Nachi Translators

Nachi File Support

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

Instruction Mapping

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

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

Task

Nachi tasks are stored in program files.

On download, the program file name is automatically generated from the robot name with a 3-digit extension name. If the task name has a numeric extension (e.g. ".123") it is used as the program file extension name. If the numeric extension exceeds four digits, only the last three digits are used. If the tasks selected for download have duplicate numeric extensions (".1" and ".001" are duplicate in fixed 3-digit format), the later one is incremented.

Unsupported Instructions

Any DELMIA instruction (While, Break, Run Service) that is not supported on download is skipped, and a message indicates that this DELMIA instruction is not supported by the SLIM language. This ensures that the generated file is a valid SLIM task. If an unsupported logic instruction contains other instructions, such as the instructions inside a DO WHILE loop, they are also skipped. In order to download these instructions, you must remove them from the DO WHILE loop.

V6 Comment

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

Goto

A DELMIA Goto instruction is translated into an SLIM Goto instruction. For the Nachi translator, a label is required on a Custom instruction. In SLIM, the label is denoted by a * and is its own instruction.

On upload, the label is set on a DELMIA Custom instruction created for the Nachi SLIM label.

SLIM Labels start with a letter of the alphabet and can be a maximum 16 characters long. Valid characters include alphanumeric, period ("."), and underscore ("_") characters.

Condition

The DELMIA Condition instruction is translated into a Nachi SLIM IF-THEN-ELSE instruction. Expressions in the DELMIA Condition must conform to the Nachi IF logical expressions.Multiple expressions can be joined with AND or OR binary Boolean operators.

Nachi SLIM IF instruction allows one Goto instruction in the THEN phrase and one Goto instruction in the ELSE phrase. The ELSE phrase is optional.

For-Loop

The DELMIA For-Loop instruction is translated into a Nachi SLIM For-Next instruction. The Nachi language requires the variable Counter to be either an Integer (Vn% for global and Ln% for local) of a Real (Vn! for global or Ln! for local) variable type. DELMIA restricts the STEP to be either 1 or -1.

Return

A DELMIA return instruction is translated into a Nachi SLIM RETURN instruction.

Run (procedure)

A DELMIA run instruction that calls a procedure is translated into a SLIM subprogram CALLP instruction. DELMIA run instructions can have arguments, but SLIM CALLP instructions do not.

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

On upload, the program files being called will be searched in the same folder as the program file selected for upload. If they do not exist, a blank task is created for the Run instruction to be valid.

Assign and Set I/O

DELMIA Assign instructions are translated into SLIM assignment instructions or Set I/O instructions when destination variable of the Assign instruction is a Boolean output.

For other Assign instructions, see Expression Conversion for how expressions are translated.

For details on how each SLIM data types are translated, see Variable Conversion.

Wait and Wait I/O

DELMIA Wait instructions are supported as follows

Pulse

A DELMIA Pulse instruction is translated as a Nachi AX SETMD instruction or AW SETM instruction.

AX: “SETM O5, 1, 10, 3” (Pulse output 5 On with Delay of 10 seconds and Duration of 3 seconds)

AW: “SETMD 5, 0, 10, 3” (Pulse output 5 Off with Delay of 10 seconds and Duration of 3 seconds)

• Output type Boolean Output variables are supported. (Type Integer Output is skipped.)
• A Pulse instruction with the value ‘Invert’ is assumed to be the value ‘true’.
• When the pulse duration is set to Infinite, it will download to the maximum of 60 seconds.

Timer

TMSTART 4 : Starts timer number 4 – corresponds to "Timer Start T4"

TMSTOP 4 : Stops timer 4 – corresponds to "Timer Stop T4"

TMRESET 4 : Resets timer 4- – corresponds to "Timer Reset T4"

TMREAD 4, X! : Reads value of timer 4 and saves it in variable X – corresponds to "X:=T4"

Robot Motion

The table below provides 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.

Notes on Circular Moves

NACHI "MOVEX C1" with paring "MOVEX C2" is equivalent with 3DEXPERIENCE CircularVia + Circular moves.

However, the trajectory of a series of NACHI "MOVEX C2" is different from the trajectory of a series of 3DEXPERIENCE Circular moves. NACHI path planning looks back one target and looks ahead one target. In the example below, at target (7), NACHI path planning takes targets (6), (7), and (8) into consideration and follows the solid line. On the other hand, 3DEXPERIENCE Circular motion planning looks ahead two targets. Thus, at target (7) and looking ahead to targets (8) and (9), 3DEXPERIENCE follows the dash-dot line.

In this situation, a warning is issued about a Circular move without a preceding CircularVia move, but still proceeds to download the task or upload the program. If you prefer to stop download or upload, an environment variable can be set to achieve this (DELMIAOLPERRORNachiTranslatorCircularWithoutVia=Error).

