 controller has no backup move so these parameters are not used for that controller. Below is the file format.

$SGBACK1[1].$COMMENT = 'BU1'
$SGBACK1[1].$STROKE = 2.000000e+01
$SGBACK1[1].$USE_MANUAL = FALSE

Index is used for download of the backup schedule. The other values are used to set applicative profile and/or spot profile values. These values is used by RRS for servo weld gun simulation.

The backup schedule for Fanuc is an index into the $SGBACK1 (gun1) and $SGBACK2 (gun2) array. A B=1 indicates that the $SGBACK1[1] system parameters are used for that spot weld. The index is stored in the "Fanuc Backup Schedule" applicative profile. One of the $SGBACK1 values is used to set a spot profile value.

Table 15. Spot Profile Backup Move Parameter values

Parameter	Measure	Specify for each gun?	Uploaded Value
Backup Move Stroke	Length	Yes	Set based on $SGBACK1[1].$STROKE. Never used for R30 controller.

Gun Parameters

Two of the $SGGUN1 values are used to set spot profile values.

Table 16. Spot Profile Model Parameter values

Parameter	Measure	Specify for each gun?	Uploaded Value
Close direction	Minus/plus	Yes	Set based on $SGGUN1.$SETUP.$TIPSLCOSDIR TRUE is plus
Approach Direction	X, Y, Z	Yes	Set based on $SGGUN1.$SETUP.$RBTCLOSDIR 1,2 - X 3,4 - Y 5,6 - Z. Never used for R30 Controller.

Additional Parameters

The Fanuc SPOT command has options for EQ in the RJ3 controllers:

SPOT[EQ=1,P=1,S=1,EQ=1,BU=1] or SPOT[EQ=(1,1),P=(1,1),S=(1,1),EQ=(1,1),BU=(1,1)] (2 guns)

These are uploaded/downloaded from SpotProfile scoped applicative profiles named "Fanuc Gun 1 EQ Parameters" and "Fanuc Gun 2 EQ Parameters".

In cases where the exact text of the SPOT command is needed and individual attribute values must be ignored, the "Fanuc Controller Parameters" NameOverride can be set to False. By default the attributes will be used.

Arc Welding

Arc instructions are output as a move with an Arc option.

L P[3] 800mm/sec FINE Arc Start[1]

L P[3] 800mm/sec FINE Arc End[1]

The translation of Arc welding instructions relies on the Arc profile and also the Fanuc specific TPEARCStart and TPEARCEnd profiles. Generally one arc profile is associated with all arc operations for a single weld. A TPEARCStart profile is associated with the arc profile start section and a TPEARCEnd profile with the end section.

The speed parameter for the TPEArcStart and TPEArcEnd is handled as follows:

If the WeldSpeed parameter is linked to the arc profile the speed for the move will be WELD_SPEED.

L P[4] WELD_SPEED FINE Arc End[1]

On upload, the TPEArcStart and TPEArcEnd applicative profiles are created and linked to an arc profile. The arc profile is named "Arc Start[1], End[1]" by default. If WELD_SPEED is used, the arc profile is named "Arc Start[1], End[1] WELD_SPEED".

Sealant

Sealant instructions are output as a move with a SS/SE option.

L P[3] 300mm/sec FINE SS[1]

L P[4] 300mm/sec FINE SE

Translation of sealant instructions relies on the Fanuc-specific "Fanuc Seal Profile" applicative profiles. A "Fanuc Seal Profile" is linked to a StartProcess or MidProcess motion instruction. The "Fanuc Seal Profile" index parameter is used to store the SS index. The SE is a sealant end and is handled using an EndProcess motion instruction.

Paint

The following are Fanuc TPE paint commands and their corresponding DELMIA instructions.

The FANUC PRESET value is uploaded into and downloaded from a DELMIA paint profile.

The PRESET and GUN commands are uploaded into and downloaded from DELMIA trigger instructions.

The paint sequence of setting the PRESET parameters and turning the gun ON/Off is shown below:

Locked Position Registers

A Position Register is a position that can be used across multiple programs. A position register is declared in a POSREG.va file as shown here.

[*POSREG*]$POSREG  Storage: CMOS  Access: RW  : ARRAY[2,100] OF Position Reg
[1,1] =   'HOME POSITION' 
Group: 1   Config: N R U T, 0, 0, 0
X:   768.527   Y:    30.400   Z:  -306.003
W:    90.000   P:    90.000   R:     0.000

In the Fanuc program the position register is used as follows:

7: !HOME POSITION  ;
8:J PR[1] 30% CNT100  ;

Position register lock allows these registers to be uploaded/downloaded but limits modification. For cartesian targets it creates a locked tag that prevents modification unless the tag is unlocked.

For Joint targets, a home position is created that can only be changed from the home positions command.

PR with joint values

Uploaded as a home position named PR<index>. For example, PR[1] will create a home position named PR1. The OLP data Position Type and Position number attributes are not set.

