Motoman Translators

Motoman File Support

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

The following table summarizes the level of support for each Motoman instruction by the DELMIA Motoman translator and DELMIA simulation. Any instruction which does not appear in this list is uploaded as a V6 Comment instruction and is not used in simulation.

The following table summarizes the level of support for each DELMIA instruction by the DELMIA Motoman translator.

[1] WVON and WVOF are not simulated, but can be scripted during download using the ARCStart and ARCEnd profiles. For more details see the arc welding section below.

[2] Any instruction not mentioned, is also converted to a V6 Comment instruction. These could be instructions from an add-on option or from newer controller versions.

Task

MOTOMAN tasks are called jobs. Jobs are stored in a .JBI file. A single JBI-file can contain multiple jobs; however the controller always saves each job into a separate file. Multiple jobs in a JBI file are supported for upload. During download, all jobs are stored in separate files. JBR-files are not supported.

The job name can be 8 characters long (32 for DX100 controller) and can contain uppercase letters, numbers, or the punctuation -!%&'()_. During download, invalid characters are removed, names that are too long are truncated, and a unique number is appended to the end of the task name if it is not unique.

Unsupported Instructions

Any DELMIA instruction (for, while, break, run service) that is not supported during download is skipped. A message is displayed indicating that this DELMIA instruction is not supported by the INFORM language. This ensures that the generated file is a valid INFORM task. If an unsupported logic instruction contains other instructions, such as the instructions inside a DO WHILE loop, they are skipped. In order to download those instructions, you must remove them from the DO WHILE loop.

V6 Comment

A V6 Comment instruction text is downloaded into the task exactly as is. During upload, any unsupported instruction is created as a V6 Comment instruction with the name of the V6 Comment instruction being the INFORM instruction's text.

Goto

A DELMIA Goto instruction is translated into an INFORM JUMP instruction. In DELMIA, the label is added to another instruction. In INFORM, the label, denoted by a *, is its own instruction.

During upload, the label is set on the first instruction after the label. If there are no more instructions or more than one consecutive label instruction, a V6 Comment activity is created with the name “*MyLabel”. During download, the INFORM label instruction is created before the instruction that the label is defined on. If the label is defined on a V6 Comment instruction which starts with “*”, the V6 Comment instruction is ignored. This ensures that an uploaded program is downloaded exactly the same. For example, if the last line of a Motoman program is "* ENDLBL". A V6 Comment instruction with the text "* ENDLBL" is created and the label is set to "ENDLBL". When this instruction is downloaded, only one line is added to the program instead of one for the label and one for the V6 Comment instruction. A message is displayed if the label does not match the V6 Comment instruction text.

INFORM Labels can be a maximum 8 characters long, can contain upper or lower case letters, numbers, or punctuation “-!%&’()_”. During download, invalid characters are removed, names which are too long are truncated, and a unique number is appended to the end of the label if it is not unique.

During download, there are no restrictions translating a DELMIA Goto into an INFORM JUMP.

During upload, there are many restrictions because the INFORM JUMP instruction has more options than can be supported in DELMIA. If the “*” format is used, a normal DELMIA Goto instruction is created. If the “JOB:” format is used, a DELMIA run instruction is created. All other formats (LABEL, B, LB, IG, QUE, I, LI, D, LD, and JET) are not supported and are uploaded as V6 Comment instructions. The UF option for the “JOB:” format is not supported and, if specified, a V6 Comment instruction is created. The LBLST and LBLDF options are also not supported and a V6 Comment instruction is created if encountered. See the Condition section for details on how the IF option is handled. If the label referenced by a JUMP does not exist in the program, a warning is displayed and the Goto instruction will not point to any label.

Condition

A DELMIA Condition instruction is translated into an IF. IF statements in INFORM are options added onto other instructions. For example, an IF condition can be added to a JUMP, CALL, RET or PAUSE instruction.

Since PAUSE is not supported for upload, the IF on a PAUSE instruction is uploaded as part of the PAUSE V6 Comment instruction.

During 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 either a run procedure (CALL), a Goto (JUMP), or a return (RET). If the first instruction is not one of these instructions, the Condition instruction is skipped and a warning is displayed. If any other instruction exists in the clause, they are ignored and a warning is displayed.

During download, the expression for the DELMIA IF must conform to the INFORM IF rules. An INFORM IF instruction can contain one Boolean comparison operator. The operands can be an input (IN#), an input group (IG#), a byte (B, LB), an integer (I, LI), a double (D, LD) or a register (R, LR). Allowed operators are =,>, <, =>, <=, <>. The input and input group variables have further restrictions on how they can be used.

During upload, a condition instruction with one instruction in the then sequence is created. The expression is an exact translation of the INFORM expression.

Return

A DELMIA return instruction is translated into an INFORM RET instruction. See the Condition section for details on how the INFORM IF option is handled.

Run (procedure)

A DELMIA run instruction, where the run is calling a procedure, is translated into a INFORM CALL instruction. DELMIA run instructions can have arguments, but INFORM CALL instructions do not.

During download, any run instruction with arguments is skipped and a warning is displayed.

During upload, there are many restrictions because the INFORM CALL instruction has more options than can be supported in DELMIA. If the “JOB:” format is used, a DELMIA run instruction is created. All other formats (B, LB, IG, QUE, I, LI, D, LD, and JET) are not supported and are uploaded as V6 Comment instructions. The UF option for the “JOB:” format is also not supported and if specified, a V6 Comment instruction is created. See the Condition section for details on how the IF option is handled.

