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This section provides basic information about the Motoman MRC/XRC translator. The information includes:
Controller ProfilesEvery robot controller has certain profiles each of which define characteristics of different aspects of the controller. By default, controllers by the name Default are defined for Motion, Tool, Accuracy and Object Profile. A Motoman MRC/XRC robot must have Tool Profiles created before uploading. Please see Device Task Definition: Workbench Description: Robot Controller Toolbar for more information on controller profiles. Applicative ProfilesUser Applicative Profiles can be used to define Process information. Please see Device Building: Advanced Tasks: Creating and Editing Profiles: Creating Applicative Profiles for more details. Action LibrariesAction libraries consist of a sequence of activities that can be used to perform specific operations such as spot welding. The MRCSpotWeld action library is provided for Motoman MRC/XRC controller. Please see Device Task Definition: User Tasks: Device Task Programming Tasks: Creating and Modifying an Action Library for more details. Robot Parameter DataRobot parameter data informs the translator about the user's special requirements. See Robot Parameter Map section for supported parameters.
Program Logic/IOInput/Output signals are used to communicate between resources and synchronize multiple resource simulations. Please see Workcell Sequencing: Workbench Description: IO Management Toolbar for more details. Weld GunsA servo weld gun is defined as an external axis of a robot, and used with MRCSpotWeld action library . Servo guns are supported by generating an SVSPOT command following a motion statement. Each MRCSpotWeld and MRCSpotDry action should follow a robot motion operation and be followed by another robot motion operation. In addition to robot positions, the leading robot motion specifies the gun position before the weld and the following one specifies the gun position after the weld.
Syntax MapPlease refer to the Robot Command Syntax Map worksheet in the MotomanV5xmlMap.xls file. Tags and controller profiles affect the translation from V5 robot motion activities to Inform II motion statements, and are illustrated below:
Robot Parameter MapRefer to the Parameter Data worksheet in the MotomanV5xmlMap.xls file. Spot Welding ApplicationThis section illustrates the translation of V5 spot actions to Inform II commands. The table below shows the syntax map for V5 MRC Spot actions and Inform II commands:
Create a V5 MRC spot action, for e.g., MRCSpotWeld. Please see Device Task Definition: Workbench Description: Action Library Toolbars: Creating a Spot Weld Action for more details. Below is the illustration of V5 spot weld action to Inform II spot translation:
Arc Welding ApplicationThe table below shows the syntax map for V5 User Profile and Inform II Arc command mapping:
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