Panasonic CSR Translator

Panasonic CSR Support

The DELMIA Panasonic translator provides support for upload and download of all instructions in the DELMIA Robotics language that are available in the Panasonic CSR language. Features of the supported instructions which apply to Panasonic are supported as described below.

All features of the supported instructions which apply to Panasonic are supported.

The translation outputs CSR-files which can be loaded into the Panasonic DTPS software and converted into binary files which can be loaded into the G2, or G3 Panasonic controller. On upload, any unsupported Panasonic CSR instructions are stored as custom instructions so that the program can be downloaded again without loss of data.

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

Instruction Mapping

Unsupported Instructions

Any instruction that is not supported on download generates a warning. Any instruction that is not supported on upload generates a warning, and a custom instruction is created. This custom instruction will be downloaded so the original NRL command is still intact.

Goto

A DELMIA Goto instruction is translated into a Goto Step <num>. In DELMIA, the label is defined on a specific instruction.

On upload, the label will be set on the instruction that represents the GoTo Step. The label will be named STEP_<num>. If the label referenced by a GOTO does not exist in the program, a warning will be generated and the label will be placed on the instruction following the GOTO.

On download, DELMIA label will not be output. The number of the instruction is used to determine the STEP number in the GoTo.

Condition

A DELMIA Condition instruction is translated into an IF. Only certain formats for IF are supported.

 IF REG#=<num> THEN STEP=<num> ELSE STEP =<elsenum>
 IF IPORT#=<num> THEN STEP=<num> ELSE STEP=<elsenum>

Custom

A custom instruction text is downloaded into the program exactly as is. On upload any unsupported instruction is created as a custom instruction with the name of the custom instruction being the Panasonic instruction’s text.

Grab/Release

On download, the instruction name is downloaded . This could be a macro call or a program call used to grab the product.

On upload, if a custom instruction contains the word “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 parameter PartGrabbed of the Panasonic Controller Profile.

Assign

A DELMIA assign instruction is translated into a Panasonic CSR OUTREG or OUTP.

Outputs with data types Boolean or integer with a port number set are supported.

Assignment of an output of type Boolean will be output as an OUTP OPORT, integer will be output as OUTREG.

Wait

A DELMIA Wait (FALSE) Timeout instruction is translated as a Panasonic DELAY instruction.

A DELMIA Wait (input) Timeout instruction is translated as a Panasonic WAIT. Timeout is included in the WAIT as a T=<timeout>. For upload, an input variable named IPORT<port> of type integer will be created and the port number set. For download, if a Wait condition has a input integer or Boolean with port number set (i.e. input1:=1), a WAIT will be output.

Run (procedure)

A DELMIA run instruction, where the run is calling a procedure, is translated into a Panasonic program call instruction. Arguments can not be used.

Robot Motion

The following are Panasonic standard robot motion commands. The table below gives basic information on the level of support for different motion options.

MOVEP, <target>, <speed>, <units>, <weld flag>, <smooth>
MOVEL, <target>, <speed>, <units>, <cl no>, <weld flag>, <smooth>
MOVEC, <target>, <speed>, <units>, <cl no>, <weld flag>, <smooth>, <cir break>

Panasonic Motion Option	Support Level	DELMIA Equivalent	Description	Translation Notes
MOVEP, MOVEL, MOVEC	Supported	Joint, Linear, Circular	motion type
Target	Supported	Tag	P<num> variable
Speed	Supported	Motion Profile	Speed value	Speed value is percent or absolute depending on the units. Motion profile is named <speed><units> (i.e. 1000m/min or 90%)
Units	Supported	Motion Profile	Speed units	Speed value is percent or absolute depending on the units. Motion profile is named <speed><units> (i.e. 1000m/min or 90%)
CL no	Supported	Panasonic Motion profile CLNo applicative profile	Torch orientation type	CLNo value stored in the CLNo parameter of the applicative profile.
Weld flag	Supported	Arc or standard move	Weld flag	Always N for standard robot motions.
Smooth	Supported	Accuracy Profile	Smooth level	G3 controller only. Value set to -1 for Default or 0-10 for percent speed 0-100%. An accuracy profile with the name SMOOTH<index> will be created. For SMOOTH0 flyby is off. For SMOOTH 1-10 flyby is on and the accuracy value is 10%-100% in increments of 10%.
Cir break	Partial Support	Circular motion type	Determines circular break.	G3 controller only. Set to CIR_SPLIT or CIR_NORMAL (the default). CIR_NORMAL is equivalent to standard V6 circular motion. CIR_SPLIT is not supported.

Arc Welding

Arcwelding motion commands are identical to standard robot motion commands but the weld flag is set to W.

MOVEP, <target>, <speed>, <units>, <weld flag>, <smooth>
MOVEL, <target>, <speed>, <units>, <cl no>, <weld flag>, <smooth>
MOVEC, <target>, <speed>, <units>, <cl no>, <weld flag>, <smooth>, <cir break>

In addition the weld moves are combined with ARC-ON, ARC-SET, CRATER and ARC-OFF commands.

ARC-SET, 130, 18.8, 0.10
ARC-ON, ArcStart1.rpg, 0
CRATER, 160, 19.6, 0.80
ARC-OFF, ArcEnd1.rpg, 0

Panasonic Arc Command	Support Level	DELMIA Equivalent	Description	Translation Notes
ARC-SET	Supported	Applicative profile PanasonicArcSet	Arc set parameters	Parameters Amperage, Voltage and Time. ArcProfile used to link this profile to the start weld.
ARC-ON	Supported	Applicative profile PanasonicArcOn	Arc on parameters	Parameters FileName and TableNumber. ArcProfile used to link this profile to the start weld.
CRATER	Supported	Applicative profile PanasonicCrater	Crater parameters	Parameters Amperage, Voltage and Time. ArcProfile used to link this profile to the end weld.
ARC-OFF	Supported	Applicative profile PanasonicArcOff	Arc off parameters	Parameters FileName and TableNumber. ArcProfile used to link this profile to the end weld.

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