Home positions are output as PR based on the home name. If an uploaded home position is modified in the home positions command, the move will still be downloaded as the same PR with no warning. If the home position name is not in the format PR# and the Position Number attribute is not set, then an unused position register number will be used for the position and a warning is displayed.

PR with cartesian values

Upload creates a locked tag named PR<index>. For example, PR[1] will create locked tag PR1.

Device Tasks

You can upload and download device tasks for Fanuc robots with multiple motion groups. A task created for any type of device can be uploaded and downloaded. Any instruction already supported by the FANUC translator that can be created in a device task can be uploaded or downloaded.

Tool/objectframe

DELMIA does not use tool or object frame profiles for device moves. However, FANUC programs still specify them. The UTOOL/UFRAME number is stored in a user profile called "Device Tool Profile" or "Device Object Frame Profile" that is automatically created on upload. During download, UTOOL 1/UFRAME 1 is used if no device tool or object frame profiles have been created. All other parameters such as the TCP and mass will be fixed at 0 and cannot be changed. These profiles do not impact simulation.

Gear ratio

Some FANUC programs for devices have joint values specified in degrees, but the simulation devices have linear joints. You can set the gear ratio and zero offset for each axis by creating a user profile and an attribute for each joint.

Multiple Groups Device Mapping

Device tasks that control multiple motion groups are supported for upload and download. The DELMIA motion group configuration should match the real controller. The FANUC translator is not fully aware of the motion group setup in DELMIA, so you must configure the ToolGroup OLP controller parameter to map the joints to the motion. This parameter determines which auxiliary axes values in the downloaded/uploaded program will map to EndOfArmTooling. Either of two formats can be used. The first is to set the Group number for all EndOfArmTooling axes. So ToolGroup=2 means all tool axes are in group 2. The second is to use a comma delimited value with the first axes number for each group. For example, if the task controls 14 joints, 7 joints in group 1 and 7 in group 2, specify the parameter as "1,8,*,*,*". This puts joints 1-7 in group 1 and joints 8 to the 14 in group 2.

Called tasks for different motion groups

If a device task calls another task that controls a different motion group or groups, you must upload the called tasks first. Copy the called tasks which control a different group into a separate directory, and upload those tasks. Then, copy the main tasks into a separate directory and upload them. The calls in the main task will be created to call the tasks which were already uploaded for the called task motion group.

Line/Rail Tracking

The following are Fanuc TPE track commands and their corresponding DELMIA Instructions.

The SELBOUND command is uploaded into and downloaded from a wait conveyor instruction and corresponding track profile. The track profile is automatically uploaded for line or rail tracking, depending on the robot configuration.

The paint sequence of setting the PRESET parameters, moving to tracked targets and turning the gun ON/Off is shown below.

Variable Conversion

FANUC TP has a limited number of variables. Each variable is an array, and all variables except procedure arguments are global. DELMIA external IO, IO defined on the robot, is mapped to one of the FANUC IO variables. DELMIA local variables are mapped to registers (R[x]), and procedure IO are mapped to arguments (AR[x]). On upload, the IO and variables are automatically created.

On download, the corresponding FANUC IO or variable is determined from the IO address. The IO address also is used to determine the IO index, and should be in the format VAR[x], where VAR is the FANUC variable name and x is the index. For some variables, the port number can be used by itself. If the IO address is not specified, an IO address is automatically assigned to an unused value and a warning is displayed.

External IO must be declared of the appropriate type in DELMIA. Group IO must be of type integer, analog IO must be of type double, and all other IO must be of type Boolean. Variables that can be Any Type are uploaded as variant, but can be of any type during download. If the IO address in DELMIA specifies a type that does not match, a warning is displayed and the type is ignored. For example, if a Boolean input has its address specified as GI[1], then it will be downloaded as GI[1]. This may result in an LS-file that cannot be converted into a TP-file.

Timer variables are supported with START, STOP, and RESET options. A register (R[x]) variable can also be assigned a Timer value.

[1] Registers are always uploaded as global robot IO.

[2] See the Run (procedure) section for details on how a procedure's IO are converted.

[3] Contestants are replaced by their literal value on download.

The main limitation on upload is that FANUC indirect addressing is not supported. This is where the index of the variable or IO is specified as a register: "DI[R[1]]".

Expression Conversion

FANUC expressions are limited to a simple set of operations.

The DIV operator does not have a DELMIA equivalent. Any instruction which uses a DIV operator will be uploaded as a custom instruction.

FANUC expressions do not support functions. If any functions are encountered in the program, the expression will be in error.

There are limits regarding how operations can be combined. Due to these limitations, operator precedence and parentheses are not relevant in a valid FANUC expression. If parentheses are encountered in an otherwise valid expression, they will be removed on download and a message is displayed.

Controller Parameter UI

These parameters are displayed in a dialog box that is accessed from the Resource Motion Controller (RMC) context menu. If the robot is controlled by a control device, this is the context menu for the RMC of the control device.