INFORM Macro Calls

When a DELMIA Run instruction name is found in the Motoman system file MACRO.DAT, it is downloaded as a Macro call. In this case, procedure input arguments are supported. The INFORM Macro call syntax is:

MACRO1 MJ#(0) ARGFB000

Where:

• ARGF: Keyword
• MJ#(X): In the system file MACRO.DAT, the Macro Job number X (minus 1) whose name matches the DELMIA task name
• B000: Input argument variable name

When there are no input arguments, the syntax is:

MACRO1 MJ#(2)

When input arguments are constants, the syntax is:

MACRO1 MJ#(3) ARGF11 ARGF-22 ARGF33 ARGF-2.5

Grab/Release

INFORM has a HAND instruction which corresponds to Grab/Release. A CALL job is also often used for this purpose (for example, HANDON and HANDOF).

During upload, HAND … ON is translated to a grab instruction and HAND … OFF is translated to a release instruction. Additionally, CALLs for some special JOB names are uploaded as grab or release instructions. For example, CALL JOB:HANDON are uploaded as a grab and CALL JOB:HANDOF are uploaded as a release, unless a task already exists with the special JOB name or if a JBI-file with those names was explicitly selected for upload. The part to grab or release is specified in the parameter PartGrabbed of the "Motoman Controlledddr Profile".

During download, the instruction name is based on the grab or release instruction name. If the instruction name is valid INFORM syntax (either a HAND or CALL instruction), it is downloaded as-is. If the instruction name is not valid syntax, it is treated as a job name. For example "Grab.1" is downloaded as "CALL JOB:GRAB1" ("." is removed because JOB names cannot contain periods).

Assign

A DELMIA assign instruction is translated into one of several INFORM arithmetic instructions. The supported INFORM variable manipulation functions are SET, ADD, MUL, CLEAR, INC, DEC, SUB, DIV, AND, OR, NOT, XOR, SQRT, SIN, COS, ATAN, DIN, DOUT, and AOUT.

When a task’s Motoman Task Profile attribute "Header_Attr" contains identifier "MC", and the task name is found in MACRO.DAT, DELMIA assign instructions in the form LB000:=B1 are downloaded as GETARG instructions. The GETARG instruction is only valid in Macro job files. The data types can be Byte, Integer, Double precision Integer, or Real. (Instead of calling a Macro with variable input argument, constant input arguments are uploaded as LI000:=KI2, for example.)

During download, the instruction used is dependent on the source expression of the assignment.

[1] SET allows expressions for the source of the assignment. Expressions only support +, -, * and / operators and a maximum of 7 operators are allowed. Parentheses are supported. If the expression happens to be equivalent to a dedicated INFORM instruction, the same instruction will not be downloaded. For example. if the instruction is "SET B000 B000+1", this is uploaded as "B000:=B000+1" and then downloaded again as "INC B000". This same limitation applies to ADD and SUB.

[2] DOUT and AOUT are used during download if the target of the DELMIA assign instruction is an output variable. DOUT is used for Boolean and integer outputs, AOUT is used for double outputs. DIN is used if the source variable is an external IO. The INVERT option for DOUT is translated as A:=NOT A or A:=not A depending on if the output is a Boolean or an Integer.

Any DELMIA assign expression not listed in the table above cannot be downloaded. When encountered, a warning is displayed and the instruction skipped.

Wait

A DELMIA Wait instruction is translated as an INFORM WAIT, TIMER, or SYSTART instruction.

During download, the expression for the DELMIA Wait must conform to the INFORM WAIT expression syntax. WAIT instructions only allow + or <> operators, and there are limitations on the variables allows for each operand.

The INFORM "TIMER" instruction corresponds to a DELMIA Wait instruction with the expression set to the constant "false." This is a pure delay.

The T= option of the INFORM WAIT instruction corresponds to the timeout option of the DELMIA wait instruction if the WAIT instruction is not a pure delay. The WAIT time may be a constant or an integer variable (I, LI) variable. When an integer variable is used, the wait time is 1/100 of the value of the integer variable. For example, if I002 is 5, the stop time is 0.05 sec.

When the Wait Condition is "Referential > constant", a conveyor synchronization start instruction SYSTART is generated. The constant in the wait condition can be a constant value or a declared constant. If a declared constant has a dot ('.') in its name, it must be used in double quotes and prefixed with the dollar symbol ('$') to use in the condition.

During upload, WAIT instructions are uploaded as V6 Comment activities if the parameter "CommentWaitSignal" of the profile "Motoman Controller Profile" is set to true (the default value). This occurs because the robot program pauses during simulation at the WAIT instruction unless all the robot's IO have been set up and you are simulating the full station behavior.

Pulse

A DELMIA Pulse instruction is translated as an INFORM Pulse instruction.

Output number and output value for OG# and OGH# cannot be specified as a variable. It must be specified as a number. Pulse duration (Time) may be a constant or an integer variable in which case the stop time is 1/100 of the value of the integer variable.

For Boolean IO, Pulse instruction with value 'false' or 'Invert' is assumed to be the value 'true'.

When pulse duration is set to Infinite, it will download to the maximum of 60 seconds.

Non-zero Delay value is not supported in Motoman and warning about it being ignored is issued.

Trigger

A DELMIA Trigger instruction is translated as an INFORM paint instruction SPYON or SPYOF.

