V5 Robotics Course Material: Master

Expert
Master
Specialist
V5 Robotics Course Material

Copyright DASSAULT SYSTEMES
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Introduction to V5 Robotics - Specialist Course

Robotics helps manufacturing engineering departments define and manage manufacturing processes. It not only defines the number and sequence of steps to obtain a specific state of a product, but also is able to associate the tools, right methods and data to perform tasks. This specialist course in Robotics will introduce you to the initial aspects of preparing an environment to carry out Robotic activity. The assumption is that the software is going to be used in a stand alone mode, not connected to the Manufacturing Hub and not using other DELMIA software such as Process Engineer. Other courses will address the interface of the Hub and additional software configurations. The exercises in every module are for learning Robotics and will further help in understanding the activity. However, in the interests of maintaining the project focus, not every feature and function available in Robotics will be used or addressed. It is suggested that you access the on-line documentation that comes with the software installation to further explore functionality.
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V5 Robotics
Demonstration Overview (Demonstrate the building of a simple work-cell)
1 Select File / New / Process. This will create a template for this project. Using Fastening Process Planner, create some high level activities: Station Activity, Load, Clamp, Weld, Unclamp, and Unload.
Demonstration Overview
Goal of the Project
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Insert a Product (R.H. Body Side). (Insert / Insert Product) Insert Resources (IRB 6400 / ROCKER2). (Insert / Insert Resource)
Attach the Weld Gun (ROCKER2) using the Set Tool icon from the Robot Management toolbar. Assign the Robot to the Welding Activity. (Drag and Drop).
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Assign the R.H. Body Side to the Load Activity. (Drag and Drop).
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Create a New Tag Group. (Empty) Create a New Tag in the Group. 18
V5 Robotics
Demonstration Overview (Demonstrate the building of a simple work-cell)
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Create a New Robot Task. (Empty)
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Add the Tag Group to the Robot Task. Jog to Tags, Modify Tags, and Insert VIA Points. (Using Teach / Jog) Add Weld Actions to the Points in the Robot Task. (Weld Actions)
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The State of the Simulation needs to be saved, use Save the Initial State icon from the Simulation toolbar.
Switch to the Workcell Sequencing workbench, and using the Set an Active Task icon, set an Active Task for the task just created. The Process is now set up to run this and can be done by using the Process Simulation icon from the Simulation toolbar. The Simple Process is now complete and can be saved for future use or as a reference.
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V5 Robotics
Instructor Note:
This manual is based on a simple method the first project is used as a base for the second and third projects included in this manual. So the layout is a smooth flow the first exercise begins very slowly and simple the next exercise covers some of the same methods with less instruction or direction from the manual and continues on until the final third exercise which is the advanced topics which has even less direction counting on the fact that the students have already completed these steps twice, once on the first initial exercise then again on the second more complex exercise. Following this process flow should reinforce the learning and help the users become more proficient quickly and easily.
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Build the Layout
2 4
Optimizing the Simulation
Tags and Robot Tasks
Activities and Assignments
Advanced Topics
Module 1
Build the Layout

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Build the Layout

Overview
The first step in building a simulation is to set up a working environment that best reflects the needs and desired outcomes in your context. Once the environment is prepared, construction of the 3D Layout of a virtual world can begin. Bringing in plant layout items, resources and product are all items relevant to the virtual world.
Objectives
Position and Manipulate Compass Insert Products and Resources Snap and Attach
3 hours
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Workbenches and Toolbars used in this Module

Workbenches
Device Task Definition
Toolbars
Inst.
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Build the Layout

Position and Manipulate Compass
Using Manipulation Bounding Boxes Snapping Automatically to Selected Object Editing Positions
Insert Products and Resources

Starting New Process Inserting Product Mounting with Set Tool Inserting Area Using Fit all in / Properties Using the Save As Function Removing Resources
Snap and Attach

Using Snap Icon Defining Reference Plane (From) / Snap Options Attaching Child Selection / Hide Show Attachments
3 hours
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Using Manipulation Bounding Boxes Snapping Automatically to Selected Object Editing Positions
Inst.
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Build the Layout

About Positioning and Manipulating Compass
It is best to move each item to its approximate final position before inserting another resource. For items intended to be placed relative to another item (like a plant floor), at least one coordinate will be critical. For the plant floor example, all items must be at 0 on the Z axis.
Factory Layout and Robotics / Device Task Definition

Complete information about positioning and manipulating compass can be found in the on-line documentation.
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Build the Layout

Positioning and Manipulating Compass - Procedure
Items can be manipulated using the bounding box. This technique will permit movement anywhere in the world according to the increment size set in the Tools/ Options/ Equipment & Systems / General / Grid step. OR
The Snap Compass to Object function can be used. The Parameters for Compass Manipulation box can refine the positioning even further.
Inst.
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Build the Layout

Using Manipulation Bounding Box - Procedure
To move an object using the bounding box, click on the item in the PPR tree.
When the bounding box is highlighted around the item (usually green), point the cursor to one of the lines of the bounding box. Click and hold, and then move the item in the direction permitted by the box. Let go of the cursor when this movement is complete.
If additional movements are necessary, grab another side of the bounding box and move in the direction permitted by that axis.
Complete the grabbing and moving until the item is positioned correctly.
NOTES:
1. Remember that the final placement of the item is defined by the grid size set in Tools/Options as noted earlier. 2. Remember that items in reference to a floor must all be at 0 on the Z axis.
Inst.
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Build the Layout

Snapping Automatically to Selected Object - Procedure
To move an object using the Compass, right click on the compass and select Snap Automatically to Select Object. Click on the object to be manipulated.
The compass moves to the object and the bounding box appears. Grab and hold the axis of the compass that will move or rotate the object in the desired direction.
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Repeat the grabbing and moving until the object is in the desired location. Right click on the compass and click Snap Automatically to Selected Object again to toggle off this function and permit the compass to be moved back into the world.
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Build the Layout

Editing Positions - Procedure
The positioning of objects can sometimes be more quickly and efficiently accomplished by defining the parameters for compass manipulation. These settings will cause the compass (and thus the object) to move in these predefined increments. To access this function, right click on the compass and select Edit
This capability is useful if objects need to be at a certain angle relative to another object, or for speed of placement.
When snapped to the selected object, the coordinates of the object will be reflected in the top of the box. Setting the Rotation increments will cause the compass to rotate about the selected axis in the pre-defined amount. EXAMPLE: Setting 90 deg along W axis will cause a right angle movement on that axis.
Setting the Translation increments will cause the compass to move along the selected axis in the predefined amount
Inst.
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Build the Layout

Editing Positions - Procedure
For viewing ease, keep the rotation of the mouse relative to the floor. To do this, select the Tools / Options / Display / Navigation tab. In the Navigation section, activate the Gravitational effects during navigation option and select the Z (axis) option.
Click OK.
This setting should have already been set, this is just a reminder to show why and where it is to be set.
Inst.
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Insert Products and Resources Starting New Process Inserting Product Mounting Device using Set Tool Using Fit all In / Properties Using the Save As Function Removing Resources
Inst.
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Build the Layout

About Inserting Products and Resources
The insertion of products and resources depend on how you wish to use them in your process. The end result of the process should be the creation of a finished product consisting of the products listed in the product branch of the PPR tree. The resources used in the process to create the final product should be listed in the resource branch of the PPR tree.
Complete information about Inserting Products and Resources can be found in the on-line documentation. 34
Build the Layout

Starting New Process - Procedure
On the main menu bar, click Start / Resource Detailing / Device Task Definition. 2 To create a new project, select File / New. The New dialog box appears.
Scroll down to select Process and click OK.
A new Process window opens (Process 2). This shows that you can run two different projects at the same time. Then click the Close button for Process 2.
NOTE: Only one process needs to be opened.

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Build the Layout

Inserting Product - Procedure
Click Insert / Insert Product from the main menu bar. The File Selection dialog box appears.
Select the appropriate folder from your Project Data folder and click Open.
To insert tooling (resources), follow the same method as the one above, but select Insert Resource instead of Product. NOTE: Resources and products should be placed in their appropriate place in the PPR tree.
Inst.
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Build the Layout

Inserting Product - Procedure
Another way to insert a product is by using the Insert Product icon from the Activity Management toolbar.
Click Insert Product icon.
The File Selection dialog box appears and the selection can be made from here.
By clicking on the Insert Resources icon, resources can be inserted using the method shown above.
Inst.
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Build the Layout

Mounting Device using Set Tool - Procedure
Click the Set Tool icon from the Robot Management toolbar.
The Robot Dressup dialog box appears. Select a robot from the PPR tree for Name in the Robot section.
Select a tool or weld gun from the PPR tree for Name in Device section. Click on Apply. Re-orientate the end effecters on the robot, if need be, using the compass to manipulate to desired or appropriate orientation. When completed, click OK.
Example:
Incorrect
Correct
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Build the Layout

Removing Resource - Procedure
It is possible to remove resources or products after insertion and the method is as follows:
Select the Resource or product to be removed either from the PPR tree or the 3-D view. Click on the Remove from PPR icon from the PPR Tools toolbar.
The item selected will disappear automatically after selecting the Remove from PPR icon.
NOTE: The removing of products and resources can only be accomplished on the top elements in the product or resource lists.
Inst.
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Build the Layout

Using the Save As Function - Procedure
To save the floor, from the main menu select File / Save As, and save in the appropriate folder.
Example:
Inst.
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Insert Products and Resources Exercise
Inst.
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Exercise Insert Products and Resources
20 min.
Scope:
Products and resources will be inserted and set up to start the creation of a simple one robot one product work cell.
Conditions: V5 and Resource Detailing Device Task Definition workbench must be open. In this exercise you will:
Start a New Process Insert Products and Resources Mount a Weld Gun
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Do It Yourself (1/4)
Starting Point
Ending Point
Open: V5 with Device Task Definition workbench
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Start a New Process
1. 2. Select File / New from the drop down menu. Select Process from the List of Types in the New dialog box and click OK. A new Process opens and the page displays Process 2. The software defaults to the last opened workbench automatically.
REMINDER: Only one Process needs to be opened at a time.
Inst.
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Insert Product
1. Using the methods from the procedure section insert the following items. IRB_6400_24_150 ROCKER2
R.H. Body Side Assembly Product Station (Fixture) Resource IRB_6400_24_150 (Robot) Resource Rocker2 (WeldGun) - Resource
The path to the Products and Resources is as follows: R16 Robotics / Project Data / and then the appropriate folder Resource or Product. Station R.H. Body Side Assembly
Inst.
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Mounting Device using Set Tool
1. 2. 3. 4. 5. 6. 7. Click the Set Tool icon. Select IRB_6400_24_150 for robot name. Select ROCKER2#2 from the PPR tree for device name. Click Apply, do not yet click OK. Double-click compass to use the Parameters for Compass Manipulation dialog box. Using Rotational Increments position the weld gun as shown: Click OK.
Inst.
Save As: R17 Robotics / R17-Robotics Project Data / Process / RoboticsExercise-1.CATProcess

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Snap and Attach
Using the Snap Icon Defining Reference Plane (From) / Snap Options Attaching Child Selection / Hide Show Attachments
Inst.
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Build the Layout

About Snapping and Attaching
Snap and Attach
The completion of a layout includes placing and attaching other various resources and assigning them to their appropriate parent parts. This is done for the robots and other resources which sit on or depend on other resources for full functionality. The snap function allows for placement and the child selection allows the parent child relationship to be selected.
Factory Layout and Robotics / Resource Detailing V5 R15 Robotics
More about snapping and attaching can be found in the on-line documentation.
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Build the Layout

Using the Snap Icon - Procedure
In the Layout Tools toolbar, click the Snap icon. The Snap Options dialog box appears.
Snap and Attach
Select a resource from the PPR Tree to be moved. The Define Reference Plane (From) dialog box appears and a green compass is displayed showing the resources current orientation.
Example:
As the mouse pointer is moved, a small white rectangle is displayed to show the selectable planes.
Move the white rectangle and line to the desired plane and orientation and click the left mouse button. The green compass moves to this location and orientation. NOTE: Skip this step if the green compass is initially in the desired location and orientation. 49
Build the Layout

Define Reference Plane (From) / Snap Options - Procedure
Click OK in the Define Reference Plane (From) dialog box. Then select the object for the resource to be snapped. The Define Reference Plane (To) dialog box appears.
Snap and Attach
Orientate the rectangle and the line as shown in the image. Click using the left mouse button, and then click OK in the dialog box. The Snap Options dialog box appears.
In the Select field, choose Face and click OK. The resource should now be sitting on the object.
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Build the Layout

Attach / Child Selection / Hide Attachments - Procedure
Snap and Attach
In the Layout Tools toolbar, select the Attach icon. The system prompts to select the parent first, select the Object and then select the resource. The Child Selection dialog box appears.
Select OK, the Parent Child relationship appears.
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It is possible to Hide or Show this relationship. To hide it, right-click on the text, and select Hide / Show from the contextual menu.
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Snap and Attach Exercise
Inst.
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Exercise Snap and Attach
20 min.
Scope:
This exercise will finish the insertion of resources into the project. The resources will then be
snapped and the relationships defined.
Insert a Riser for the Robot Snap the Robot to the Riser Attach Robot and Riser
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Starting Point
Ending Point
Load: R17 Robotics / R17-Robotics Project Data / Process / RoboticsExercise-1.CATProcess