Spot Welding

For spot welding, only air guns are supported. Gun changes are not supported. Spot operation translation depends upon the weld parameter settings of the spot profile which is associated with the spot operation and the download option (AW/AX).

If the following weld parameter values are -1 and the download option is AW, the spot option is downloaded as <GunNumber> and appended to the end of the proceeding motion instruction.

• Weld_Cond_Number
• Weld_Seq_Number
• Weld_Point_Number

Otherwise, a spot operation is downloaded as Nachi SPOT instruction following the proceeding motion instruction.

Arc Welding

Translation of arc welding instructions relies on the arc profile and the Nachi-specific arc 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, an ARCWeld profile is associated with and an ARCEnd profile with the end section.

For AX, the Nachi-specific profiles are NAXArcStart and NAXArcEnd

Example AX arc weld program "SH166-03-A.001":

1 MOVEX A=1P, AC=0, M1X, P, (1920.42224, 97.40792, 999.99804, 0, -90, 90), CONF=1000, R=50, H=2
2 AS 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 150, 18, 0, 800, 0, 0, 0, 0, 150, 150, 2, 50, 0, 0, 0, 2, 0, 0, 0, 50, 0, 0, 0, 0, 0, 0, 0, 0, 0
3 MOVEX A=1P, AC=0, M1X, P, (1843.88567, 82.18374, 999.998, 0, -90, 95.87855), CONF=1000, R=50, H=2
4 MOVEX A=1P, AC=0, M1X, P, (1779.00109, 38.829, 999.99797, 0, -90, 101.7571), CONF=1010, R=50, H=2
5 MOVEX A=1P, AC=0, M1X, P, (1735.64658, -26.05594, 999.99796, 0, -90, 107.63564), CONF=1010, R=50, H=2
6 MOVEX A=1P, AC=0, M1X, P, (1720.42246, -102.59294, 999.99795, 0, -90, 113.51419), CONF=1010, R=50, H=2
7 AE 0, 0, 0, 0, 0, 1, 1, 0, 150, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
8 END

For AW, the Nachi-specific profiles are the NAWArcON, NAWArcOFF, and NAWArcWeave profiles.

For AW arc on and arc off, only the number in the profile name extension is used. For AW weave, the parameters are used in generating the SWEAVE instruction.

Example AW are weld program “SH166-01-A.001”:

1 MOVE P, (-278.99872,1870.00872,229.9953,0,90,-180), S=1150, A=1P, H=2
2 ARCON 1
3 MOVE P, (-263.77472,1793.47212,229.99532,0,90,175.93286), S=1150, A=1P, H=2
3 SWEAVE 1, 1
4 MOVE P, (-220.42041,1728.58751,229.99534,0,90,171.86571), S=1150, A=1P, H=2
5 MOVE P, (-155.5361,1685.23299,229.99535,0,90,167.79857), S=1150, A=1P, H=2
6 ARCOFF 1
7 END

Nachi Boolean Input and Output variables, Global and Local type Integer, Real and String variables are supported.

DELMIA external IO, IO defined on the robot, is mapped to one of the Nachi IO variables. DELMIA variables are mapped to Nachi variables of either global or local scope.

On upload the Input variables (Ix, where x is a number), Output variables (Ox), and variables are automatically created.

On download, if the DELMIA variable names match the format in the right-most column in the table above, they are downloaded as the corresponding Nachi format in the left-most column. Otherwise, Nachi format variable names are generated according to DELMIA variable types and For-loop counter variable is generated as local.

Nachi expression support is limited to a simple set of operations.

Nachi Motion Profile

An applicative profile can be associated with each robot motion. A new applicative profile which contains Nachi motion properties is created, and has the following values. You can assign a Nachi Motion Profile to robot motions in Teach from the context menu by right clicking on the task.

The translator creates the profile on upload based on the Nachi program file and uses these parameters on download when generating the Nachi program file. If no profile is set on download, the default values for Coordination, Smoothness, and MechanismSpeedRef (all blank) are used. For auxiliary device (mechanism) speed and tool, the robot speed and tool are used.

Nachi Controller Parameters

The parameters that apply to the Nachi controller are available in a dedicated panel that is accessible from the contextual menu of the resource motion controller. All parameter values are can be editied.

The settings of " IJ " come from the DELMIA robot configurations

The settings of " K" is determined by Joint 1 with a Boolean parameter " CONFJ1Expansion"

The settings of " L" is determined by Joint 6.

Note: Flip is when Joint 5 is greater than zero(0), and in this case I=0 .

[1] AR, AW, AX, and FD are or may be trademarks or registered trademarks of Nachi or its subsidiaries in the U.S. and in other countries.