When the Trigger Action is "Nozzle Activation" and its State is "ON", it is downloaded as SPYON (spray start). If the State is "OFF", it is downloaded as SPYOF (spray stop).

The Condition may be Time or Distance, and it is downloaded as Anticipation time or distance.

Gun number is the Parameter set number in the Paint Profile dialog box.

Robot Motion

The table below gives basic information on the level of support of different motion options. Any unsupported options are stored in an applicative profile attached to the motion instruction so they can be downloaded again.

[3] INFORM requires 3 circular motions to form an arc. The 1st position is moved to with linear interpolation and the next 2 points, with circular interpolation. There can also be more than 3 points, in which case the circle is recomputed after each move. This mode is not supported for translation. If more than 3 circular moves are encountered, all but the last 2 moves are uploaded with linear interpolation.

Notes on Continuous Circular Moves

NX100 Controller: It is necessary to program a Joint or Linear move (P4) between the two arcs, and the three targets (P3, P4, and P5) are identical. 3DEXPERIENCE & OLP supports this kind of continuous circular move.

When continuous circular movement is required, the two arcs must be separated from each other by a joint or linear interpolation step. This step must be inserted between two steps at an identical point. The step at the end point of the preceding circular move must coincide with the beginning point of the following circular move.

DX100/DX200/FS100/YRC100 Controllers: In addition to the 3-identical point method used in NX100, these newer controllers support an FPT Tag in MOVC instruction that specifies the End-point of an arc (arc curvature is to be changed).

OLP support is as follows:

Download: After a Circular move is encountered, a Circular-Via breaks the current arc, therefore its preceding Circular move will have an FPT tag. In the following motion sequence, since P4 is a Circular-Via after Circular move, therefore Circular move P3 will have an FPT tag.

Upload: When a MOVC instruction with an FPT tag is encountered, the following MOVC will be uploaded as Circular-Via move.

Alternatively, to continue movements without adding an extra joint or linear interpolation step in between, add "FPT" tag to the step whose curvature is needed to be changed.

Notes on Conveyor Synchronized Motions

To upload a program with conveyor synchronized motions, you must create a Referential profile on the conveyor and a Tracking profile beforehand.

Motoman synchronization start instruction SYSTART:

SYSTART CV#(1) STP=50.000 OL=10.0

Synchronization Start Position STP is equivalent to Part detect offset in the Tracking profile.

Over Limit (OL) is equivalent to Outbound offset in the Tracking profile.

Upon upload, a Wait instruction is created in the following format:

wait Referential > $”<tracking profile>_INBOUND”

A constant is created:

<tracking profile>_INBOUND

Motoman synchronized motion instructions:

SYMOVJ VJ=50.00 CV#(1) CTP=100.000
SYMOVL V=200.00 CV#(1) CTP=100.000
SYMOVC V=200.00 CV#(1) CTP=100.000

CV#(1) is the conveyor number, and User Identifier in the Tracking profile.

CTP is the Conveyor Taught Position. It is set on each robot motion.

For link tracking upload, it is necessary to click the button Click To Attach Part in the Object Frames tab of the Import Industrial Robot Program dialog box and select a conveyor to which the path is to be attached. Alternatively, you can set the default Reference to Object in the Object Frame Profile dialog box and select a conveyor beforhand to skip this step.

I/O Output Timing Control Function

A motion instruction with +DOUT is uploaded as a robot motion followed by a Trigger instruction with Distance or Time Condition. Motion instructions with +PULSE is not supported.

MOVx … +DOUT OT#(1) ON ADJD=-50.0 ` distance mm
MOVx … +DOUT OT#(1) ON ADJT=-1.00 ` time sec

Position Registers

Position registers are global positions that are reused among many robot programs. A position register can be joint values or a Cartesian location. Motoman position registers are called P-vars and are named Pxxxx for the robot target and aux targets are named either BP-vars for rail targets or EX-vars for other aux axes. Motoman regular move targets are called C-vars and are named Cxxxx for robot targets. Auxiliary device targets are named BC-vars for rail targets or EC-vars for other aux axes.

Tags have a lock property which prevents users from modifying their positions in one or more dimensions. If x, y, z, yaw, pitch and roll are all locked, the user cannot modify the tag's position in teach, in the trajectory editor or with the robot compass without first unlocking the tag.

Home positions can only be modified through the "manage home positions" command. They are not modified when you use the modify command for a robot motion in teach.

On upload, robot Home positions will be created for P-vars with Pulse values. Auxiliary device home positions will also be created for BP-vars and/or EX-vars. For Cartesian values, locked tags in a dedicated tag group "<robot>_GlobalTags.1" will be created. The Home position and locked tag names will be the same as the P-vars, and in the cases of auxiliary axes BP-vars and/or EX-vars.

On download, Home positions will be output as P-vars based on the Home name. All moves which reference tags in the tag group with "GlobalTags" in the name are downloaded as P-vars.

If a motion OLP Activity Property "Position Type" is set to "C" or "P", it will be downloaded as a C-var or P-var. This takes precedence over target type (Home or tags in "GlobalTags"). OLP Activity Property "Position Number" can also be set in the form of "P<number>, BP<number>, EX<number>" to download P-vars etc. and "Position Number" takes precedence over "Position Type".

Spot Welding

Only servo guns are supported for spot welding. Gun changes are not supported. Spot instruction translation depends upon the weld gun stationary tip clearance settings of the spot profile associated with the spot operation.