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Insert Robot Riser
1. Applying the previously learned insertion methods navigate to and insert Riser M.CATProduct as a resource. The Riser M. is inserted near the robot, exact positioning is not necessary at this time.
Riser M
Inst.
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Snapping Robot to the Riser
Referencing the methods from the procedure section Snap the Robot to the Riser M. 1. 2. 3. 4. 5. 6. Click Snap from the Layout Tools toolbar. The command prompts for the object to be snapped, select the Robot (IRB_6400_24_150). Select as shown in the Define Reference Plane (From) dialog box and click OK. The command prompts for the object to be snapped to, select the Riser M. Select as shown in the Define Reference Plane (To) dialog box and click OK. Select as shown in the Snap Options dialog box appears and click OK.
Inst.
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Attaching Robot and Riser
In order to complete the relationship between the robot and riser they need to be attached to one another. 1. 2. 3. Click Attach from the Layout Tools toolbar. Select the Parent (Riser M.) and then the Child (Robot), for the relationship to be selected. Click OK in the Child Selection dialog box. The relationship is complete.
NOTE: This is done in case the riser needs to be moved, everything attached to the riser will move with it.
Inst.
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Attachments and Child Selection
Using the compass and or the bounding boxes, create a layout that looks similar to this.
Inst.
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Build the Layout Module Summary

Summary
This module introduced the first step in building a simulation, i.e. to set up a working environment that best reflects the needs and desired outcomes in your context. Later procedure to bring in resources, products, and few basic tasks were discussed.
Coming Up
Create Tags and Robot Tasks
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Build the Layout
2 3 4
Optimizing the Simulation Activities and Assignments Create Tags and Robot Tasks
5
Advanced Topics
Module 2
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Overview
Tag points are created to give the robot a path to follow to perform the job at hand. The job may be welding, adhesions, or other tasks. The tag points need to be stored some where and this is where Robot Tasks come in. A robot task is a storage area for multiple tag points or groups.
Objectives
Creating Tags Creating Robot Tasks Using Teach and Jog Running a Robot Process
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Workbenches
Toolbars
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Create Tags
Creating New Tag Group Creating New Tags Renaming Tag Group and Tags
Create Robot Tasks

Creating New Robot Tasks Adding Tags to the Task Renaming Tasks and Operations
Use Teach and Jog

Moving with Jog Panel Moving with Teach Pendant Adding Tags from Teach Pendant
D
Run a Robot Process

4 hours
Saving Initial State Using Task Simulation
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Create Tags
Creating New Tag Group Creating New Tags Renaming Tag Group and Tags
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About Creating Tags (Points and Groups)
Tags are created to ensure that the robot has a path to follow. By creating tag points a path is created, this path can be numbered and named. The path can then be reordered after the path is created or in the middle of the process.
Create Tags

Complete information about creating tags can be found in the on-line documentation.
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Creating New Tag Group - Procedure
Create Tags
To create a New Tag Group, click on the New Tag Group icon from the Tag toolbar.
The Tag Group dialog box appears. 2 The default name is acceptable but it can be given any name you wish. Click OK. The tag group is created and is placed in the Resource List of the PPR tree as shown.
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Creating New Tags - Procedure
To create New Tags a group must first be created, once the group has been created a new tag can be added to the group.
Create Tags
Click the New Tag icon from the Tag toolbar.
Select the Tag Group from the PPR tree to place the tag. The Define Plane dialog box appears.
Click on Define Plane and using the define plane white bounding box, select a position for the tag to be placed, and then click OK. The tag is created and can be viewed by zooming in the area where it was placed.
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Renaming Tag Group - Procedure
Tags and the tag groups can be renamed in order to separate it into many different tags and groups for viewing ease.
Create Tags
Tag groups can be renamed by right-clicking on the group in the PPR tree and selecting Properties. The Properties dialog box appears.
Type a name under Instance name to rename the tag group.
Click Apply. The name changes in the PPR tree.
Click Close or OK to close the dialog box.
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Renaming Tag - Procedure
Tags can be renamed using the same method.
Create Tags
Right-click on the tag in the PPR tree and then select Properties from the text box. The Properties dialog box appears.
Click Tag in the Properties dialog box. Under Naming, the name of the tag can be changed to your preference. Click Apply. The name is changed and it is updated automatically in the PPR tree.
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Click Close or OK to close the dialog box.
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Create Tags Exercise
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Exercise Create Tags
20 min.
Scope:
The points for the welds must be created for the robot. In this section you will create tags and a tag group to hold the tags that are created.
Conditions: V5 and Resource Detailing Device Task Definition workbench must be open.
In this exercise you will:

Create New Tag Group Create New Tags Rename Tag Group and Tags
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Starting Point
Ending Point

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Create New Tag Group
1. 2. Click New Tag Group icon from the Tag toolbar. The Tag Group dialog box appears, name the group Weld_Path_1 and click OK.
The TagList appears in the PPR tree as shown in the below image:
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Create New Tags
1. 2. 3. 4. Click New Tag icon from the Tag toolbar. Select Weld_Path_1 from the PPR tree as a place to store the Tag. Click on the Define Plane icon from the Define Plane dialog box. Using the White Define Plane box pick a place on the R.H. Body Side Assy.
Examples
Using the White Define Plane box pick a place on the R.H. Body Side Assy.
Use the Next Page as a Guide to create tag Points. 74
Create New Tags
Tags will be created on and around the R.H. Body Side Assembly. Using the picture below create a path of tag points similar to this.
Example
Inst.
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Rename Tags and Groups
1. 2. 3. 4. 5. Right-click on the Tag.1 to be renamed, then select Properties from the menu. Click Tag node in the Properties dialog box. Under Naming, change the name to Weld_Tag. Click the Apply button to complete the changes. Select OK or Close to close the dialog box.
The same method can be used to change the name of the tag group except: Instead of selecting the Tag node, the Product Node would need to be selected.
NOTE: The tag group name can be changed but it is not necessary for this project.
Inst.

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Create Robot Tasks
Creating New Robot Tasks Adding Tags to Tasks Renaming Tasks and Operations
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About Creating Robot Tasks
Create Robot Tasks
This user friendly function makes programming robots less cumbersome. This provides the ability to take the fastener points assigned to a process activity and reuse them for creating a robot task. Based on the amount of fasteners assigned prior to selecting this powerful function, this generates operations that robots use in a matter of seconds. A task is a linear sequence of activities called operations, each operation can contain a motion and a set of actions.
Factory Layout & Robotics / Device Task Definition

More about creating robot tasks can be found in the on-line documentation.
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Creating New Robot Task - Procedure
To create a new robot task, click on New Robot Task from the Sequence toolbar.
Create Robot Tasks
The task must be associated with a robot, so select the appropriate robot for the task. The task is automatically placed in the PPR tree under the Robot in the Program section.
Once the Robot Task has been created it can be populated with tasks and operations.
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Adding Tags to the Task - Procedure
Adding tags to the robot task can be done using the Add Tag icon from the Sequence toolbar.
Create Robot Tasks
Click the Add Tag icon from the Sequence toolbar.
Select the robot task to associate the tags with.
Select tag group to be placed in the robot task. The operations are completed automatically and are displayed under the Robot Task in the PPR tree.
Example
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Renaming Tasks and Operations - Procedure
Create Robot Tasks
Tasks and operations may need to be renamed in order to keep the process easy to read and understand.
1 2 3
Right-click on the Operation or Task that needs to be renamed. Click on Properties from the menu and under the General tab the names can be changed. Click on Apply.
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Creating Robot Tasks Exercise
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Create Robot Task - Exercise
20 min.
Scope:
Robot Tasks are created as a storage area for the operations assigned to the robot. A tag group can be inserted into a robot task to create operations.
Create New Robot Task Add Tags to the Task Rename Tasks and Operations
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Starting Point
Ending Point

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Create New Robot Task
1. 2. Click New Robot Task icon from the Sequence toolbar. Select the Robot (IRB_6400_24_150) from the PPR tree.
Now that the Robot Task has been created it can be populated with the associated paths and tags.
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Adding Tags to Tasks
1. 2. 3. Click the Add Tag icon from the Sequence toolbar. Select the Robot Task.1 for a place to store the tags. Select Weld_Path_1 as the tag group to be placed in Robot Task.1.
NOTE: When only one task is available, step 2 is not necessary. The operations will be completed automatically and placed in the RobotTask.1 as shown in the example.
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Renaming Tasks and Operations
1. 2. 3. 4. Right-click RobotTask.1 from the PPR tree, then select Properties from the menu. Select the General tab from the Properties dialog box. Under Naming, change the name to Welding_Task. Select OK or Apply in order to complete the changes.
The same method can be used to change the name of the operations.
NOTE: The operations name can be changed but it is not necessary for this project.

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Move a Robot
Moving with Jog Panel Moving with Teach Pendant Adding Tags using Teach Pendant
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About Moving a Robot
Move a Robot
Using Teach and Jog are two methods of performing the same task. The task being to move a robot, a robot can be moved to create a tag point or for various other reasons. Teach and Jog are both used to move a robot. Utilizing the Teach Pendant it is possible to add tags to the robot path this can be useful when a tag point has been missed or if one is incorrectly placed.

More about moving a robot can be found in the on-line documentation.
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Moving using Jog Panel - Procedure
Jogging can be done using the Jog a Device icon from the Robot Management toolbar.
Move a Robot
Click the Jog a Device icon, then select the device to be moved. The Jog Panel appears.
Using the panel, there are multiple ways to jog the device.
One way is by using the Predefined Positions, the panel comes with one default position Home_1. Selecting this will move the device back to the original home position. OR Another way to return the device to the home position is by clicking the Reset button.
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Moving using Jog Panel - Procedure
The device can be moved using Joint Motion.
Move a Robot
Cartesian Motion can also be used to jog devices.
Each Joint can be moved independently utilizing the arrows or the degree arrows. Linear and Angular Step size can be set using these buttons.
Predefined Home Positions can be set and accessed here.
Highlighting this button makes the changes immediate.
This button closes the Jog Panel.
Inst.
Returns the device to the default position. 91

Moving using Teach Command - Procedure
Moves can be made and set by using the Teach command.
Move a Robot
Select the Teach a Device icon from the Robot Management toolbar.
Select the Robot to teach from the PPR tree. The Teach dialog box appears. The robot can be moved using the Compass that attaches to the end of the robot.
Example
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Move a Robot
Select the Different Tasks associated with the robot
Choose between Table and Compact Format
Process and VIA points can be inserted using this feature
Select between the Operations inside of the Task Selected Shows the name of the Tag Group selected
This button lets to modify a point.
Step size can be set here Allows you to Delete Points

Sets the robot to Jump or No Jump This button opens the Jog Panel Highlighting this will allow you to see a line representing the path the robot moves from point to point 93

Move one step back Move one step forward
Move a Robot
Skip to last Operation
Operations can be stepped through using these buttons
Skip to Operation 1 Run Complete Simulation.
Choose between Process and VIA points Choose insertion points before or after the operation the user is in
Run to next operation Tag, Cartesian, and Joint are the options to define the points origin
A simulation can be ran from the path created
Inst.
Pause Simulate from beginning 94

Adding Tags using Teach Command - Procedure
Tags can be added to the path using the Teach command.
Move a Robot
Click on Teach a Device icon on the Robot Management toolbar, and then click on the robot. You will see Teach dialog box. 2 Select Table from the drop menu for Format field. You will see Teach dialog box in a table format.
Select the operation at the desired insertion point.
Inst.
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Adding Tags using Teach Command - Procedure
Move a Robot
Check the Jog check box in the teach dialog box and jog the robot to move to the desired position. Use the pull down menu under Tag Group/Tag Name to select the tag group in which you want the new tag to appear Using the previous pages as a reference make selections as needed. (i.e. Tag, Cartesian, Joint, Before, After, etc). Click the Insert button and click OK. The tag is created and can be modified or reordered as needed using the Teach command.
Inst.
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Move a Robot Exercise
97
Exercise Move a Robot
40 min.
Scope:
Teach and Jog are two separate dialog boxes with similar functions, both can be used for robot motion. However the Teach Pendant can be used to add tags, modify points, and set the movement type of the motion.

Move using Jog Panel Move using Teach Command Add Tags using Teach Command
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Starting Point
Ending Point

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Move using Jog Panel
1. Click on Jog a Device from the Robot Management toolbar.
2.
Select the Robot (IRB_6400_24_150) from the PPR tree.
3.
Using the Compass move the robot to different positions, it is helpful to refer to the multiple methods learned from the procedural section of the manual as well. Click Close.
4.
Inst.
100
Move using Teach Command
1. 2. 3. Click the Teach a Device icon from the Robot Management toolbar. Select the Robot (IRB_6400_24_150) from the PPR tree. Using the Compass move the robot to the different Operations, it is possible to Edit, Modify, and Insert tags using the Teach Pendant.
When selecting the operations from the Teach Pendant, an Output Window appears. The window states that the point is unreachable. Using the Compass manipulate the tag orientation so the point is reachable.
NOTE: The next page has some examples of how this is done.
Inst.
101
Move using Teach Pendant
The tag can be modified by using the compass to find a reachable point. As seen in the picture below the point is reachable when the robot is the normal orange color. When the robot turns purple it is an unreachable position.
Reachable
Unreachable
Inst.
102
Adding Tags using Teach Command
1. 2. Click Teach a Device icon and then on (IRB_6400_24_150) from the PPR tree. Select Table for Format field and choose Operation.1 Depending on the selections from the teach pendant, the tag can be inserted before or after the operation. For this project, tag needs to be inserted before the first operation. 3. 4. Check the Jog check box and using the Jog dialog box move the robot to the required position. Click on Insert and then on OK.

103
Run a Robot Process
Saving Initial State Using Task Simulation
104

About Running a Robot Process
Run a Robot Process
A single robot process can be created and ran in a matter of minutes, which depends on number of activities the robot is about to do. The most important thing to remember is to save the initial state when a simulation is going to run. Finally using process simulation the task can be seen by selecting this single command.

More about running a robot process can be found in the on-line documentation. 105

Saving Initial State - Procedure
The state in which a process begins is called the initial state. To save a process in this state, click the Save Initial State icon from the Simulation toolbar.
Run a Robot Process
2 The Save Initial Condition dialog box appears.
After Initial State has been set, it can be restored at any time by using the Restore Initial State icon from the Simulation toolbar.
The Restore Initial Condition dialog box appears.
The default selections are acceptable. You can set up the Environment in the proper positions and using this icon the positions will all be saved. The default selections are acceptable.
Inst.
106

Using Task Simulation - Procedure
1 To run the tasks created, select the Robot Task to run from the TaskList of the PPR tree. Click on the Robot Task Simulation icon from the Simulation toolbar.
Run a Robot Process
The Simulation Controls Tools and Process Simulation toolbars appears.
3 4
Click the play button and watch the task run.