/MN
  1:  UFRAME_NUM = 2 ;
  2:  UTOOL_NUM = 2 ;
  3:L P[1:SRE_33553] 1000mm/sec FINE RTCP ;
  4:L P[2:SRE_33467] 1000mm/sec FINE RTCP ;
  5:L P[3:SRE_33465] 1000mm/sec FINE RTCP ;
  6:L P[4:SRE_33469] 1000mm/sec FINE RTCP ;
  7:  UTOOL_NUM = 1 ;
  8:L P[15:SRE_33573] 1000mm/sec FINE RTCP ;
  9:L P[16:SRE_33478] 1000mm/sec FINE RTCP ;
  10:L P[17:SRE_33474] 1000mm/sec FINE RTCP ;
  11:L P[18:SRE_33472] 1000mm/sec FINE RTCP ;

The RTCP option is uploaded using a fixed tool profile named UFRAME_NUM=<num> and objectframe profile named UTOOL_NUM=<num>. The UFRAME and UTOOL are swapped because the UFRAME for Fanuc represents the fixed tool tip location.

The UFRAME_NUM=2 in this case is a stationary of fixed tool profile. The values for the UTOOL and UFRAME are read from a SYSVARS.VA file or a SYSFRAME.VA file. If the UTOOL or UFRAME value is not found a warning is displayed. By default the RTCP tags created will be attached to the mount plate of the robot. However, any part that is held by the robot can be selected for attachment during upload.

The UTOOL_NUM=1 and UTOOL_NUM=2 objectframe profiles will be downloaded as UTOOL[1] and UTOOL[2]. Similarly, the UFRAME_NUM=2 tool profile will be downloaded as UFRAME_NUM[2]. The RTCP motion option will be downloaded for all fixed TCP moves.

/PROG tooluser
/ATTR
OWNER           = MNEDITOR ;
COMMENT         = "DELMIA OLP Download" ;
PROG_SIZE       = 0 ;
CREATE          = DATE 15-06-05  TIME 12:17:38 ;
MODIFIED        = DATE 15-06-05  TIME 12:17:38 ;
FILE_NAME       =  ;
VERSION         = 0 ;
LINE_COUNT      = 0 ;
MEMORY_SIZE     = 0 ;
PROTECT         = READ_WRITE ;
TCD:  STACK_SIZE      = 0,
      TASK_PRIORITY   = 50,
      TIME_SLICE      = 0,
      BUSY_LAMP_OFF   = 0,
      ABORT_REQUEST   = 0,
      PAUSE_REQUEST   = 0 ;
DEFAULT_GROUP   = 1,1,*,*,* ;
CONTROL_CODE    = 00000000 00000000 ;
/MN
   1:  ! WARNING  THIS PROGRAM USES POSITION REGISTER 1 TO SET UFRAME AND UTOOL VALUES AT THE ROBOT ;
   2:  ! WARNING  ONLY LOAD AND RUN THIS PROGRAM AT THE ROBOT IF THIS IS THE DESIRED RESULT ;
   3:  ! WARNING  BE SURE TO SAVE SYSTEM VARIABLES FOLLOWING USE OF THIS PROGRAM OR VALUES WILL BE LOST ;
   4:  PR[1,1]= 0 ;
   5:  PR[1,2]= 0 ;
   6:  PR[1,3]= 0 ;
   7:  PR[1,4]= 0 ;
   8:  PR[1,5]= 0 ;
   9:  PR[1,6]= 0 ;
  10:  UFRAME[1]=PR[1] ;
  11:  PR[1,1]= 642.238999999999 ;
  12:  PR[1,2]= 1764.537 ;
  13:  PR[1,3]= 230 ;
  14:  PR[1,4]= 0 ;
  15:  PR[1,5]= 30 ;
  16:  PR[1,6]= -110 ;
  17:  UFRAME[2]=PR[1] ;
  18:  PR[1,1]= 0 ;
  19:  PR[1,2]= 0 ;
  20:  PR[1,3]= 0 ;
  21:  PR[1,4]= 0 ;
  22:  PR[1,5]= 0 ;
  23:  PR[1,6]= 0 ;
  24:  UTOOL[1]=PR[1] ;
  25:  PR[1,1]= -735.307 ;
  26:  PR[1,2]= 18.303 ;
  27:  PR[1,3]= 76.567 ;
  28:  PR[1,4]= 0.264 ;
  29:  PR[1,5]= -75.001 ;
  30:  PR[1,6]= 179.862 ;
  31:  UTOOL[2]=PR[1] ;
/POS
/END

The tooluser.ls file is only for download. It can not be uploaded.

[1] R-J3, R-30iA, R-30iB, RJ, TPE, and OlpcPRO are or may be trademarks or registered trademarks of Fanuc or its subsidiaries in the U.S. and in other countries.