If the Pressure Start Move and Pressure End Move stationary tip clearances are zero (0), the Spot instruction is downloaded as SVSPOT with a MOV* instruction created prior to it, otherwise the spot instruction is downloaded as an SVSPOTMOV.

If the parameter NameOverride is set to “true”, the profile name is output as a spot instruction. This can be used for dry spot SVGUNCL or SVSPOTMOV with settings WP (weld pressure) and/or BWS (gun stroke for welding start).

In the following spot weld instructions:

SVSPOT GUN#(1) PRESS#(1) WTM=1 WST=1

SVSPOTMOV C0000 EC0000 V=1000.0 PLIN=1 CLF#(1) GUN#(1) PRESS#(1) WTM=2 WST=1 WGO=1

the gun number(GUN#) is used for gun selection in DELMIA Spot Profile; applicative profiles created for the pressure schedule(PRESS#), weld time schedule(WTM), and clearance schedule(CLF#) are linked to the Spot Profile. WST(weld start timing) and WGO(weld group output) are not used in simulation. They are set in the controller parameters of the Spot Profile, if present.

During upload, spot profiles with the instruction text are created if they do not exist.

Applicative Profiles

Pressure schedules specify the weld pressure, touch speed, and press times. They are created automatically from the pressure schedule file “SPRESS.CND” (DX100) or "SGPRS.CND" (DX200) if present in the same folder with the program file selected for upload. The profiles are named in the format PRESS#(<index>) to match the way the schedules are referenced on the spot instruction. They can also be created manually from the “Applicative Profile” command.

Table 2. Example PRESS applicative profile

Parameter	Example Value	Default Value	Measure
Index	1	1	Integer
Comment	Standard	<blank>	String
Touch Speed	10%	10%	Percent
Touch Press	100.0kgf	0	Force
1st Press	200.0kgf	0	Force
1st Press Time	0.20s	0	Time
2nd Press	300.0kgf	0	Force
2nd Press Time	0.20s	0	Time
3rd Press	200.0kgf	0	Force
3rd Press Time	0.20s	0	Time
4th Press	300.0kgf	0	Force

SPRESS.CND is a file which can be exported from Motoman XRC, NX100, and DX100 controllers. It has the same format for all controllers except for DX100 which has an additional comment field. Below is the DX100 file format.

DX100 SPRESS.CND file	DX200 SGPRS.CND file
//SPRESS 1 ///COMMENT Standard 10 100.0 200.0,0.20 300.0,0.20 200.0,0.20 300.0,0.00	//SGPRS 1 ///COMMENT 30 100.0, 655.35 0.0, 655.35 0.0, 655.35 1.0, 2.00

The index is used for download, and the touch speed is used in simulation. The other values are not used.

Clearance schedules specify the weld gun tip clearances and part thicknesses. They are created automatically from the clearance file “CLEARNCE.DAT” (DX100) or "SGCLARNC.DAT (DX200) when present in the same folder with the program file selected for upload. The profile is named CLF#(<index>) to match the way the schedules are referenced on the spot instruction. They can also be created manually from the command “Applicative Profile”.

Table 3. Example CLF applicative profile

Parameter	Example Value	Default Value	Measure
Index	1	1	Integer
Moving	1	1	Integer
Upper Tip	20.00mm	100mm	Length
Lower Tip	15.00mm	100mm	Length
Thickness	2.0mm	0mm	Length

CLEARNCE.DAT is a file that can be exported from Motoman NX100 and DX100 controllers. It has the same format for both controllers. DX200 uses file SGCLARNC.DAT.

DX100 or NX100 CLEARNCE.DAT	DX200 SGCLARNC.DAT
//CLEARNCE 1 1 20.000, 15.000 2.000	//SGCLARNC 1 1 10.000, 15.000 1.000,4.000 2.500

The index is used for download, and the upper tip, lower tip, and thickness parameters are used in simulation. The other values are not used.

Weld Delay schedules specify weld times. They are created automatically from the file “WDELAY.SCD” when present in the same folder with the program file selected for upload. The profile is named WTM=<index> to match the way the schedules are referenced on the spot instruction. They can also be created manually from the command “Applicative Profile”.

Parameter	Example Value	Default Value	Measure
Index	1	1	Integer
Weld Delay	0.44s	0s	Time

The file “WDELAY.SCD” is not a file that can be exported from Motoman controllers. You must create this file based on the weld controller’s schedule files because those files are not robot controller-specific, and depend on the welder controller. This is a text file using the same encoding as the JBI files, and is a comma delimited list. The format has one schedule per line. Any number of lines can be in the file. The time is in seconds.

Index, Time(sec)

The following is a sample file with 3 schedules:

1,0.5
2,0.25
3,0.0

SVSPOT and SVSPOTMOV Instructions

The upload and download behavior of SVSPOT and SVSPOTMOV is linked to the applicative profiles created from uploading the SPRESS.CND (SGPRS.CND), CLEARNCE.DAT (SGCLARNC.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 SPRESS.CND (SGPRS.CND), CLEARNCE.DAT (SGCLARNC.DAT) or WDELAY.SCD files are not present during upload, the spot profile is created with default values for these profiles.

For most cases, the SVSPOT and SVSPOTMOV instructions are automatically generated during 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 is as accurate as possible. In less common cases, you can override the auto generation feature and specify the exact SVSPOT or SVSPOTMOV syntax in the spot profile name.