Click the Red X to close the toolbar after the task has finished running.
107
Run a Robot Process Exercise
108
Exercise Run a Robot Process
40 min.
Scope:
Running a Robot Process is not usually done in industry, but for the purpose of this class it is easier to show the capabilities of this software in a easy to create environment.

Save the Initial State Use Robot Task Simulation
109
Starting Point
Ending Point

110
Save the Initial State
1. 2. Click the Save the Initial State icon from the Simulation toolbar. The Save Initial Condition dialog box appears. The default selections are acceptable, click OK and the Current State will be saved. Once the Initial State has been saved, it can be restored using the Restore Initial State icon.
The initial state needs to be restored before running a process be attempted. In order to keep the positions of everything intact.
111
Using Robot Task Simulation
1. 2. Click the Robot Task Simulation icon from the Simulation toolbar in order to run the process. Select Robot Task.1 as the task to be simulated. The Simulation Controls and Process Simulation toolbars appear.
3.
Select the play icon from the Process Simulation toolbar. The Simulation will play through the whole path that was created. Be sure to restore the Initial Position before and after running the simulation.
NOTE: If the robot is spinning between tags it is OK, the turn numbers will be set later in the project.

112
Tags and Robot Tasks Module Summary
Summary
This module introduced you to the procedure of creating tags and robot tasks. These are essential to give the robot a path to follow to perform its job. Later adding tags using Teach pendant, using Jog panel and running single task simulation was discussed.
Coming Up Next:
Activities and Assignment
6 hours
113
114
Build the Layout
2 3 4
Optimizing the Simulation Activities and Assignments Tags and Robot Tasks
Advanced Topics
Module 3
115

Overview
Activities and assignments can be made to a project after the initial planning phase is over. In order to compile a project into a realistic representation of an actual workcell, it is necessary to create activities and then assign them to the appropriate products and resources.
Objectives
Create Activities Assign Fasteners Assign Products Assign Resources
Add Weld Gun Actions
116

Workbenches
Toolbars
117
Create Activities
B
Creating Station Activities Creating Activities for Station Removing Activity
Assign Fasteners
Importing Fasteners Assigning Fasteners
Assign Resources
Assigning Resources to Activity Un-assigning Resources Creating Robot Task Setting Active Task
Assign Products
Assigning Methods Defining Assignment Type

6 hours
Creating Weld Gun Actions Jogging to Weld Point
118
Create Activities Creating Station Activity Creating Activities in Station Removing Activities
119

About Creating Activities
Create Activities
Activities can be created for anything from a simple one robot process to a complete multiple workcell shop project. An activity can be as a storage area for step in the process. For example, a loading activity can be created to store the steps it takes to complete that activity (Pounce, Pick, Pounce, and Place). More complex tasks can be stored inside activities as well, such as a spot gluing or arc welding path.
Factory Layout and Robotics / Fastening Process Planner
Fastening Process Planner

Complete information about creating activities can be found in the on-line documentation.
120

Creating Station Activity - Procedure
1 2 In order to create a Station Activity, open the Fastening Process Planner Workbench. Select the Create Station Activity icon from the Activities toolbar.
Create Activities
Click on the Process node of the PPR tree. The Create Activity dialog box appears.
Click OK and the Station will be created in the PPR tree under the Process node.
121

Creating Activities in Station - Procedure
After creating the station, activities can now be inserted to it.
Create Activities
Click on the Activity to be inserted, such as loading, or spot gluing activity from the Activities toolbar. The Create Activity dialog box appears.
Give a name or accept the default name in the dialog box.
Click OK and the activity will be placed in the PPR tree under the station it was chosen.
Activities can be added in the order that is needed to create a process for the workcell. Example Process Flow: Load, Clamp, Spot Gluing.1, Spot Gluing.2, Unclamp, and Unload.
122

Activities Toolbar (Options)
Create Activities
Insert Station Activity
Insert UnLoading Activity Insert UnClamping Activity
Insert Stud Welding Activity Insert Clinching Activity
Insert Adhesive Application Activity
Insert Grouping Activity

Insert Clamping Activity Insert Spot Welding Activity Insert Spot Gluing Activity
Insert Arc Welding Activity
Insert Loading Activity
Insert Sealant Application Activity
123

Removing Activities - Procedure
Activities can be removed just as easily as they were inserted.
Create Activities
Right-click on the Activity to be removed.
Scroll down in the text window and click Delete. The Activity will be removed automatically after selections have been made.
An Activity that was inserted incorrectly can be removed by using the above Procedure.
124
Create Activities Exercise
125
Exercise Create Activities

R.H. Body Side Assembly This set of exercises will take you through the construction of a more complex Robotic Work-cell Process using the R.H. Body Side Assembly.
126
Design Process: R.H. Body Side Assembly
1
Create Activities
2
Assign Fasteners
4
Assign Resources
3
Assign Products
5
127
Exercise Create Activities
10 min.
Scope:
Creation of activities is done in order to store the resources and products necessary to complete a task or activity. Products along with their appropriate resources make up a finished assembly if you will.
Conditions: V5 and DPM Fastening Process Planner workbench must be open.

Create Station Activity Create Activities for the Station
128
Starting Point
Ending Point
Inst.
129
Create a Station Activity - Exercise
The Fastening Process Planner Workbench must be opened in order to create activities. 1. 2. 3. 4. Click Insert Station Activity icon from the Activities toolbar. Click the Process node of the PPR tree in order to place the Station. You can choose a name or the default name can be used Create Activity dialog box . Click OK to complete the creation of the new Station Activity.
130
Create Activities for the Station
Using the Activities toolbar create the following activities in the station that was just created.
A. B. C. D. E. F.
Loading Activity Clamping Activity Spot Welding.1 Activity Spot Welding.2 Activity Unclamping Activity Unloading Activity
A
1. Click Load icon from the Activities toolbar. 2. Click the Station from the PPR tree.
3. You can give a name or accept the default name in the Create Activities dialog box. 4. Click OK and continue to create the rest of the activities listed. Make sure to select the previous activity when inserting the next.

131
Assign Fasteners
Importing Fasteners Assigning Fasteners
132

About Assigning Fasteners
Assign Fasteners
This user friendly function makes programming robots less cumbersome, this provides the ability to take the fastener points assigned to a process activity and reuse them for creating a robot task. Based on the amount of fasteners assigned prior to selecting this powerful function, it will generate operations the robots will use in a matter of seconds.
Factory Layout & Robotics / Fastening Process Planner

More about Fastener Assignment can be found in the on-line documentation.
133

Importing Fasteners - Procedure
Assign Fasteners
In order to Import Fasteners, the Fastening Process Planner workbench must be opened.
Select the Import Fasteners icon from the Fastening Management toolbar.
The Fasteners will appear automatically on the Product or Products associated with them.
Example
134

Assigning Fasteners - Procedure
In order to assign fasteners from a product to an activity, you will need the Fastening Process Planner workbench opened.
Assign Fasteners
1
2
Select the Activity from the PPR tree to which Fasteners are to be assigned. Select the Assign Fasteners from a Product to an Activity icon from the Fastener Management toolbar.
The Fastener Assignment dialog box appears, make selections as needed to assign all fasteners to activities.
Inst.
135
Assign Fasteners Exercise
136
Exercise Assign Fasteners
10 min.
Scope:
Fasteners are usually created in a 3D software when the products are created. These Fasteners are sometimes referred to as Manufacturing Positions. In order for these fasteners to be added to the process they must be imported using the Import Fasteners icon from the Fastener Management toolbar.
Conditions: V5 and DPM Fastening Process Planner workbench must be open. In this exercise you will:
Import Fasteners Assign Fasteners
137
Starting Point
Ending Point

138
Importing Fasteners - Exercise
Using the Import Fasteners icon from the Fastener Management toolbar, import the fasteners associated with the R.H. Body Side Assembly. 1. Click the Import Fasteners icon.
The Fasteners will be inserted automatically.
Inst.
139
Assigning Fasteners - Exercise
1. A. B. To assign fastener to a product, fasteners must first be imported. After that step you can complete the product / fastener assignment. Select the Activity the Fastener is to be associated with from the PPR tree. (Spot Weld.1) Click the Assign Fasteners from a Product to an Activity icon from the Fastener Management toolbar.
C. D. E. F.
The Fastener Assignment dialog box appears, select All Products from the List of Products with Fasteners. Select Spot Welding.1 for assigning the fasteners, from the List of activities drop down menu on the dialog box. Select the even welds (2,4,6,8, etc..) while holding the Ctrl button. Using the arrow, move the selections from available to assigned.
2.
Assign the odd welds to the Spot Weld.2 Activity using the method shown above.

140
Assign Products Assigning Methods Defining Assignment Type
141

About Assigning Product
Assign Products
Products must be assigned to the process to create finished goods. For finished goods to be created, a product along with its resources must be assigned to the process that will inevitably create the finished goods.

More about Product Assignment can be found in the on-line documentation.
142

Assigning Methods - Procedure
Assigning can be done in different ways. In this section the most common methods will be discussed. The most common method for assignment is the Drag and Drop Method. The procedure for this method is as follows: A. B. C. Select the Product to be assigned without releasing the mouse button. Drag the mouse pointer to the activity the product is to be assigned. Release the mouse button once the product is over the correct activity.
Assign Products
The two other most common methods are using the Assign a Product/Resource icon and the Assign an Item icon from the Activity Management toolbar.
3
The procedure for the Assign an Item method is as follows: A. B. C. D. Select the Assign an Item icon from the toolbar. Select the Product for assignment. Select the Activity the product is to be associated with. The Product is now assigned to the activity. 143

Defining Assignment Type - Procedure
Assign Products
A less common method for assignment, Assign a Product / Resource icon from the Activity Management toolbar. The procedure for this method is as follows:
A. B. C. D. E.
Select the Assign a Product / Resource icon from the toolbar. Select the Product for assignment. Select the Activity the product is to be associated with. The Assignment Type dialog box appears, select the appropriate choice. Click Ok and the Product is assigned, and the assignment type is also completed.
Inst.
144

Assignment Type
Assign Products
This relationship is an input process. Select this when a product is processed in a further process. It may be a subassembly or a part that has been processed and completed in a previous process. Such processes are not to be processed further.
This is a disassembly process. Select this to remove a product.
This is an input process. This should be selected when a product is first processed by a process. It may be a raw material from a parts bin or some other start up product.
This is an output process. This should be selected when a product is finished after this process. The product may be a completed part, a subassembly, or a fullyassembled part.
Using the Callouts you can determine what assignment type you will need. 145
Assign Product Exercise
146
Exercise Assign Products
15 min.
Scope:
Assignments are made to associate products, resources, and various tasks that make up a process. In order to store all this information an assignment is made inside the operation or task in the process section of the PPR tree.
Conditions: V5 and Fastening Process Planner workbench must be open.

Assign Product to a Process Define Assignment Type
147
Starting Point
Ending Point

148
Product Assignment
1. For this project it is not necessary to assign the product to the process, since the fasteners are already assigned to the product, and a task, the product has been inadvertently assigned as well.
2.
However if the product did need to be assigned one could simply use the drag and drop or another method from the procedure section of this manual.
3.
Review the procedural section and if time permits assign the product the multiple activities created.
149
Define Assignment Type - Exercise
1. Using the Procedure section the appropriate assignment type can be chosen and applied to the selection.
2. For example, this Product is a product before and after the process, but this is not the start point nor the finish point for the product so the process processes the product.
3. Take some extra time and assign the product to the other activities using the different types of assignment. This does not need to be saved so the product can be assigned to anything the user wishes this is the time for trying different methods.
Saving is not necessary at this time for this particular section of the exercise.
150
Assign Resources Assigning Resources to Activity Un-Assigning Products / Resources Setting Active Task
151

About Assigning Resource
Assign Resources
Resources have to be assigned to a process for the simulation to take place. Without resources the product cannot be altered, since the resources are the tools that create a finished product and from the parts you can alter to create finished goods. For example, a car starts as thousands of parts and when the parts are assembled completely, the finished goods are obtained and ready for sale.
More about Resource Assignment can be found in the on-line documentation. 152

Assigning Resources to Activity
Assigning can be done in different ways. In this section the most common methods are discussed. The most common method for assignment is the Drag and Drop Method. 1 The procedure for this method is as follows: A. B. C. Select the Resource to be assigned without releasing the mouse button. Drag the mouse pointer to the activity the resource is to be assigned. Release the mouse button once the resource is over the correct activity.
Assign Resources
The three other most common methods are, using the Assign a Product/Resource icon, Assign a Resource icon, and the Assign an Item icon from the Activity Management toolbar.
The procedure for the Assign an Item, and the Assign a Resource method is as follows: A. B. C. D. Select the icon (Assign a Item / Assign a Resource) from the toolbar. Select the Resource for assignment. Select the Activity the resource is to be associated with. The Resource is now assigned to the activity. 153

Defining Assignment Type - Procedure
Assign Resources
The least most common method for assignment, Assign a Product / Resource icon from the Activity Management toolbar and procedure is as follows: A. B. C. D. E. Select the Assign a Product / Resource icon from the toolbar. Select the Resource for assignment. Select the Activity the resource is to be associated with. The Assignment Type dialog box appears, select the appropriate choice. Click OK and the Resource is assigned, and the assignment type is also completed.
154

Defining Assignment Type
This relationship is used for Labor, Tools, Fixtures, and any auxiliary Resource used / shared during Processing. It Defines the auxiliary Resources used in the main resource, while doing this process.This relation indicates that the resource is of labor type or sub resources in Quest.
Assign Resources
This relation is used in Quest software This relation is used in Quest software
This relationship is used for main resources such as stations and machines. It defines the main resource on which the process happens. Since the Quest and DELMIA are of the same PPR data the Process is added to the Resource.
155

Un-Assigning Resources and Items - Procedure
Un-Assigning can be done different ways. In this section, the most common methods are discussed. The three most common methods are using the Un-Assign all Products/Resources icon, Un-Assign a Resource icon, and Un-Assign an Item icon from the Activity Management toolbar.
Assign Resources
The procedure for the Un-Assign an Item, and the Un-Assign a Resource method is as follows: A. B. C. D. Click the (Un-Assign an Item / Un-Assign an Resource) icon from the toolbar. Select the Activity the Item is assigned to. Select the Item for un-assignment from the dialog box that appears. (Item / Resource) The Resource is now un-assigned from the activity.
This method can be used for either the Un-Assign an Item or the Un-Assign a Resource icon.
156

Un-Assigning Resources and Items - Procedure
Assign Resources
The least most common method for assignment, Un-Assign all Products / Resources icon from the Activity Management toolbar is as follows: A. B. C. D. Click the Un-Assign all Products / Resources icon from the toolbar. Select the Activity the products / resources are to be deleted from. The Delete Assignments dialog box appears, select as needed. Click OK and the Products/ Resources are un-assigned.
Delete only the Product assignments.
Delete all Resource and Product Assignments.

