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This procedure describes how to
download or create a Nachi AW/AX robot program. |
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Open the
NachiAWDownload_start.CATProcess file. |
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Downloading generates a SLIM (language used by Nachi AW/AX robot translators)
file from the PPR tree. The following steps take place:
- An XML file is generated from the activities defined in the PPR tree. This involves a mapping between the activities in the PPR
tree and the elements in the XML file. The XML file generated is
independent of the robot language (SLIM, in this case).
- A style sheet transformation file (XSLT) is
written for the Nachi AW/AX translator. This file defines the
mapping between the activities in the XML file and the SLIM
commands.
- The XSLT is then run through the XML file to generate the required
SLIM file.
SLIM (Standard Language for Industrial Manipulators)
programs are in text format; they can be created or edited using any
commercially available text editor. Programs written in SLIM are first
compiled to an executable (binary) format and then loaded on the robot
control unit. The robot language program can be converted from
executable to text format and vice versa. |
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Click Create Robot Program
in the Offline Programming toolbar.
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Select RobotTask.3 of SH-200-01.1 in the PPR tree.
The
Downloading Options dialog box opens.

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Choose the settings as shown above, and click OK.
The Multiple Task Download
dialog box opens with RobotTask.2 in the left-hand box.

Note:AV06Tsk1 will be replaced by RobotTask.3 and AV06Tsk2 by RobotTask.2 in
the above dialog box.
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Select RobotTask.2 for download too.
The Download Editor window appears.

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Save the downloaded program.
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Similarly, download the SK16.1 program. Click Rename
and save it with a different name.
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