The following table lists all of the known arguments to SVSPOT and SVSPOTMOV instructions used in the XRC, NX100 and DX100 controllers. The parameters that are used in simulation are GUN#, PRESS#, WTM, CLF#, PLIN and PLOUT. WST and WGO do not impact simulation but are commonly used. This table describes any limitations regarding auto generation of the instruction during download and simulation support.

Table 4. Motoman spot instruction options

	Measure	Used in SVSPOT or SVSPOTMOV	Specify for each gun?	Optional?	Can be set to Variable?	Meaning	Supported for Auto Generation / Simulation
GUN#	Integer	Both	Yes	No	Yes		Only if value is 1 or 2
PRESS#	Integer	Both	Yes	Yes	Yes	Pressure schedule (SPRESS)	Only as Integer and cannot be omitted.
WTM	Integer	Both	Yes	No	Yes	Weld condition schedule (WDELAY)	Only as Integer.
WST	Integer	Both	Yes	Yes	Yes	Start timing	Full support / not used in simulation
WP	Double (kgf?)	Both	Yes	Yes	No	Can specify pressure directly instead of PRESS# schedule. May only be available for NX100.	No
WGO	Integer	Both	Yes	Yes	Yes	Weld group output	Full Support / not used in simulation
BWS	Double (mm?)	SVSPOT	Yes	Yes	Yes	Gun stroke value for welding start	No
CLF#	Integer	SVSPOTMOV	NA - Only available for 1 gun.	No	No	Clearance schedule (CLEARANCE) -	Full Support
PLIN	Integer	SVSPOTMOV	No	Yes	Yes	PL for move to clearance position	Full Support / not supported for simulation if value is a variable
PLOUT	Integer	SVSPOTMOV	No	Yes	Yes	PL for move from weld position	Full Support / not supported for simulation if value is a variable

Auto Generation of Instruction

By default, the SVSPOT or SVSPOTMOV instructions are automatically generated. In cases where an instruction cannot be automatically generated, the parameter "use profile name for instruction" can be set to "true" on the "Controller Parameters" tab page of the spot profile. When this value is true, the spot profile name is copied as-is to the job during download. If the spot profile name is not valid Motoman syntax, a warning is displayed. The spot profile name is always set to the instruction text during upload.

This value is set to false during upload unless the uploaded instruction is not supported for automatic generation.

The value is set to true for all existing spot profiles.

SVSPOT vs SVSPOTMOV

SVSPOT is a servo welding instruction and does not move the robot. SVSPOTMOV is a compound instruction which includes moving the robot to a clearance position, to the weld position, performing the welding, and finally back to the clearance position.

During upload, an SVSPOT instruction is combined with the previous move to form the spot operation.

Both instructions are configured with the "pressure start" and "pressure end" moves enabled. An SVSPOT is configured with the stationary tip clearance for these moves as 0 (the tip is touching the metal). The moving tip clearance is set to be abs(GunPosition-GunClosePos)-partthickness. The gun position comes from the move which precedes the SVSPOT.

For SVSPOTMOV, the instruction is configured with the stationary tip clearance having the value from the clearance file. See below for more details.

During download, the instruction is downloaded as an SVSPOT if the stationary tip clearance is 0; otherwise it is downloaded as an SVSPOTMOV.

Full support for Auto generation.

Gun#

If Gun# is an integer (not a variable) and is either 1 or 2, it is supported for auto generation and simulation. Gun# corresponds to the "Gun 1" and "Gun 2" check boxes in the spot profile. If both are checked this means that an SVSPOT instruction has two GUN# parameters, each followed by the options for that gun.

PRESS#

PRESS# identifies the pressure schedule from the SPRESS file. A PRESS# parameter is used for each gun.

The applicative profile instance created from the SPRESS file for this schedule number is linked to the spot weld profile. The speed factor for "pressure weld and move" is linked to the "Touch Speed" parameter of the linked pressure profile.

If the SPRESS file does not exist and an existing PRESS applicative profile instance for this schedule number exists, it is used. If none exist, a new profile instance is created with default values and linked to the profile.

If the PRESS# is specified as a variable or if no PRESS#, no PRESS applicative profile is linked and the default speed factor of 100% is used. The property "use profile name for instruction" is set to false to disable auto generation during download.

WTM

WTM identifies the weld condition schedule from the WDELAY.SCD file.

The applicative profile instance created from the WDELAY file for this schedule number is linked to the spot weld profile. The weld delay factor for "pressure weld and move" is linked to the "Weld Delay" parameter of the linked WDELAY profile.

If the WDELAY.SCD file does not exist and an existing WDELAY applicative profile instance for this schedule number exists, it is used. If none exist, a new profile instance is created with default values and linked to the profile.

If WTM is specified as a variable, no WDELAY applicative profile is linked and the default delay of 0s is used. The property "use profile name for instruction" is set to false to disable auto generation during download.

WST and WGO

WST (weld start timing) and WGO (weld group output) are not used in simulation. These two parameters are configurable on the controller parameters tab of the spot profile. Different values can be set for each gun. If the value is blank, the parameter is not used for that gun. The value can be specified as an integer or as a variable name.

Full support for auto generation.

WP and BWS

WP (weld pressure) and BWS (gun stroke for welding start) are not supported for simulation or automatic instruction generation. If these parameters are used, the property "use profile name for instruction" is set to true during upload.