Delete only the Resource Assignments.
157

Create a Robot Task - Procedure
Assign Resources
In order to run the simulation of the activities with their assignments, a robot task must be created. When using this method with assignments, the robot task created actually creates the relationship between the resource and the process activity.
The method for creating a robot task is as follows: A. B. C. Click on Create a Robot Task icon from the Sequence toolbar. Select the Activity (Spot Gluing.1) where the robot task is to be created from the PPR tree. The Robot Task is automatically created in the Program section of the Robot PPR List.
Example
Inst.
158

Setting Active Task - Procedure
In order to simulate a work-cell, the task have to be activated. This is done by setting an active task. In order to set an Active task, the Workcell Sequencing workbench must be opened. (Start / Resource Detailing / Workcell Sequencing)
Assign Resources
Using the procedure shown below, an active task can be set: A. B. C. D. Click on Set an Active Task icon from the Resource Program toolbar. Select the Activity or the task to be set. The task is set to active automatically. There is no way to see if the task has actually been set except to run the simulation.
Inst.
159
Assign Resources Exercise
160
Exercise Assign Resources
20 min.
Scope:
Assignments are made up to associate the products, resources, and various tasks that make up a process. In order to store all this information an Assignment is made inside of the operation or task in the process section of the PPR tree.
Conditions: V5 and DPM Fastening Process Planner, Device Task Definition, and Workcell Sequencing workbenches will
be used in the exercises that follow.

Assign Resources Create a Robot Task Set an Active Task
161
Starting Point
Ending Point

162
Assign Resources
Using the Drag and Drop method from the procedural section assign the Robot to the Spot Welding Activities. 1. 2. 3.
Select the IRB_6400_24_159.I using the Left mouse button and while holding it drag the mouse pointer to the activity then release the button.
Making sure to keep the mouse button selected, drag the resource to SpotWelding.1 activity. Release the button once the pointer is over the activity for assignment. The Resources have now been assigned for this project. By viewing the PPR tree it is possible to see that the attachments and all the features have also been assigned as well.
Inst.
163
Create a Robot Task
In order to create robot tasks, Device Task Definition Workbench must be opened.
1. Click the Create a Robot Task icon from the Sequence toolbar.
2. Select the SpotWelding.1 activity from the PPR tree, the tasks will be creates automatically.
3. Repeat the procedure for SpotWelding.2.
164
Setting an Active Task - Exercise
Using the Procedure section as a guide, open the Workcell Sequencing workbench. 1. Click the Set an Active Task icon from the Resource Program toolbar. 2. Select Spot Welding.1 as the activity to set an active task on. 3. The Active Task dialog box appears, using the arrow on the dialog box scroll down and select robot task.1 then click OK. 4. Repeat these steps for Spot Welding.2.
Save As: R17 Robotics / R17-Robotics Project Data / Process / RoboticsExercise9.CATProcess

165
Creating Weld Gun Actions Jogging to Weld Points
166

About Adding Weld Gun Actions
Weld gun actions are created to simulate the action a real welder gun would make. This is done to ensure there are no clashes between the products and the resources (parts / fixtures and robots). The main reason for creating weld gun actions is to create a more realistic simulation to better analyze the process being recreated. This is done so any adjustments that need to be made to the process can be made now before the process is implemented.

More about Adding Weld gun Actions can be found in the on-line documentation.
167

Creating Weld Gun Actions - Procedure
In order to Create Weld Gun Actions, a toolbar must be inserted into the Workbench.
The path is as follows: Tools / Options / Resource Detailing / Action Libraries Tab.
168

Click the Add button on the Action Libraries page. The File Selection dialog box appears, navigate to the appropriate file as shown. The path is as follows: D:\\ Program Files \ Dassault Systemes \ B16D27 \ intel_a \ startup \ DNBIgpSpotActionLib.act
Once the file has been found, click Open from the File Selection dialog box and the toolbar is inserted automatically.
169

Creating Weld Gun Actions Cont. - Procedure
To create a retract action for the weld gun, select Retract Action icon from the Spot Weld Action toolbar, and select the Robot Motion under the task it is to be inserted.
The Option dialog box appears, select where it is to be inserted (before or after) and click OK. The Actions Configuration dialog box appears. Notice that when the predefined states (Home Positions) are selected, the weld gun moves to that position. Select the appropriate home position and click OK.
8
To create a weld gun action, click on the Weld Action icon, and select the robot motion to place the weld gun action. The Option dialog box appears, select an option from the dialog box and click OK.
170

The Actions Configuration dialog box appears. Under the Close Gun tab, select the appropriate position.
The position in which the Weld Gun can perform the task correctly. For Example: If Home position 3 were close then that would be the correct choice for a weld action.
10
Under the Weld Time tab, set the time for the weld to be completed.
11
Under the Open Gun tab, select the appropriate home position and click OK.
This sets the gun movements for closing, welding, and semi-open. 171

Jogging to Weld Points - Procedure
In the Tools / Options / DPM Fastening Process Planner / Fastener Visualization turn on the Show Fastener (Manuf) tag. This will make the tags and their coordinates visible.
The tag color can be changed for ease of viewing.
This step has already been completed this is a reference to show why and when it happens. 172

Jogging to Weld Points Cont. - Procedure
Using the Robot Management toolbar, click the Jog a Device icon, and select the robot to jog to the weld point. The Jog dialog box appears.
Notice the orientation of the compass on the weld gun. This will be compared to the orientation of each weld.
3 Using the Compass it is possible to grab the red box of the compass and place it on a tag point or fastener position in the 3D view.
This is the Red box on the Compass
Inst.
This is the time to check tags and fasteners to make sure the orientation is correct. 173
Add Weld Gun Actions Exercise
174
Exercise Add Weld Gun Actions
40 min.
Scope:
Assignments are made up to associate the products, resources, and various tasks that make up a process. In order to store all this information an Assignment is made inside of the operation or task in the process section of the PPR tree.
Create Weld Gun Actions Jog to Weld Point
175
Starting Point
Ending Point

176
Creating Weld Gun Actions
1. In order to create a Weld Gun Action the Device Task Definition workbench must be opened. Use the procedure section for help opening the workbench. Use the procedural section to open the Action Library toolbar which must be inserted into the project, to add weld gun actions. Click the Weld Action icon from the Action Library toolbar. Select Weld.2 from the PPR tree it will be the father activity of the Weld Action.
2.
3. 4.
5.
The Option dialog box appears, select the Before node from the box and click OK. The Actions Configuration dialog box appears. Click the OK button and the Operation will be added before the Weld chosen as the father activity.
6.
Inst.
177
Creating Weld Gun Actions
7. Weld Gun Actions can be created, before and after each weld.
8.
For this project, the goal is to complete the close position before for the first weld.
9.
Then complete the Open position for after the last weld in the path.
10. These steps should then be completed for Spot Welding.2, this will complete the weld actions part of this section.
Always remember that if something is not working correctly, refer to the procedural section or the Online Documentation for help.
Inst.
178
Jogging to the Weld Points
Jogging to the weld Points can be accomplished using many different methods. As you have just witnessed, by using the weld actions icon and following through the process completely the robot automatically jogs to the weld point that is selected. Another way is to use the Jog a Device icon from the Robot Management toolbar.
1. Click the Jog a Device icon, then select the IRB_6400_24_150.1 from the PPR tree.
The compass will jump to the end of the weld gun (Tool Center Point).
2. Moving the mouse over the red square on the compass, it is possible to grab and move it to any reachable position or weld point.
Inst.

179
Activities and Assignment - Summary

Module Summary
This module introduced you to creating activities and later assigning them to products and resources. Creating weld gun actions, jogging to weld gun points was also discussed here.
Coming Up Next:
Optimizing the simulation
5 hours
180
181
Build the Layout
2 4
Advanced Topics
Module 4
182

Overview
Using the different functions available in the V5 R17 environment a Simulation can be Optimized for peak performance. Some of the key elements regarding optimization will be shown in the next few sections to help you understand these functions and the ability of the V5 R17 Software better. The functions included in this module are listed below for quick reference.
Objectives
Mapping and Monitoring I/Os Robot Task Analysis Multiple Resource Simulation Create Robot Controller Profiles
183

Workbenches
Toolbars
184

A Robot Task Analysis Using Automatic Task Collision Using Clash Analysis Creating Weld Study Analysis Creating Workspace Envelope Saving Workspace Envelope
B C Multiple Resource Simulation Using Multiple Resource Simulation Using the Pert Chart for Parallel Running
Mapping and Monitoring I/Os I/O Mapping and Monitoring Exporting I/O Information Data Readouts and Documentation
D
Create Robot Controller Profiles Creating Motion Profile Creating Accuracy Profile Creating Tool Profiles (TCP) Setting Turn Numbers 5 hours
185
Robot Task Analysis
Using Automatic Task Collision Using Clash Analysis Creating Weld Study Analysis Creating Workspace Envelope Saving Workspace Envelope
186

About Robot Task Analysis
Robot Task Analysis
Robot task analysis has many different meanings because of the various methods used for analyzing the multiple tasks and configurations of tasks, which are provided in any multitude of scenarios. You can analyze tasks for collisions, clashes, or even perform a weld study analysis to determine the correct cycle time for a certain type of weld.

More about robot task analysis can be found in the on-line documentation.
187

Using Automatic Task Collision - Procedure
Switch to Workcell Sequencing workbench.
Robot Task Analysis
To create an interference zone for a welding robot, click Automatic Task Collision Analysis from the Interference Zones Toolbar. The Task Collision dialog box appears with all the robot tasks.
Select a robot task and then another (by holding down Ctrl). The last selection made will be managing the I / Os that will be automatically created. Click the down arrow to select the tasks.
4 5
In order to set up the state of the I / Os, click on the Next button. Then click the Result and Analysis tab.
188

Robot Task Analysis
To finish the I / Os setup: A. B. C. D. E. Set the Interval Distance Set the Collision Tolerance Set the Interval Rotation Check the the Drop Mark box at Check Interval button Click on the Compute button
In the geometry window, the robots step through the programs and places a Square (Collision Marker) where there is interference. ( i.e. the drop mark or collision point)
When the computation is done, the scroll bar can be used to review the results for each of the positions.
189

To Import all of the I / Os waits and sets in the robot task: A. B. C. D. Select the Interlock Map tab Select the Set / Wait button Click the Update Interference Zone bar Then click Close
Robot Task Analysis
10
For the interference zones to be set between the robots, follow through the same procedures, but select the Enter/Clear Button, then click Update Interference Zone.
11
Run the simulation to view the new process.
190

Using Clash Analysis - Procedure
To check the simulation for clashes or crashes, Click the Clash icon from the Simulation Analysis Tools toolbar. The Check Clash dialog box appears.
Robot Task Analysis
The name can be changed to your need. Select the type in the Type field and from the drop down the option select Between two selections.
For the selections, Selection.1 is activated, select the appropriate resources. Select the components from the PPR Tree. As they are selected they will become highlighted.
Click in the Selection 2 field and select the part or assembly and the appropriate station. When finished, click on Apply.
5
The Check Clash dialog box opens displaying all of the results and conflicts. This is reviewed later, click on Apply to review the Check Clash (Results) dialog box. Click on OK when done.
191

To analyze the configuration, select the Analysis Configuration icon. The Analysis Configuration dialog box appears. In the Analysis Configuration dialog box the available clashes are shown. 8
Robot Task Analysis
Select the clash and use the arrow over to place it under Selected category. Select the type of analysis mode that is to be used from the pull down menu and it will become highlighted.
10 Click on OK. The Analysis Mode activation box appears, select Yes.
11
Using the Robot Task Simulation icon, it is possible to run through the path again.
192

In some situations, the data may need to be exported for a report or some other need (ie. for Manager Reviews). If this data is to be exported, click on the Export As icon from the dialog box and then click save.
Robot Task Analysis
12
NOTE: It is possible to choose the directory the files are saved, use the appropriate location for all saved files.
193

This procedure describes how to turn on a view to see the violation in a preview window and access additional data about the violation. You can temporarily halt the simulation to observe the violation and then return to the simulation. This option works for dynamic clash analysis also. The Tools / Options / Digital Mockup / DMU Space Analysis / DMU Clash options must be set so that in the Display in Results Box section, the First line automatically selected is checked.
Robot Task Analysis
13
14
First a simulation must be running. From the Interference window, select a portion of the collision to be seen.
194

Robot Task Analysis
15
Run the simulation again. When a collision appears, click on the warning and the simulation halts. The Check Clash dialog box appears. Select the clash to view by double-clicking it. The preview window appears. To return to the simulation, click the OK button in the Check Clash dialog box, then click the run button on the Process Simulation player.
16
Export As and Save Functions are additional functions in this dialog box.
195

Robot Task Analysis
When a line is selected in the Interference Window, the process simulation player shows the same time as the one in the Interference Window.
If the simulation is ended by deselecting the Process Simulation command or by closing the Process Simulation player, then the interference window becomes grayed out. The preview window and the clash check dialog box are saved in the applications node of the PPR tree.
196

