FAQs-Fanuc RJ TPE

  1. The Fanuc parsers (Fanuc.jar) upload tag targets as non via; All the via tags in the original V5 task are uploaded as non via tags.

    The Fanuc robot language (TPE) does not have an attribute to differentiate between via and non-via target types. This is a V5 convention.

    However, if the user uses an XML file for upload (instead of robot language file), the via/non-via target type information will be preserved in the uploaded task.

     

  2. I am unable to download WELD action using Fanuc translators.

    If you are using Fanuc translator for download, make sure that the Spot Weld action is defined using TPESpotWeld.act toolbar. Weld actions defined using other .act toolbars are ignored by the Fanuc translator.

     

  3. What happens with unsupported TPE syntax on upload?

    Unsupported commands, on upload, are mapped to pre and post activity attributes. Unsupported commands will be mapped to as pre-comment attributes to the succeeding activity/action. An unsupported command encountered at the end of the robot program will be mapped to as post-comment attribute to the preceding activity/action.

     

  4. Fanuc translator downloads programs as Separate Files even though I selected the Subroutines option in the Downloading Options dialog box.

    Fanuc robot always downloads programs as separate files. It does not support the Subroutines option.

     

  5. Whenever a robot task is downloaded, an XML file (simResult.xml) is generated behind the scenes. Which XML elements are not used/supported by TPE?

    In V5R16 release, the following xml elements (in simResult.xml) are not used by TPE during download:

    OLPData  >  Resource  >  Controller  >  ToolProfileList  >  ToolProfile  >  Mass
    OLPData  >  Resource  >  Controller  >  ToolProfileList  >  ToolProfile  >  Centroid
    OLPData  >  Resource  >  Controller  >  ToolProfileList  >  ToolProfile  >  Inertia

    OLPData  >  Resource  >  Controller  >  MotionProfileList  >  MotionProfile  >  Accel
    OLPData  >  Resource  >  Controller  >  MotionProfileList  >  MotionProfile  >  AngularSpeedValue
    OLPData  >  Resource  >  Controller  >  MotionProfileList  >  MotionProfile  >  AngularAccelValue

     

  6. How does the Fanuc translator and parser take into account the Object Frame profiles during download and upload?

    • If the SysvarOutput parameter (see Parameter Data worksheet in TPE_V5_XML_MAP.xls) is set to true then, all object frame profiles will be output to a sysvarsoutput.ls file.

      If this file is renamed to sysvars.ls, it can be parsed during upload to allow the object frame offsets to be uploaded.

      Note that, it is possible to generate a sysvars.ls file from a sysvars.sv file on some Fanuc controllers by using a kconvars utility package (provided by Fanuc).

    • If the object frame offset is zero and tool is mobile (mounted on robot), the frame of reference is the robot base frame.

      Fanuc translator will read the target co-ordinate values from the simResult.xml file and output them into P[] statements in the /POS section of the program with appropriate units regardless of whether Apply to all targets is set to ON or OFF.

    • If the object frame offset is non-zero and tool is mobile, the frame of reference is the object frame (with its offset defined with respect to the world frame).

      Fanuc translator will read the target co-ordinate values from the simResult.xml file and output them into P[] statements in the /POS section of the program with appropriate units, regardless of whether Apply to all targets is set to ON or OFF.

      If the WorldCoords parameter (see Parameter Data worksheet in TPE_V5_XML_MAP.xls) is set to false then, the Fanuc translator will treat all object frame values as being with respect to the robot base and will recalculate target coordinates accordingly.

    • If object frame offset is zero and tool is stationary (fixed TCP case), the frame of reference is the robot’s mount frame.

      Fanuc translator will invert the target co-ordinate values from the simResult.xml file and output them into P[] statements in the /POS section of the program with appropriate units regardless of whether Apply to all targets is set to ON or OFF.

      The targets are inverted because, for Fanuc RJ/RJ2/RJ3 controllers fixed TCP moves are stored relative to the stationary tool.

      Note that, for fixed TCP you must generate a sysvars.ls file using the parameter SysvarOutput = true. See figure 43 for an example of this system variable file output.

      This sysvaroutput.ls file can be renamed to sysvars.ls, in which case it will be read by the parser during upload.

      It is important to point out that, part coordinates must be used during upload of fixed TCP programs, and there must be two UFRAME values in the sysvars.ls file. The first is for non-fixed TCP points and the second is for fixed TCP points.

      No part needs to be selected for non-fixed TCP points. For fixed TCP points a part that is grabbed by the robot at the time of upload must be selected.

      Example of part selection for fixed TCP upload is shown below:

    • If object frame offset is non-zero and tool is stationary, the frame of reference is the object frame, which is defined relative to mount frame.
      Same as the fixed TCP case above.

       

  7. Can I add comments to robot tasks in V5 and also download them?

    The following procedure describes how to add or download comments.

    1. Right-click an Operation/Activity/Action  from the robot task in the PPR tree and select Properties. The properties dialog box opens.

    2. Select the Specific tab.

    3. Add the appropriate comments using the Attribute Type, Attribute Name and Attribute Value editors.

    For Attribute Name, always use either PreComment or PostComment depending upon the location of the operation.

    The comments will be downloaded by the Fanuc translator. If the Attribute Name is not defined as either PostComment/PreComment, then, the the translator will not see the attributes as being comments. 
     

     

  8. My robot task has an Activity/Action not yet supported by V5 OLP, but I still want to download the Activity/Action.

    Please refer to FAQ 12 above. Follow the same procedure, except that, the Attribute Value will be:

    Robot Language: <any robot language command>.

    For example, PAYLOAD[4] command in TPE is not supported in V5. By specifying, RobotLanguage : PAYLOAD[4] as Attribute Value, the translator will be able to download the above statement.

     

  9. The I/O activities in XML have an attribute by the name Port Number. What does this correspond to in V5?

    In V5, Port Number corresponds to IO Number.