CLF#

The CLF# (Clearance file schedule) is only used with SVSPOTMOV instructions. It identifies the clearance schedule from the CLEARNCE.DAT (or SGCLARNC.DAT) file. A CLF# parameter is used for each gun.

The applicative profile instance created from the CLEARANCE file for this schedule number is linked to the spot weld profile. The moving and stationary tip clearance parameters for the pressure start and pressure end moves are linked to the clearance profile.

If the CLEARANCE file does not exist and an existing clearance applicative profile instance for this schedule number exists, it is used. If none exist, a new profile instance is created with default values and linked to the profile.

If the CLF# is specified as a variable, no CLEARANCE applicative profile is linked. The property "use profile name for instruction" is set to false to disable auto generation during download.

PLIN and PLOUT

PLIN and PLOUT specify the accuracy profile for the Approach Move and Pressure End Move. The appropriate accuracy profile is set in the Approach Move and Pressure End Move during upload based on the PL level set for these parameters. If PLIN or PLOUT are not specified, the "no PL" accuracy profile is used.

Full support for auto generation.

Default values for Spot Parameters

All other spot profile parameters are set to default values. The following table summarizes the value of each spot profile parameter.

Table 5. Spot profile default values

Parameter	Measure	Specify for each gun?	Uploaded Value
Profile Name	String	No	SVSPOT or SVSPOTMOV instruction text
Gun Enabled	Boolean	Yes	True if GUN# present in instruction
Joint Number	Integer	Yes	Identified from motion group.
Gun Closed Joint Value	Double (mm)	Yes	0
Approach Enabled	Boolean	No	False for SVSPOT, True for SVSPOTMOV
Pressure Start Enabled	Boolean	No	True
Pressure End Enabled	Boolean	No	True
Backup Enabled	Boolean	No	False
Approach Direction	Enum	No	+Z-Axis
Gun Close Direction	Enum	Yes	-ve Axis
Part Thickness	Length	No	SVSPOT - 2mm SPSPOTMOV - Link to clearance file
Approach Moving Tip Clearance	Length	Yes	N/A
Pressure Start Moving Tip Clearance	Length	Yes	SVSPOT - abs(AxisValue-ClosePos)-partthickness AxisValue is the servo gun's position from the preceding move SVSPOTMOV - Link to clearance profile upper tip clearance (upper = movable)
Pressure End Moving Tip Clearance	Length	Yes	SVSPOT - abs(AxisValue-ClosePos)-partthickness AxisValue is the servo gun's position from the preceding move SVSPOTMOV - Link to clearance profile upper tip clearance (upper = movable)
Approach/Backup Stationary Tip Clearance	Length	No	N/A
Pressure Start Stationary Tip Clearance	Length	No	SVSPOT - 0mm SVSPOTMOV - Link to clearance profile lower tip clearance (lower = fixed)
Pressure End Stationary Tip Clearance	Length	No	SVSPOT - 0mm SVSPOTMOV - Link to clearance profile lower tip clearance (lower = fixed)
Approach Move Accuracy Profile	Accuracy Profile	No	SVSPOT - N/A, SVSPOTMOV - PLIN value if PLIN not specified then no PL.
Pressure Start Accuracy Profile	Accuracy Profile	No	PL=0
Pressure Move Accuracy Profile	Accuracy Profile	No	PL=0
Pressure End Accuracy Profile	Accuracy Profile	No	SVSPOT - PL=0, SVSPOTMOV - PLOUT value. If PLOUT not specified, then no PL.
Backup Move Accuracy Profile	Accuracy Profile	No	NA
Pressure Start Acceleration	Percent	No	SVSPOT - 100% SVSPOTMOV - 100%
Pressure Move Acceleration	Percent	No	100%
Pressure End Acceleration	Percent	No	100%
Backup Move Acceleration	Percent	No	NA
Pressure Move Push Depth	Length	Yes	1mm
Pressure Move Speed Factor	Percent	Yes	Link to SPRESS profile
Weld Delay	Time	Yes	Link to WDELAY profile
Backup Move Stroke	Length	Yes	NA
Weld time table	Profile	No	NA

Arc Welding

The translation of Arc welding instructions is dependent on the Arc profile and also the Motoman-specific ARCStart and ARCEnd profiles. Generally, one arc profile is associated with all arc operations for a single weld. An ARCStart profile is associated with the arc profile start section and an ARCEnd profile with the end section.

You can either configure the parameters of the ARCStart/ARCEnd profile or set the profile name. The method for setting the arc profile name is as described for the spot welding scenario described above, and is the preferred method since it offers more flexibility and is the method used during upload. The exact name of the ARCStart/ARCEnd profile is copied to the program for the INFORM instruction, therefore the name should begin with ARCON or ARCOF, or contain valid INFORM syntax such as a CALL.

If the current and/or voltage parameters of the ARCStart/ARCEnd profiles are non-zero, the ARCON/ARCOF instruction is automatically generated. If VoltagePercent is specified, the AVP= option is used. If VoltagePercent is not specified, the voltage parameter is used with the V= option.