Creating Weld Study Analysis - Procedure
To create a Weld Study Analysis, click Analyze Welds for Robot icon from the Robot Management toolbar. Then select a Welding activity. This automatically selects the weld items in the geometry or PPR tree, select the weld or Tag group(s) that is a target for analysis. The target(s) appears in the dialog box.
Robot Task Analysis
To add objects to the Collision check, click the Analysis Parameters tab. Then click in the Collision Objects box, and select a component to be checked from the PPR Tree.
Delete any target by selecting the line containing the target and then clicking the Remove button.
NOTE: For more information on the Analyze Target Orientation dialog box see the on-line docs. 197

Creating Weld Study Analysis - Procedure
Robot Task Analysis
To complete and view the Results of the Collision Analysis, click the Results tab. Target Report: This frame provides feedback from the analysis. For each robot and target for an activity, a status will appear after computation. Sort By Welds: by checking this option, the table is sorted by fastener or target name.
Check KO: This button is active if at least one fastener is unfeasible. Sort By Robots: The default presentation of the data is sorted by robot name.
Display Pie Report: Displays the results on the viewer in pie form.
Rotate Closest: The Axis jumps to the middle of the nearest feasible area. This option minimizes the changes of orientations for the welds, and can be checked at any time after the analysis has been performed. Rotate biggest: The Axis jumps to the middle of the biggest feasible area. This option minimizes the risk of collision for the robot, and can be checked at any time after the analysis has been performed.
Save: This opens a Save window. The computation data shown in the target report frame is saved in a .txt file.
Compute / Stop / Resume: These buttons control the progress of the analysis. 198

Creating Workspace Envelope - Procedure
To create a Work Envelope, click Create Workspace Envelope icon from the Robot Management Toolbar. The Workspace Envelope dialog box appears.
Robot Task Analysis
Select the robot to create the workspace envelope on.
Click on the Create button and the Work Envelope is automatically created around the robot. The pull down menus can be used to select the desired tool profile and mesh resolution. The available mesh resolutions are coarse, medium , and fine.
The Envelope also appears in the PPR tree, as Workspaces under AnalysisObjects.
199

Saving Workspace Envelope - Procedure
Robot Task Analysis
To save the Workspace, right-click the workspace, the contextual menu appears. Select Save Workspace. This creates a .cgr file to contain the workspace data.
NOTE: Robots with fewer than three joints are not considered.
Workspace generation is limited to devices whose first three positioning joints fall into one of the eight generic type arm kinematics classes: - Cartesian - SCARA - Cylindrical - Block - Articulated - Spherical - Pendulum
It is possible to do a Hide / Show after the workspace is saved. 200
Robot Task Analysis Exercise
201
Exercise Robot Task Analysis
40 min.
Scope:
Robotic Task Analysis are used to analyze the simulation for cycle time and other various items. By running these task analysis on the various devices and task assigned to those devices it is possible to remove any collisions or clashes from a simulation.
Conditions: V5 and Resource Detailing Workcell Sequencing workbench must be open. In this exercise you will:
Automatic Task Collision Clash Analysis Weld Study Analysis
202
Starting Point
Ending Point
Load: R17 Robotics / R17-Robotics Project Data / Process / ForExercise11.CATProcess

203
Use Automatic Task Collision
Switch to Workcell Sequencing workbench. 1. 2. 3. Click the Automatic Task Collision Analysis icon from the Interference Zone toolbar. Select RobotTask.2, and then RobotTask.1. Click on the Next button.
4.
5.
From the Task Collision dialog box click on the Result And Analysis tab.
In the Analysis portion of the dialog box input the following: A. Interval Distance 4 in (100 mm) B. C. D. Collision Tolerance 4 in (100mm) Interval Rotation 90 deg Click on Drop Mark at check Interval.
6.
Click the Compute button.
204
Use Automatic Task Collision
8. When the computation is done, use the scroll bar at the bottom to view the results for each of the positions.
9.
Click the Interlock Map tab; select the Set/Wait button, and click on Update Interference Zone bar, and Close.
205
Perform Clash Analysis
1. 2. 3. 4. 5. 6. Click the Clash icon from the Simulation Analysis Tools toolbar. The Check Clash dialog box appears. Under the Name field Interference.1 is the default. In the Type field select Contact + Clash, and Between two selections. For Selection.1 select the Rocker 2, and the Robot S-420iS. For Section2 select the RH Body Side Assembly (1), and the Station.1. Click on Apply.
206
Save Clash Analysis
7. 8. The Check Clash dialog box opens showing all of the Results and Conflicts. Click on Apply to review the Check Clash Dialog box. Click on OK when finished.
9.
10. 11. 12. 13.
Select the Analysis Configuration icon to view the Available clashes.

Select the Clash, and use the arrow over to place it into the Selected category. From the Analysis level click to select, Highlight. Click on OK. The Analysis Mode activation box appears, click Yes.
207
Viewing Clash Analysis
14. Using the Robot Task Simulation icon from the Device Task Definition workbench, run through the path again. The Via point can now be moved in order to create a collision. Under RobotTask.1, click on Operation 7. Click the tag point in the geometry window. That activates the tag point snapping the compass to the tag.
15. 16.
17.
Grab (left mouse click, and hold) onto the X axis, and move towards the center of the part (in order to create a collision). When done, click anywhere in the blank screen to disable this function.
208
Viewing Clash Analysis
18. Bring in the Analysis Configuration dialog box, and change the settings from highlight to interrupt.
19.
Run the path again, and the Robot will stop when it comes into contact as long as the adjustment made was enough to cause a conflict.
To review what created the collision, close the Simulation and double click on the Interference Results.1 in the PPR tree under Applications.
20.
If Applications doesnt show up in the PPR tree this means there was no clash, at this time it is possible to repeat these steps and make sure the tag point is a conflict point and then complete this step again.
209
Create a Weld Study
1. In the TSA Toolbar, click the Analyze Welds for Robot icon, and select the Spot Weld.1. This automatically selects the weld items associated with the Robot Tasks. Click on the Analysis Parameters Tab. Click in the Collision Object box, and select Station.1 (Fixture) from the PPR Tree. It is possible to delete any Target by selecting the line containing the target and then pressing the Remove button. Select the Analysis Tab and review the functions in that dialog box. Select all of the Welds (Hold down the Ctrl button). For this exercise, use these settings: Uncheck Do Flip Highlight all the Welds (Ctrl) - Start angle 180deg, End angle 180deg. - Collision Object, (Fixture) Station .1 - Rotate Z every 15deg
2. 3.
4.
5.
210
View a Weld Study
5. 6. Click the Results Tab. Turn on the Display Pie Report, and select all of the activities, then click Compute in the Analyze area. The robot moves to the positions and the results are documented. Click on Weld 01, using the Rotate X (Closest) position the Weld 01 orientation closest to the middle of the nearest feasible location. The orientation changes on Weld 01. In the Robot Management Toolbar, click on the Teach a Robot icon.
7.
8.
9.
Using the Teach dialog box, step through the robot tasks using the Operations buttons, and then the Simulation buttons.
NOTE: Make a note, if in the simulation the robot flips while going from one position to another. If it does, later you can use the Set Turn Numbers to fix it.

211
Map and Monitor IOs
Mapping and Monitoring IOs Exporting IO Information Creating Data Readouts and Generating Documentation
212

About Mapping and Monitoring IOs
Map and Monitor IOs
IO Mapping is a static representation of the IO connections within one or more robot tasks, and IO Monitoring is a dynamic representation of the IO connections as the robot simulation takes place. This section explains how to view IO mapping and IO connections. The connections set up using Automatic Task Collision will also be reviewed.
Factory Layout and Robotics / Workcell Sequencing Workbench
Workcell Sequencing
Complete information about IO mapping and monitoring can be found in the on-line documentation.
213

Mapping and Monitoring IO - Procedure
Map and Monitor IOs
In order to map the IOs, click the IO Map and Monitoring icon from the IO Management Toolbar.
2 3 4
The Select Process or Individual Tasks for IO Map dialog box appears, select the the process or tasks to be checked. To view the information, click the Display IO Map Information bar. If multiple tasks appear in the dialog box and you decide not to view them all, select the tasks to remove and click on the Remove Selected Tasks button. The tasks can be sorted by the task name or by the IO name.
When completed, exiting can be done by selecting the IO Map and Monitoring icon again, or by using the Close button from the dialog box.
214

Mapping and Monitoring IO - Procedure
To use IO Monitoring: A. B. C. D. E. Click the IO Map and Monitoring icon Click on the process or tasks to be checked Then select the display IO Map Information button from the Select Process dialog box Next select the Process Simulation icon from the Simulation Toolbar Finally Run the simulation using the Process Simulation toolbar.
Map and Monitor IOs
As the simulation runs, the Force Selected Wait IO button becomes active, which enables a force selected wait for IOs to release waiting.
Click on Close when completed.
215

Exporting IO Information - Procedure
In order to Export IO Information, click the Export IO Info icon from the IO Im(Export) toolbar. The Export IO Information dialog box appears.
Map and Monitor IOs
2 3
Select the Resource Option and the Export Option as desired and click OK. The Save As window appears. Type in a name, and save it to the appropriate folder.
To view the data, open the file just created and the IO data will appear as a text file or an Excel Spreadsheet depending on the save method chosen.
216

Creating Data Readouts and Generating Documentation - Procedure
1 2 To create a Data Readouts for selected resources, click on the Data Readout icon from the Simulation Analysis Tools toolbar. Then select the Display icon from the Options toolbar that appears after the first selection.
Map and Monitor IOs
3 4
For data readout creation, a resource must then be selected from the Resource list of the PPR tree. To view more of the data relating to the resource, deactivate the Display icon in the Options toolbar and activate the Sensor icon. To modify the data, use the Select All and change the Observed section so each one says Yes rather than No. Using the Simulation toolbar click Process Simulation.
5 6
Now select Run from the Process Simulation toolbar in order to view the changes.
217

To view the changes in Spreadsheet form, click the SpreadSheet tab from the dialog box. To view the data graphically, select the Graphics button from the Outputs section of the dialog box.
Map and Monitor IOs
8 9
10
If documentation is needed for the project, click Generate documentation icon from the PPR Tools toolbar.
11
The Process documentation dialog box appears, make selections appropriately for the Script, Process, and Path. This document can then be saved to the appropriate place.
218

To start the Script, click on OK.
Map and Monitor IOs
12
13
The Documenting the process dialog box appears, showing the document is being created.
14 15
Once the documentation has been generated, click OK. To view the files, go to the directory they are saved in, and click Open. Close all windows when finished with the review.
16
219
Map and Monitor I/O Exercise
220
Exercise Map and Monitor IOs
40 min.
Scope:
IOs are set between devices for communication. This feature is needed to help with cycle times, device communication, and other various items which are required to complete a simulation.
Conditions: V5 and Resource Detailing Workcell Sequencing workbench must be open. In this exercise you will:
I/O Map and Monitor I/Os Generate Data Readouts
Inst.
221
Starting Point
Ending Point

222
Do it Yourself (2/7)
Map and Monitor IO Information
1. In the IO Management toolbar, click on IO Map and Monitoring icon from the Workcell Sequencing workbench. The Select Process or Individual Tasks for IO Mapdialog box below appears.
2. 3.
Select the robot task or tasks for which you want to see the mapping. Click on Display IO Map Information bar. The IO Map and Monitoring dialog box appears.
5. 6.
Select Sort by Task Name. Check the Graphic Display of IO Map check box to enable the IO map in the 3D view. 223
Map and Monitor IO Information
7.
When completed, exit the IO Map and Monitoring mode by clicking on Close.
8.
Now use the I/O Monitoring feature with your simulation. To use I/O Monitoring: A. B. Click the IO Map command and then the task. Click Display IO Map Information button Click the Process Simulation command. Run the simulation.
C. D.
224
Export I / O Information
9. 10. 11. 12. Click the Export IO Info icon. Select as shown from Export IO Information dialog box, and click OK. The save window appears. Type in the name, and save it in the Process folder. Open that file, and we see the IO data (They may be different depending on the RobotTask).
225
Create Data Readouts and Generate Documentation
1. Click the Data Readout icon from the Simulation Analysis Tools toolbar.
2.
Click the Display icon in the Options toolbar.
3.
4. 5. 6. 7.
Select the S-420iS robot, and all of the information is displayed.

From the Options toolbar, click on Display to deactivate the Display icon, and activate the Sensor icon. Select the Robot again, then click on the Select All button from the dialog box that appears. Run the simulation. When the simulation is finished, click on the SpreadSheet tab from the Sensor Management dialog box.
226
Create Data Readouts and Generate Documentation
8. Check Graphics check box under Outputs. To save this data, click on the File, and save it into a directory.
9.
10.
The Data is displayed graphically. Close all windows when completed.

Click the Generate Documentation icon from the PPR Tools toolbar. The Process documentation dialog box appears.
11.
For the script, go to the Intel_a\code\command and select DocumentGeneratorHtml_WNT.CATScript
227
Create Data Readouts and Documentation
12. 13. 14. 15. In the Generated Files path, Select our file directory HTML and call the file Station 1 Robotics, and Save. Click on OK to start the script. A dialog box appears showing that the documentation is being created, once the documentation has been generated, go ahead and click OK. Open the Data from the HTML directory (time permitting).

228
Multiple Resource Simulation About Multiple Resource Simulation Using Multiple Resource Simulation Using the Pert Chart for Parallel Running
229

About Multiple Resource Simulation
Multiple Resource Simulation
The Multiple Resource Simulation command enables you to select tasks associated with more than one resource (e.g. multiple robots or stations) and simulate those tasks simultaneously, even though the tasks run sequentially in the process document. A PERT Chart is a project management tool used to schedule, organize, and coordinate tasks within a project. A Pert Chart presents a graphic representation of the process flow. It allows for modification of the process plan in a dynamic and friendly manner. It is a useful tool for visualizing and re-structuring the sequence of operation of the process. Since simulation is a 3D representation of the manufacturing process, the Pert Chart can easily re-sequence the process. The order in which the activities are linked will be reflected in the PPR Tree. It is also possible to use the Pert Chart for Parallel Running which is when two tasks run in unison.

