Downloading or Creating Nachi AW/AX Robot Programs

This procedure describes how to download or create a Nachi AW/AX robot program.
Open the NachiAWDownload_start.CATProcess file.
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.

  1. Click Create Robot Program  in the Offline Programming toolbar.

  2. Select RobotTask.3 of SH-200-01.1 in the PPR tree.
    The Downloading Options dialog box opens.

  3. 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.

  4. Select RobotTask.2 for download too.
    The Download Editor window appears.

  5. Save the downloaded program.

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