The following parameters are used regardless:

• Speed: if the speed parameter is linked to the arc profile, it is added to the ARCON instruction unless the ARCON instruction uses the ASF parameter.
• Timer: if the timer parameter is linked to the arc profile as a delay, it is added to the ARCON/ARCOF instruction unless the instruction uses the ASF or ASE parameter.
• WeldPreStartSubRoutine*: These parameters are used to output INFORM syntax before the ARCON instruction (between the MOV* and ARCON), and should contain valid INFORM syntax. For example, you could set WeldStartSubRoutine1 to “WVON WEV#(1)” to start weaving. It is not possible to generate REFP instructions for weaving.
• WeldStartSubRoutine*: These parameters are used to output INFORM syntax in after the ARCON instruction, and should contain valid INFORM syntax.
• WeldPreEndSubRoutine*: These three parameters are used to output INFORM syntax before the ARCOF.
• WeldEndSubRoutine*: These three parameters are used to output INFORM syntax after the ARCOF. It can be set to “WVOF” to turn off weaving.

For the Weld…SubRoutine parameters, three parameters are pre-defined. If more are needed, user parameters can be added with higher indexes (e.g. WeldStartSubRoutine4).

During upload, all non-simulation instructions before ARCON or ARCOF are uploaded as WeldPre…SubRoutine parameters. If simulation activities appear between the MOVL (or MOVC) and the ARCON or ARCOF instructions, the WeldPre…SubRoutine parameters are not used and V6 Comment instructions are created for ARCON or ARCOF. All instructions up to the first comment or simulation activity after the ARCON or ARCOF are uploaded as Weld…SubRoutine Parameters.

If two ARCON instructions are identical but require different profile parameters, the profile name is mangled during upload. For example, the following program has two welds that are performed with identical ARC instructions, but one is using weaving:

MOVL V=200
WVON WEV#(1)
ARCON ASF#(1)
MOVL V=200
ARCOF
WVOF
MOVL V=200
ARCON ASF#(1)
MOVL V=200
ARCOF

In this case, two arc profiles are created: one named “ARCON ASF#(1)” and one named “ARCON ASF#(1) '1”. The ' character indicates a comment, and any characters that follow it are removed from the instruction during download. You can modify the comment to be more descriptive, if desired.

Seam Search

There are many ways to perform a search in INFORM. By default, the translator supports one method that uses individual REFP instructions with search routines following them.

For example:

The DELMIA applicative profile data would be defined as follows for the above program:

SearchData.1 (profile of type SearchData):  
refp=1
Search1SubRoutine1=”CALL JOB:SEARCH”
Search1SubRoutine2=””
Search1SubRoutine3=””
Search2SubRoutine1=”CALL JOB:SEARCH”
Search2SubRoutine2=”CALL JOB:CALCSHFT”
Search2SubRoutine3=””
Search3SubRoutine1=””
Search3SubRoutine2=””
Search3SubRoutine3=””
ShiftOnSubRoutine1=”SFTON P000”
ShiftOnSubRoutine2=””
ShiftOnSubRoutine3=””

ArcProfile.1 (profile of type ArcProfile)
Start Section Profiles:  
“ARCON ASF#(1)” (profile of type ARCStart)
SearchData.1
End Section Profiles:  
“ARCOF” (profile of type ARCEnd)

A specific search path is associated with a specific arc weld by using the same search profile on the search operations, and in the start section of the arc profile for those arc operations. For example, the ShiftOnSubRoutine1 (SFTON) is output before the first arc operation because the search profile is associated with the arc profile in the start section. The SFTOF is output after the last arc of because there was a SHFON output at the start of the weld. It is not possible to control the SFTOF command syntax.

You can have more control over the program by creating V6 Comment instructions for the search sub routines and/or shift instructions instead of setting the parameters of the SearchData profile.

INFORM has only a limited number of variables, and each variable is an array. DELMIA external IO, IO defined on the robot, is mapped to one of the MOTOMAN IO variables. DELMIA variables are mapped to INFORM variables of either global or local scope. On upload the IO and variables are automatically created.

During download, the corresponding INFORM IO or variable is determined from the IO address. The IO address also is used to determine the IO index. IO addresses for IO should be in the format XX#(Y) where XX is the IO type (OT, IN, IG, SIN, SOUT, IGH, OGH, AO) and Y is the port number. IO address for variables should be in the format Vxxx, where V is the MOTOMAN variable type (B, I, D, R) and xxx is the index. For some variables, a number can be used by itself. If the IO address is not specified, an IO address will automatically be assigned to an unused value and a warning is generated.

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. 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 IG#(1), then it is downloaded as IG#(1). This may result in a JBI-file that cannot be loaded onto a controller.

[1] Constants are replaced by their literal value during download.

The main limitations during upload are:

• Array indexing is not supported (e.g. B[B001])
• Position arithmetic is not supported

INFORM uses only the least significant bit of integers for determining if a signals is true or false. For example in the instruction "DOUT #IN(1) B000" if B000 is 2 (0b00000010) then the value is OFF because the last bit is 0. When converting from an integer to a Boolean, the expression B000 AND 1 is used (instead of B000<>0).

Motoman Device Parameters

The pulse count and zero offset parameters are set from a dedicated command accessed from the contextual menu of the motion controller.

By default, the pulse counts and zero offsets are set to the correct values for all Motoman robots. For aux devices, the pulse count is set to 1 and zero offset to 0 by default for all joints. The values are editable.

Motoman Task Profile

An applicative profile can be associated with each task. A new applicative profile containing Motoman task properties is created, and has the values shown in the following table. You can assign a Motoman Task Profile to a task in teach from the context menu after right-clicking on the task.

The translator creates the profile on upload based on the JBI-file and uses these parameters on download when generating the JBI-file. If no profile is set on download, the default values are used.