Complete information about multiple resource simulation can be found in the on-line docs. 230

Using Pert Chart for Parallel Running - Procedure
To open the Pert Chart, click the Open Pert Chart from the Data Views toolbar. The command prompt asks for a Process or Activity, select one.
The Pert window opens showing the process activity flow of the process or activity chosen. Notice the links between them.
2
To delete a link, right-click on it and select delete from the text window or on the keyboard. Moving the activities around to see what is the best way to optimize the sequence of events is possible using this window.
231

Using Pert Chart for Parallel Running - Procedure
In the Activity Management toolbar, click on Link the selected activities and select the one that was deleted and create a new process plan for the activity.
Start Finish 4
Close this window.
5
Run the Process to see what changes have taken place in the process.
232

Performing Multiple Resource Simulation - Procedure
To use the Multiple Resource Simulation tool, the Workcell Sequencing workbench needs to be opened. (Start / Resource Detailing / Workcell Sequencing) 1 Click on the Multi Resource Simulation icon from the Simulation toolbar to access multiple resource simulation. This command serves as a lead into the Process Simulation command. Once invoked, the Multiple Resource Simulation dialog box appears.
All the robots in a simulation will be shown in the dialog box.
The dialog box also lists all the resources in the PPR tree that have tasks associated with them. Using the pull down menus, tasks can be selected to run simultaneously. (Remember that NONE is an option for each of the resources pull down menu).
233

Performing Multiple Resource Simulation - Procedure
Once the tasks are selected, clicking on the OK button will make the toolbars associated with the Multi Resource Simulation dialog box appear.
Using these toolbars the simulation can be viewed.
234
Perform Multiple Resource Simulation Exercise
235
Exercise Perform Multiple Resource Simulation

40 min.
Scope:
Multiple resource simulation is used to run more than one device, process, or robot at the same time in a simulation. This is a unique function utilizing the time restraints set by the production engineers. By using this function it is possible to view two or more devices in motion at the same time.
Use Pert Chart for Parallel Running Perform Multiple Resource Simulation
236
Starting Point
Ending Point

237
Use Pert Chart for Parallel Running
1. 2. Click on the Open PERT Chart icon. From the PPR tree select Process. The Pert window appears showing the process activity flow of the Process. 3. 4. Delete all links. Manipulate the process until it resembles the snapshot below: Use the Link the selected activities icon to re-link the activity icons.
5.
Close the PERT chart. This makes the two stations run in parallel, however since there is only one product involved with this project there is no need to run it.
238
Perform Multiple Resource Simulation
7. 8. In the Workcell Sequencing workbench, click on the Multi Resource Simulation icon. Select the Robots from the Multi Resource Simulation dialog box as shown:
9. 10. 11.
Use the pull down menu to select the tasks to run simultaneously. (Remember that NONE is an option for each resource's pull down menu.) Once the tasks are selected, click on the OK button. The toolbars associated with the Process Simulation command appear. Click on the Run icon.

239
Create Robot Controller Profiles Creating Motion Profile Creating Accuracy Profile Setting Turn Numbers
240

About Robot Controller Profiles
Create Robot Controller Profiles
The software uses default settings for the Motion and Accuracy profiles to optimize cycle time and increase the accuracy of robots as they perform their operations. The purpose of a Motion file is to specify speed and acceleration values for the robot. One type of profile may set speed and acceleration parameters appropriate to a particular kind of move (e.g. moving to a weld point), while another may set those parameters in a way appropriate to a different kind of move (e.g. a via point). An Accuracy profile can be created using the Create and Edit Accuracy profile command. The purpose of the accuracy profile is to define the accuracy of a desired trajectory. When corner rounding is desired, you can select between two different algorithms to effect it.

More about robot controller profiles can be found in the on-line documentation.
241

Create Motion Profile - Procedure
To add a new motion profile, click the Motion Profile icon from the Robot Controller toolbar, then select a robot. The Motion Profile dialog box appears. The Motion Profile will be created automatically and placed under Motion in the PPR tree. To edit this profile, double-click on the profile just created. The Motion Profile dialog box appears. Absolute: Means that the speed value is the average speed the robot uses. Percent: Means that the robot will move at a specified percent of its maximum speed. Time: Means that you provide a set time for the robot motion, and the robot calculates its speed to perform the move within that time. Straight line motion, the percentage of the Maximum TCP rotational speed. Joint-interpolated motion, the percentage of the maximum joint acceleration.
Create Robot Controller Profiles
Absolute: Straight line motion, this speed specifies absolute TCP linear speed. Joint-interpolated motion, this value is divided by the maximum TCP linear speed to obtain the percentage of maximum joint speed. Percent: Straight line motion, specifies percentage of maximum TCP linear speed. Joint-interpolated motion, specifies percentage of maximum joint speed. Time: The programmed duration of the move.
Straight line motion, the percentage of the Maximum TCP rotational speed acceleration.
Straight line motion, the percentage of the Maximum TCP rotational speed
242

Create Accuracy Profile - Procedure
Robot Controller Profiles
To add a new Accuracy Profile, click the Accuracy Profile icon from the Robot Controller toolbar, then select a robot. The Accuracy Profile dialog box appears. The Accuracy Profile is created automatically and placed under Motion in the PPR tree. To edit this profile, double-click on the profile just created. The Accuracy Profile dialog box appears. Distance:As it moves near its target, the robot will move within a virtual sphere that has the target point as its center. Speed: The speed represents the extent to which the robot decelerates as it rounds the corner. A speed of 0% enables the robot to move exactly to the target point; a speed of 100% means the amount of corner rounding will be very large.
Selecting On: means that the robot moves near, but will not stop at a specific target (i.e., there will be no declaration; the target is a via point). Selecting Off: means the robot will stop at the point.
Radius of targets surrounding sphere: The accuracy value represents the radius of the sphere. Percentage of Deceleration: A percentage of the deceleration speed at which corner rounding should begin.
243

Setting Turn Numbers - Procedure
Click the Set Turn Numbers icon, from the Sequence toolbar and select a robot to have the turn numbers set. The Set Turn Numbers dialog box appears with the Cartesian Target Type selected. The default settings are usually acceptable. To complete the setting, click on Set on the dialog box. 2 3 To run through the path, select the Teach a Robot icon from the Robot Management toolbar.
The Teach dialog box appears.

4 By using the Simulation or Operation tabs the path can be viewed to see the corrections.
244
Robot Controller Profiles Exercise
245
Exercise Robot Controller Profiles
40 min.
Scope:
Multiple Resource Simulation is used to run more than one device or robot at the same time in a simulation. This is a unique function utilizing the time restraints set by the production engineers. By using this function it is possible to view two or more devices in motion at the same time.
Create a Motion Profile Create an Accuracy Profile Set Turn Numbers
246
Start Point
End Point

247
1. 2. Expand the Motion and Accuracy files for Spot Weld.1 in the PPR Tree. In the Robot Controller Toolbar, click Motion Profile.
3. 4. 5.
6.
Select the IRB_6400_24_150.1 to add a new profile and Motion.1 is created and the Motion dialog box appears. Double-click to edit the name of Motion.1. For this example, change the name to Custom Motion.1 the Speed Value to 90% and toggle between the Motion Basis to view the results. Click apply, and OK when done. Click on Accuracy Profile icon from the Robot Controller Toolbar, and adjust the accuracy to see the changes.
By double-clicking on Accuracy.1 the name of the accuracy profile can be changed.

248
Set Turn Numbers
1. 2. 3. In the Sequence toolbar, select the Set Turn Numbers icon. Select the IRB_6400_24_150.1 robot. The Set Turn Numbers dialog box appears. Leave the default settings and click Set. The command will run the robot through the path automatically and configure the turn numbers to the correct positions. Click Teach a Robot icon and run through the path to see the corrections.
4.

249
Optimizing the Simulation - Summary

Module Summary
This module introduced you to some of the key functions that can be used to optimize a simulation. It is using these tasks you can obtain peak performance.
Coming Up
Advanced Topics
7 hours
250
251
Build the Layout
2 3 4
Optimizing the Simulation Activities and Assignments Tags and Robot Tasks
Advanced Topics
Module 5
Advanced Topics
252
Advanced Topics
Overview
Advanced topics are used for a more advanced group of users. These users are more proficient with the software either from using it or previous classes taken in the field of study.
Objectives
Advanced Functionality Editing Manufacturing Positions Offline Programming Device Building Build V5 Robot
253

Workbenches
Toolbars
254
Advanced Topics
Advanced Robotic Functionality
General Settings Inserting using Catalog Browser Inserting D5 Component Teaching Robots to move on Rails Using the 3D XML Player
Editing Manufacturing Positions

Using Tag Transformation for Weld Points Using Trace TCP Show / Hide Attachments Creating Call Task
Device Building
Offline Programming
Build V5 Robot
Using Offline Programming Opening Product Uploading Robot Program Creating Frames Using RRS (Realistic Robot Simulation) Creating Joint from Axis Setting and Editing Joint Limits and Jogging Creating Home Positions Creating Tool Center Points Assigning Inverse Kinematics
Insert Parts Create Revolute Joints Define Fixed Part Define Kinematics Relations Assign Generic Inverse Kinematics
7 hours
255
Advanced Robotic Functionality General Settings Inserting using Catalog Browser Inserting D5 Component Setting Auxiliary Devices Teaching Robots to move on Rails
256
Advanced Topics
About Advanced Robotic Functionality
The advanced functions covered in this section are just an example of the many different functions included with this software. Incidentally some of the advanced functions may be a bit beyond the beginning users, however the functions that have been included should be able to be learned by even the most novice of users.
More about the Advanced Robotic Functionality can be found in the on-line documentation
257
Advanced Topics
General Settings Procedure
The first step in building a simulation is to set up a working environment that best reflects the needs and desired outcomes of the users context. 1 Launch V5 Product, open Device Task Definition workbench.
DELMIA V5R17.lnk
Double-clicking this link will start the V5 product.
From the Main Menu, click on Tools, then on Options.
3
258
Advanced Topics
General Settings Procedure
Node Tabs
The Options window appears with a tree.
The Nodes and Tabs permit the you to customize the software.
The software must be closed and reopened for changes to take effect.
259
Advanced Topics
Inserting using Catalog Browser Procedure
With the plant floor in the world, the next step is to populate the world with the resource items necessary to carry out the manufacturing activity. The path to the current library as well as recently accessed libraries can be viewed from the drop down list.
Browse another catalog allows you to search through all catalogs that have been mapped to the environment when the options were set.
Many items exist in previously constructed custom catalogs or are resident in large libraries. Catalog items can be shown in large or small icons, or as a list. Queries can be constructed on multiple levels.
The Catalog Browser is a convenient way to search and retrieve items needed to populate the environment for a particular project. Specific queries can be constructed with filters.
Smart definitions refine searches further. 260
Advanced Topics
Keep the Resource Detailing and Device Task Definition workbench and the project file open.
OR
Go to the Insert menu and select Catalog Browser OR click on the Catalog Browser icon on the Activity Management toolbar. The Catalog Browser window opens with the last catalog used.
Click on the browse another catalog icon at the far right to navigate to the location of the library or catalog.
3
Navigate through the library or catalog until the item you wish to import is located.
Inst.
261
Advanced Topics
Click on the item and drag it into the world. When the mouse button is released the item becomes visible, but it will move around with the cursor.
Click to set the item in the world and notice that another instance of the same item appears. Clicking will set another instance of the item in the world and will open another instance. This continues until the you close the dialog box. This feature is efficient for multiple instances of items necessary to populate a world.
Check the PPR tree to see that the item is listed under the ResourceList.
Inst.
262
Advanced Topics
Inserting D5 Components Procedure
To insert D5 components into the V5 release a few considerations must first be met.
First a Library with D5 components must be created and be populated with the components needed for insertion.
Then simply use the Import Delmia D5 Component icon from the Activity Management toolbar or the pull down menu from the Insert node of the menu bar.
Click on the node from the PPR tree to insert the item under it either as a Product or Resource (which ever is applicable).
Point to the part to be inserted in the appropriate folder, the object is then added to the appropriate list in the PPR tree and the geometry will appear in the 3D viewer.
263
Advanced Topics
Setting Auxiliary Devices Procedure
Click on the Define Auxiliary Device icon from the Robot Controller toolbar.
The Define Auxiliary devices dialog box appears.
Select a Robot for in the Selected Robot section.
Then select an auxiliary device that will be assigned or defined to the robot.
Click OK, and then Close from the dialog box. The device will be automatically defined to the robot.
264
Advanced Topics
Teaching Robot to Move on the Rail Procedure
Before teaching a robot to move on a rail, points should be created to make a path for the robot to follow.
Click on Teach a robot icon from the Robot Management toolbar, and select a robot from the PPR tree or 3D view. 2 Check the Jog Panel check box in the Teach dialog box. The Jog dialog box appears.
The Teach dialog box appears.
NOTE: Specific coordinates can be entered in the Jog dialog box, if they are known.
265
Advanced Topics
Teaching Robot to move on the Rail Procedure
3 4 5
Jog the Robot to the next position in the path being created. Click on Close in the Jog window to close the dialog box. Click on Insert in the Teach dialog box to insert the new position created. Click on Save Initial State icon from the Simulation toolbar to save the position just created.
The Save Initial Condition dialog box appears.
Set the desired options and click on OK (for most projects the default is acceptable).
266
Advanced Robotic Functionality Exercise
267
Exercise Advanced Robotic Functionality
45 min.
Scope:
This software has to many functions for all to be seen within a short time. For that reason the material contains only the more common tasks. For the Advanced section of this material the same is true. This section will teach General Settings, insertion using a Catalog Browser, insertion of a D5 Device, and how to teach a robot to move on a rail.
Conditions: V5 and Device Building workbench must be open. A product to which inverse kinematics needs to be
assigned should be open.

