Downloading or Creating Fanuc RJ TPE Robot Programs

This procedure describes how to download or create a Fanuc RJ TPE robot program.
Open the FanucRJDownload_start.CATProcess file.
Downloading generates a TPE file (TPE is the language of Fanuc RJ/RJ2/RJ3 robot) 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 (TPE, in this case).
  • A style sheet transformation file (XSLT) is written for the Fanuc RJ TPE translator. This file defines the mapping between the activities in the XML file and the TPE commands.
  • The XSLT is then run through the XML file to generate the required TPE file.

TPE programs are in text (ASCII) format. They can be created or edited using any commercially available text editor. Programs written in TPE can be compiled to an executable (binary) format and loaded on robot control units equipped with this functionality. Alternatively, the RJProgramTranslator utility can be used to convert the text file to an executable file. The robot language program can be converted from executable to text format and visa versa.

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

  2. Select tpetask3 created on resource  R2000iA_if-200F.1 in the PPR tree.
    The Downloading Options dialog box opens.

  3. Accept the default the settings as shown above.
    The Multiple Task Download dialog box opens with tpetask3 in the left-hand box.

    Note:AV06Tsk1 will be replaced by tpetask3 and AV06Tsk2 by tpetask2 in the above dialog box.

  4. Select tpetask2 for download too.
    The Download Editor window appears.

    The download editor contains downloader version and release information and also the list of possible errors that occurred during download.

  5. Save the downloaded program.

  6. Similarly, download the FanucRJ_BodyPickandPlace and CallFanucRJ_WeldPath.1 tasks under R2000iA_if-165F.1 resource.