Motoman Controller Parameters

Parameters that apply to the Motoman controller are available in a dialog box accessed from the contextual menu of the resource motion controller. All parameter values are editable.

XRC Controllers have an additional controller parameter.

Motoman Motion Profile Parameter

A parameter named "UseVE" on the motion profile is used to specify the download of speed option VE for linear motion with external axis. This parameter is automatically set to "true" when uploading a motion instruction with speed option VE.

Motoman Accuracy Parameter

A parameter named “Mode” on the accuracy profile is used to set the Motoman accuracy mode. Motoman supports 4 accuracy modes: PL, CR, SPDL, and no PL. PL and CR are different ways of specifying distance based accuracy.

• PL is “Position Level” and on the Motoman controller each level is assigned an accuracy distance. PL=0 is always flyby off. The Index parameter is used to determine the position level. For example PL=1 is normally accuracy distance = 25mm.

  MOVL C000 V=100 PL=2

• CR is “Cornering radius” and allows the accuracy distance to be specified in the Motoman motion instruction (in millimeters).

  MOVL C000 V=100 CR=60

• SPDL is “speed level”, and is a special Motoman feature not supported by DELMIA default motion planning.

  MOVL C000 V=100 SPDL=0

• None is used for not specifying any accuracy on the motion. When no accuracy is specified the motorman controller uses some speed-based rounding.

  MOVL C000 V=100

The accuracy mode is automatically enabled for new accuracy profiles and has a default value of "PL". Valid values for the parameter are "PL", "CR", "SPDL", or "None". Existing accuracy profiles have the accuracy mode detected from the profile parameters using the logic currently used by Realistic Robot Simulation and Robot Programming.

1. Motoman DX100 RCONF

   Motoman made a change in their RCONF values for the DX100 controller. For the XRC and NX100 controllers, the flip/no flip parameter (1st value) is based on the R-axis position (joint 4). For the DX100 controller, the parameter is based on the B-axis position (joint 5). The translator outputs the new RCONF format if the DX100 controller version is selected.

2. Motoman DX100 Format Changes

   The Motoman JBI file format for DX100 includes higher precision numbers for angles.

   Controller Version	Description
   NX100	C00000=0.000,0.000,0.000,0.00,0.00,0.00
   DX100	C00000=0.000,0.000,0.000,0.0000,0.0000,0.0000

3. Enhanced REFP support

   Motoman REFP instructions are reference points. The robot does not move the position defined in the REFP instruction, it is stored for later use. REFP instructions are commonly used for arc welding seam search instructions. All REFP instructions are uploaded as seam search instructions, and the only way to create a REFP instruction during download is from a seam search instruction.

   REFP 1 C00005 EC00005

   REFP instructions are also used for arc welding oscillation points, and can be used for other purposes.

   A REFP is a position instruction (joint values or Cartesian), but the robot does not move to it. The closest V6 equivalent to this is a robot motion that does not get executed. This can be accomplished by creating an "if(false) RobotMotion" logic structure.

   Any robot motion inside the "then" sequence of an "if" statement where the condition is set to "false" is downloaded as a REFP. The REFP index number comes from the applicative profile "Motoman REFP Profile".

   Parameter Name	Default Value	Description
   REFPIndex	1	The REFP index number

   If no REFP profile has been assigned to the motion, the REFP index will be set to 1.

   During upload, most REFP instructions are uploaded as search instructions. However, if the REFP instruction is inside an arc sequence (between the arc start move and the arc end move), it is an oscillation point and the "if(false)" logic is created for this position along with the REFP profile.

   The following example program uses REFP instructions for oscillation points:

   Motoman Instruction	DELMIA equivalent
   MOVJ C00000 EC00000 VJ=100.00	Regular move
   MOVJ C00001 EC00001 VJ=100.00	Regular move
   MOVJ C00002 EC00002 VJ=100.00	Regular move
   MOVJ C00003 EC00003 VJ=100.00	Regular move
   MOVJ C00004 EC00004 VJ=100.00	Arc Operation (arc start). Arc profile that has the a Motoman Arc Start profile in the start section and a Arc End profile in the end section. This profile is assigned to all arc operations for the arc path.
   REFP 1 C00005 EC00005	Weave Point - to be upload as a robot motion inside an if instruction with the condition "false" so the motion is never executed. The Motoman REFP profile assigned to the motion has the index set to 1.
   REFP 2 C00006 EC00006	Weave Point- to be upload as a robot motion inside an if instruction with the condition "false" so the motion is never executed. The Motoman REFP profile assigned to the motion has the index set to 2.
   WVON WEV#(10)	Turn on Weaving -parameter WeldPreStartSubRoutine1 of the Motoman Arc Start profile is set to this value on upload
   ARCON ASF#(17)	Turn on welding - Motoman Arc Start profile name is set to this value.
   MOVL C00007 EC00007 V=4.2	Arc Operation (arc end)
   WVOF	Turn off weaving - parameter WeldEndSubRoutine1 of the Motoman Arc End Profile is set to this value.
   ARCOF AEF#(12)	Turn of welding - Motoman Arc End profile name is set to this value.
   MOVJ C00008 EC00008 VJ=100.00	Regular move.

[1] DX100, DX200, NX100, XRC, YRC1000, MRC, ERC, FD100, and INFORM are or may be trademarks or registered trademarks of Motoman/Yaskawa or its subsidiaries in the U.S. and in other countries.