Complete General Settings Insert items using the Catalog Browser Insert a D5 Component Set Auxiliary Devices Teach a Robot on a Rail
268
Starting Point
Ending Point

269
General Settings
Node General General Display Tab General Document Navigation Option Setting_____________________________________ Turn Off AutoBackup Other Folders= requires Instructor direction to configure path to data Preselect in geometry view
Turn on Display Manipulation Bounding box

Turn on Gravitational Effects to z axis Parameters & Measures Report Generation Input XSL = requires Instructor direction to select script Output Directory = requires Instructor direction to select output directory location Parameters & Measures Symbols Filter Button = Select Hide All then OK.
Infrastructure
Digital Process for Mfg Digital Process for Mfg
Product Structure
Tree
Cache Management Activate Work with the Cache System

Activate all radio buttons under Hierarchy Tree except the Items Folder
FPP/Fastener Visualization Show the Fastener (design) FPP/Fastener Visualization Show the fastener (manuf)/tag.
Digital Process for Mfg
Compatibility
DELMIA D5
Follow path to Root Lib (Plibs\UARClib)
Inst.
270
REMINDER: You must close and reopen the software for settings to take effect.
Insert Items using the Catalog Browser
Since the users have already learned how to insert robots using the Catalog Browser the same method applies for other resources. So at this time there may not be any need for the users to complete this section.
However if the user feels they need some practice inserting now is the time, refer to the procedural section of the manual and insert any components you wish. Later use the Remove from PPR icon in order to delete the added items.
Inst.
271
Insert D5 Component
As for the insertion of D5 components, the next few steps will guide you through importing a D5 Device into the V5 environment. The insertion of a D5 component is a useful tool especially when converting from D5 to V5. However the Tools / Options must be configured before the insertion can be done. These steps should have been previously done before the class started. 1. 2. 3. 4. Click on the Import DELMIA D5 Component icon. Select the insertion node (Product/Resource List) point, select Resource from the PPR tree. In the Import DELMIA D5 Components dialog box appears select the Device Radio button. In the select a D5 file window, click WELDGUNS/TREGASKISS/H20_180_23, then click Open. Click OK. The device is automatically inserted into the process. Replace the Rocker2 Weldgun on the IRB_6400_24_150.2 with the Tregaskiss Weldgun that was just retrieved.
5. 6.
272
Set Up an Auxiliary Device (Gantry / Robot Relationship)
Using the Define an Auxiliary Device icon from the Robot Controller toolbar, it is possible to set up the robot / gantry relationship to move back and forth on the rail inside the robot program. 1. 2. 3. 4. Click on the Define Auxiliary Device icon from the Robot Controller toolbar. Select the S-420iS robot from the PPR tree for Selected Robot field. Select the Gantry from the PPR tree for Selected Auxiliary device field. Make sure to select Rail/Track/Gantry from the pull down menu as well. Click OK.
The device is automatically updated into the robot programming. This will let the user move the robot on the rail inside of the existing program.
273
Teach the Robot to move on a Rail
1. 2. 3. 4. 5. Click on Save Initial State icon from the Simulation toolbar. Use the compass to swing the robot over the RH Body Side Assembly then click Insert from the Teach dialog box. Next, lower the end effector so that it is in a general position over the product then click Insert again. Now, lower the end effector so that it is in the position to pick up the product, then click Insert. There should be 3 operations now. Using operation 2 then 1, copy and paste them to create new positions with the exact same orientation.
This is done so the robot can back out the same way it entered the pick action. 274
Teaching the Robot to move on a Rail
1. Right-click on Robot Task.2, and in the Properties, under Operation Order check to make sure the order is correct if not it can be fixed here.
Run the Robot Task using the Teach dialog box and the Simulation buttons to check the process. Select Operation.5 in the teach dialog box, then click on the Jog Panel radio button and select the Gantry from the PPR tree. Select the Middle Predefined Position from the Mechanism.1 section of the Jog dialog box.
2.
3.
4.
5. 6.
The robot moves to the middle of the rail, click on Insert in the Teach dialog box. Click Close and OK to close the windows, and then run the simulation again to view the changes.
Inst.
275
Edit Manufacturing Positions Using Tag Transformation for Weld Points Using Trace TCP Hide / Show Attachments Creating Call Task
276
Advanced Topics
About Editing Manufacturing Positions
Edit Manufacturing Positions
Manufacturing positions are created at the time of creating the initial model of the part that will be used in the finished scenario. These positions are then inserted into a simulation and so the points can be used for robots program. The points may be oriented incorrectly or unreachable, but can be edited later to make simulation run properly. The technician creating the simulation can then pass that information the next step.

Complete information about editing manufacturing points can be found in the on-line documentation. 277
Advanced Topics
Using Tag Transformation for Weld Points - Procedure
Edit Manufacturing Points
To transform a tag, click on the Tag Transformation icon from the Tag toolbar. Select the Welds that need new tag points. The Tag Transformation dialog box appears, and the compass snaps to the last weld selected.
Move the compass to the correct orientation, and click Close.
NOTE: Use the Teach a Robot icon as a reference tool to verify proper gun orientation, as you move the robot to each new location.
278
Advanced Topics
Transforming Tags using Teach dialog box - Procedure
To transform tags using the teach dialog box, click the Teach a Robot icon from the Robot Management toolbar.
The Teach dialog box appears, and the robot snaps to the Current Weld shown in the dialog box.
The default format for the Teach dialog box is Compact. Select Table, and all the welds appear with the supporting data.
The robot will jump to an operation by simply selecting it from the table. Note that the options described above for inserting operations and modifying them also appear in the tabular format the Teach dialog box. Remember this dialog box can be resized for a better view.
279
Advanced Topics
Transforming Tags using Teach dialog box - Procedure
Depending on the task and robot, not all the column headings will contain data.
3 4
Select the operation to change, since multi-selection is supported you can select more than one operation at a time by holding the Ctrl key. Select a column heading to be altered. Click on the name in the title bar.
Column Headings / Title bar
The Parameters Selection dialog box appears. Use the pull down menu to select from the different options.
Click OK, the new option appears in the table associated with the correct operation(s).
Inst.
280
Advanced Topics
Transforming Tags using Teach dialog box Cont. - Procedure
Operations
7 Return to the Compact format of the dialog box.
Click on the different operation buttons, and the simulation buttons to see the different uses of this box.
Simulation
9 Click on the Jog Panel radio button to activate the Jog dialog box. This dialog box can control the robot and return the robot to its home positions.
Jog Radio button
Return to home positions

10 Close the dialog boxes, when completed.
281
Advanced Topics
Using Trace TCP - Procedure
To Trace the TCP, click on TCP Trace from the Robot Management Toolbar then select the robot to trace. The TCP Trace Management dialog box appears
Check the On radio button in the TCP trace activation field. Click on the Teach a Robot icon, check the Track Target check box to activate the function. Then using the simulation tabs, run the simulation. The simulation will run while the line is drawn tracing the robot path.
3
282
Advanced Topics
Hide / Show Attachments - Procedure
1
To make the parent / child relationship visible, in the Environment Tools toolbar, click the Show Attachments icon and click on one of the robots. Click the icon again and select another robot, so that both relationships are shown.
Double-click the Hide Attachments icon. A. B. Click on the text to hide it. Hide both relationships and then click on the icon again to deactivate it.
To view the data in the No Show area, click on the Swap Visible Space icon in the View toolbar. Clicking it again will return you to the main 3D view.
This 3D view has a green background indicating that this is the No Show area. A component hidden in the product structure appears in low highlights in the PPR tree.
283
Advanced Topics
Hide / Show Attachments - Procedure
Click on the Swap Visible Space icon to go back to the main 3D view.
If there is a lot of data and the view is confusing, use the Hide / Show command to place some of the data in the No Show area. This area is for viewing only and the main 3D view is the active view where functions are available. 6 When using the Hide / Show command with some of the geometry. Pick the geometry from the PPR Tree or from the 3D view to see the different results.
Example: Click on any of the robots from the PPR tree and then click on the Hide/Show icon. You will notice that the selected robot is no longer visible. To make it visible again, click on the robot from the PPR tree and click on the Hide/Show icon again.
284
Advanced Topics
Creating Call Tasks - Procedure
Before a call task can be created, a new robot task must be created in order to have a place to store task data. 1 To create a new robot task, click the New Robot Task icon and select the robot to receive the new task.
Right-click on the robot task and change the name by using the properties box. To place the robot in the correct orientation, click the Teach a Robot icon.
4
The Teach dialog box appears, select the Robot Task just created and click on Insert.
(This stores the home position of the new program for the robot).
285
Advanced Topics
Moves must be created for a task so that both the tasks and the moves can be assigned to the process.
In order to create the moves, use the Jog panel in the Teach Pendant to create a position similar on the approach to the tool being used in the process. Click on the Insert / Before. A. Move the robot forward into the tool. B. Create another new position and use Insert / Before. C. Then move it back. D. Create one more new position and use Insert / Before. Close the Teach window. Click on the Creates a Call Task Activity icon, and then the new task in the Task List under the robot.
7 8
The Select Target Task dialog box appears.

Select the robot task, then click on Creates a Call Task Activity icon. Finally select the task that was just created. 286
Advanced Topics
Switch to the Workcell Sequencing workbench to Set an Active Task for the operations that were created (Start / Resource Detailing / Workcell Sequencing).
10
11
To set an active task in the process, click on the Set an Active Task icon and select the task just created.
Run the simulation.
287
Editing Manufacturing Positions Exercise
288
Exercise
- Editing Manufacturing Positions
15 min.
Scope:
The multiple parts and pieces of the device will be attached and kinematics will be added. As an added feature Inverse kinematics will be added to a separate device as well.

Perform Tag Transformation Trace TCP Hide / Show Attachments Create Call Tasks
289
Starting point
Ending point

290
Edit Manufacturing Positions
1. 2. From the Robot Management toolbar, click on the Teach a Robot icon. Locate the IRB_6400_24_150.1 under the resource node and select it.
With a closer look you can see Welds 11 and 13 need adjustment.
3. 4. 5. Double-click on the Compass to access the Parameters for Compass Manipulation dialog box. Select weld 11 from the 3D view. Manipulate the compass to a position that does not interfere with the tooling or any other geometry. Select Modify from the Teach dialog box.
6.
This will modify the position into the correct orientation.
291
Edit Manufacturing Positions - Exercise
8. Use the Compass to manipulate any other weld locations appropriately.
9. 10.
When you are satisfied with the new locations, close the Teach dialog box. Use the Teach a robot function once again to verify the weld gun orientation.
292
Trace TCP
1. 2. 3. Click Trace TCP from the Robot Management Toolbar, and select the IRB_6400_24_150.1 robot. Click On radio button for the TCP Trace Activation. Select the Teach a robot icon, and click on the Track TCP to activate the function.
4.
Run the Simulation. Make sure that you are starting from the pounce position. A line representing the robot path should be created.
293
Trace TCP - Exercise
1. Return to DNBTCPTraceDlg dialog box to see that the path has been recorded. Notice that the options to the left of the dialog box become available after selecting the recorded path. Click on the Export icon, and save the path as shown below.
2.
3.
Locate and open the output file to see the results.
294
Hide Show / Attachments - Exercise
1. Using the Hide / Show attachments icon from the Environment Tools toolbar, attachments like child parent relationships or any geometry can be hidden in the swap visible space area. Try using this function on some of the various geometry, then select the swap visible space icon from the View toolbar and it is possible to see all the hidden geometry.
2.
3.
Follow the same steps to replace the geometry to its original positions.
295
Create a Call Task - Exercise
1. 2. Insert the Tip Dresser1.CATProduct. Place the tip dresser near the location shown below.
3.
Click the New Robot Task icon, and select the robot IRB_6400_24_150.1. This creates a new Robot Task.
Use the properties menu to change the name RobotTask to Maintenance Program. Create two more RobotTasks and call it Prog and Maint.
4. 5.
296
6. 7. 8. Click the Teach a device icon, and the IRB_6400_24_150.1. Locate the Maintenance Program from the Teach dialog box. Click on Insert. (This stores the home position of the other program)
9.
10.
Using the Jog panel in the Teach Pendant. Create a position similar on the approach to the Tip Dresser.
Click on the Insert / Before. Move the Robot forward, into the tip dresser, and create a position, Insert / Before, and move it back, and create a position, Insert / Before.
11.
Close the Teach Window.
12.
Click on the Creates a Call Task Activity icon, and Prog and Maint, under the Tasklist, under the Robot.
297
13. 14. The Select Target Task Dialog box appears. Select RobotTask.1, then click on the icon again, and the Prog and Maint, and select Maintenance Program.
15.
Right click on the Prog and Maint, and in Properties / Operation Order, check to make sure the Maintenance program is the last one.
The finished Robot Task List.
298
17. 18. 19. 20. From the start menu, navigate to the Workcell Sequencing workbench. Click on Set a Active Task icon, and select the SpotWelding.1 from the Activities section of the PPR tree. Then click on Prog and Maint. from the pull down menu on the Active Task dialog box. Finally run the simulation.

299
Offline Programming
About Offline Programming Using Offline Programming Uploading Robot Programs RRS (Realistic Robot Simulation)
300
Advanced Topics
About Offline Programming
Offline Programming
This procedure describes DELMIA OLP or (Off-Line Programming) which is a robotic solution for off-line programming of complex, multi-device robotic resources. This helps to reduce man-hours while greatly improving program accuracy.
Complete information about offline programming can be found in the on-line documentation.
301
Advanced Topics
Using Offline Programming - Procedure
Offline Programming
In the OLP toolbar, click on the Create a Robot Program icon, then select the robot task to modify. The software generates the Robot Program, and the Downloading Options dialog box appears. The defaults are acceptable, click OK and the robot program dialog box appears.
Behind the scenes, an XML file has been generated also, this has been created in a directory on the C:drive. To view this file go to C:\Documents and Settings \User\Local Settings\Temp.
302
Advanced Topics
Importing Offline Programming - Procedure
Offline Programming
In order to Import the Robot Program a robot task has to be created or opened for use.
Click Import Robot Program icon on the OLP toolbar, then select the robot task to use. The File Selection dialog box appears.
The new robot task can then be populated with an existing program or the new one can be created.
303
Advanced Topics
RRS (Realistic Robot Simulation) - Procedure
Offline Programming
Realistic Robot Simulation can be done using the RRS Connect toolbar, however since this is a beginners manual we will only be discussing some of the key features not actually using RRS or Realistic Robot Simulation. RRS II Free Play command to control the motion of one or more real-time managed VRC connected robots using the VRC module's own user interface (UI) instead of the V5 UI.
RRS Connect This is used to connect the program being written to the server for RRS.
RRS Operations allows the operations to be changed for simplicity of use.
Make VRC Consistent - Allows for the VRC to be consistent throughout the whole program. Set RRS Attributes Allows the attributes to be set for RRS. RRS Status Allows you to check the status of the Program.
304
Offline Programming Exercise
305
Exercise Off-Line Programming
15 min.
Scope:
Off-Line Programming is done in order to program robots for a simulation, this can be used for all of the programming, however it is not done by all programmers this way. Some programmers utilize the software and its ease of use in robot programming, but for all the programmers that still like offline programming it can be done using the following instructions.
Conditions: V5 and Device Building workbench must be open.

Use Off-Line Programming
306
Starting Point
Ending Point

307
Off-Line Programming
1. 2. 3. Click on Create Robot Program icon from the OLP toolbar. Select the S-420iS Robot Task.2. The Downloading Options dialog box appears. The defaults are acceptable, click OK and the Robot Program dialog box appears.
308
Uploading the Robot Program
4. 5. 6. Create a new robot task for the IRB_6400_150_24.1 using the Create Robot Task icon from the Sequence toolbar. Select the Upload Program icon from the OLP toolbar, and the new robot task just created. The new robot task is populated with an existing program. For this example we will use the one just created.

309
Device Building
Opening a Product Creating Frames Creating a Joint from an Axis Setting and Editing Joint Limits and Jogging Creating Home Positions Creating Tool Center Points Assigning Inverse Kinematics
Inst.
310
Advanced Topics
About Device Building
Device Building
Device building provides a complete set of tools for modeling mechanical systems that are typically used in the manufacturing process. Such systems include robotic end-effectors (grippers, weldguns, etc.), positioning devices, stamping presses, milling machines, lathes, and tracked vehicles. The target is generic modeling of forward-kinematic devices that can be driven using joint coordinates.
Factory Layout and Robotics / Device Building
Device Building
Complete information about device building can be found in the on-line documentation.
311
Advanced Topics
Opening a Product - Procedure
Device Building
On the main menu bar, select File / Open.
The File Selection dialog box appears. Go to the appropriate folder to access the Product, click on the File and select Open.
312
Advanced Topics
Creating Frames - Procedure
Device Building
Click on Frames of Interest from the Frames of Interest toolbar and then select the part to attach the Frame.
Example
This creates a storage area for different frame types that can be used on a device. After creating the storage area, click on Frame Type from the Frames of Interest toolbar then select the Frames of Interest from the PPR tree which will be defined.
To assign the type of frame needed, select a frame type: Design, Tool, Base, or Custom. 313
Advanced Topics
4 After selecting the type of frame, select a Define Plane from the Define Plane dialog box.
Device Building
In some cases the Frame may be positioned incorrectly, if this is the case do not click OK yet.
Example
Important Note: Prismatic and revolute joints are based on the position of the (w) axis. Prismatic will move along and revolute will rotate around the (w) axis. 314
Advanced Topics
Device Building
In order to manipulate the Frames orientation, double-click the compass, which will bring up the Parameters for Compass Manipulation dialog box.
6
A specific amount can be typed in, or under rotational / transitional increments 90 degrees can be used and the compass will move in 90 degree increments by clicking the Arrows shown in the example.
315
Advanced Topics
Creating a Joint from an Axis - Procedure
Device Building
On the Device Building toolbar, use the arrow down to display the Kinematic Joints toolbar, it is possible to place it anywhere on the screen once it is open.
Click on Joint from Axis icon, and the Axis-based Joint Creation dialog box appears.
Click on New Mechanism, here a name can be given or the default is acceptable. 4
Select what type of joint to use from Joint Type in the dialog box.
Fill in the section for Axis 1 and 2 under the Current selection part of the dialog box. To do this: A. B. Select a Frame from the PPR tree for Axis 1 of the joint. Then under Axis, 2 select the other Frame to be included in the Joint, from the PPR tree.
To view the data storage area, go to the PPR tree and open Applications. This is where the data is stored for the Mechanism that has been created. 316
Advanced Topics
Setting and Editing Joint Limits and Jogging - Procedure
Device Building
Click on Fixed Part icon. The New Fixed Part dialog box appears.
Click on a part in the PPR tree. Double click on Prismatic.1 for example from the PPR Tree, in order to edit the joint values.
The Joint Edition dialog box appears. This is where the defaults for the motions are set.
Example
317
Advanced Topics
Setting and Editing Joint Limits and Jogging - Procedure
4
To set the Limits for the device, click on the Length Driven button. Change the lower and upper limits to the desired tolerance and click OK. The Information dialog box appears, click OK.
Device Building
Now the device can be jogged. This can be done by, selecting Jog Mechanism then selecting a device to jog.
Jogging can be done by using the Command.1 pull bar, or by typing in a value.
Reset and close to place the robot back to the original position. 318
Advanced Topics
Creating Home Positions - Procedure
1 Click the Home Positions icon from the Device Attributes toolbar. The Home Position Viewer dialog box appears. To create a new position, click New. The Home Position Editor Dialog box appears.
Device Building
For the selection to be completed either select Close or click Enter on the Keyboard.
Depending on the orientation of the device, type in a name that reflects that position under Name in the dialog box .
319
Advanced Topics
Creating Tool Center Points (TCP) - Procedure
The first thing to do when creating a TCP is to, open a Frames of Interest node from the PPR tree. (Make sure the Compass Automatically snaps to Selected objects is turned off.) After opening the node section from the PPR tree, click Frame Type from the Frames of Interest toolbar.
Device Building
Then select a Frames of Interest from the PPR tree to create a frame type for the selected part or device. A Frame type must then be selected in order to create the TCP for the Product. Make a selection in the Frame Type dialog box. Then select a Plane type from the Define Plane dialog box and click OK.
The TCP has now been created it can be moved into a new position or the default position may be acceptable.
320
Advanced Topics
Assigning Inverse kinematics - Procedure
Device Building
Click Inverse Kinematics icon the PPR tree.
from the Resource Device tool bar and click the main product in
You will see GANTRYs Inverse Kinematic Attributes dialog box.
2
Click in the first entry line (for Mount Part) and from the PPR tree select the part, which contains the mounting point. Click in the next entry line (for Mount Offset) and from the PPR tree select the desired Frame of Interest, where the TCP will be located.
321
Advanced Topics
Assigning Inverse kinematics - Procedure
Device Building
4 5
For the Reference part, select any geometry within the kinematic device from the PPR tree.
For the Base Part, select the anchored geometry. Fill in any other details you desire and click on More button.
You will see the following dialog box:
Click on Actuator Space Map tab. You will see the following dialog box:
Note: If the OK button is grey, it indicates there are settings, which need to be set.
Click Compute button to allow V5 gather the necessary information from V5 mechanism.
Click OK. You should now be able to jog the mechanism using inverse kinematics.
322
Device Building Exercise
Inst.
323
Exercise Device Building
15 min.
Scope:
The multiple parts and pieces of the device will be attached and kinematics will be added. As an added feature Inverse kinematics will be added to a separate device as well.

Device Building Assign Inverse Kinematics
324
Starting Point
Ending Point
Load: R17 Robotics / R17-Robotics Project Data / Product / PedWelder/ PedWelder.CATProduct

325
Open Product
1. The parts on the Ped Welder need to be attached so they move in unison with one another, using the Attach icon attach Holder18, Shank21, and the Cap1 as Children to Piston10. Piston10 is the Parent in this relationship.
REMINDER: Selection of multiple parts can be done by holding the CTRL. button.
The parts can now move together opening and closing as one piece.
Inst.
326
Create Frames
The Frames of Interest need to be created for Piston10. and Base.1.
1.
Using the Frame Type icon define the Frame for the Piston10. Select Design from the Frame Type dialog box. Select Define Plane using Compass, from the Define Plane dialog box do not click OK yet.
2.
3.
Inst.
327
Create Frames
4. Double-click the compass to make the dialog box appear. Type in 90 degrees on the Along V and click on either rotation arrow to set the (V) Axis in the correct position as shown.
5.
Close the Compass Manipulation dialog box. Now you can click OK in the Define Plane dialog box.
This is done so the orientation of the Frame is positioned correctly.
328
Create Frames
1. Repeat the steps to Create and Define the Frame for the Base1.
2. All the settings are the same for the Base as they were for the Piston i.e. the Define Plane and the Frame Type are the same. 3. Since the settings are the same for the Base you can click OK.
329
Create Joint from Axis
1. 2. 3. 4. 5. Click on the Joint from Axis icon from the Kinematic Joints toolbar. The Axis-based Joint Creation dialog box appears. Accept the default name and click OK.
Under Joint type select Prismatic.

Select Design.1 from below the Base in the PPR tree for Axis 1 field. Select Design.1 from Piston10 for Axis 2 and click OK.
The dialog box should look like this when completed.

To view the data stored for the Mechanism you just created, go to Applications in the PPR tree and click open.
330
Set and Edit Joint Limits
1. In order to set-up the device for motion, click the New Fixed Part icon from the Device Building toolbar. Click the Base in the PPR tree. Double click on Prismatic Under Applications / Mechanisms / Joints in the PPR tree and the Joint Edition dialog box appears.
2. 3.
4.
Click on the Length Driven button. Change the Lower limit to 0mm and the Upper limit to 100mm, then click OK. Now you see the Information dialog box, the user can now select OK.
331
Jog the Device
1. 2. The mechanism has the ability to be jogged. Click Jog Mechanism and then select the Ped Welder. The Jog dialog box appears. The user can move the Ped Welder using the dialog box.
3.
Click on Reset, then on Close when completed.
Refer to the procedure section for tips on using the Jog dialog box.
332
Create Home Positions
Home Positions can be created using the Home Positions icon from the Device Attributes toolbar. 1. Click Home Positions icon and the Home Positions Viewer appears. 2. Click New in the Home Position Viewer and the Home Position Editor dialog box appears. 3. Type Open under Home Position Name, and click on Close. 4. Click New in the Home Position Viewer dialog box again. Now move Command.1 slider to 100mm and repeat the steps for the Closed position.
The Mechanism can now be Jogged using the Home Positions just created.
333
Create TCP
1. Select Closed from the Home Position Editor dialog box. 2. Click Frame Type from the Frames of Interest toolbar. 3. Select Frames of Interest from under the Base in the PPR tree and the Define Plane and Frame Type dialog box appears. 4. In the Frame Type dialog box select Tool. 5. Select Define Plane at Center of Circle in the Define Plane dialog box.
334
Create TCP
1.
2. 3. Pick three points on the surface of the Cap then click OK. In the Measurement Toolbar, click Measure Between, then pick the surface of Cap 1 and Cap 2, then click OK. Select Tool1 and move it between the Caps using the Parameters for Compass Manipulation dialog box for the new Position of the TCP.
Save As: R17 Robotics / R17-Robotics Project Data / Product / PedWelder / PedWelder.1.CATProduct
335
Starting Point
Ending Point
Load: R17 Robotics / R17-Robotics Project Data / Product / Gantry / Gantry.CATProduct

336
Assign Inverse Kinematics
Note: Before assigning inverse kinematics, open GANTRY.CATProduct from the Product folder. 1. Click on Inverse Kinematics GANTRY from the PPR tree. icon and click on
2.
Click in the first entry line (for Mount Part) and from the PPR tree select Gantry DummyJ4.3. Click in the next entry line (for Mount Offset) and from the PPR tree select Design.2. For the Reference part, select Track_0.1 from the PPR tree. For the Base Part, select Track_0.1 from the PPR tree and click on More button. Click on Actuator Space Map tab and click on Compute. Click OK.
3. 4. 5. 6. 7.
Save As: R17 Robotics / R17-Robotics Project Data / Product / Gantry / Gantry.1.CATProduct
337
Build V5 Robot
Inserting Parts Creating Revolute Joints Defining Fixed Part Defining Kinematics Relations Assigning Generic Inverse Kinematics
338
Advanced Topics
About Building a Robot
Using Device Building workbench, you can now build a robot with all the controller and inverse kinematics in addition to the forward kinematics. To build a robot, follow the parent child relation. For ex: To create a joint between base and a part, you will have to select the base components first such as line1, plane 1 and then the components of the part such as line 2, plane 2. You will have to follow this procedure in building each and every joint of the robot. However the exercise section explains with the images to show you which part needs to be selected first and which part to be selected second.
Build V5 Robot
Factory Layout and Robotics / Device Building
Device Building
Complete information about building robot can be found in the on-line documentation.
339
Advanced Topics
Inserting Parts - Procedure
Click on File/New, and select Product from the New dialog box.
Build V5 Robot
1 2 Click on Insert/Existing Component, and click on Product node on the PPR tree.
Select appropriate CATPart and click on Open.
340
Advanced Topics
Inserting Parts - Procedure
You will see the selected CATPart inserted.
Build V5 Robot
Insert the next CATPart following the previous steps.
341
Advanced Topics
Creating Revolute Joint - Procedure
Build V5 Robot
Right click on the compass and check the Snap automatically to selected object option . Click on the part, which needs to be positioned correctly. The compass attaches itself to the part. Using the compass, position the part to create a revolute joint. 6 Click Revolute Joint on the Device Building tool bar. You will see Joint Creation: Revolute dialog box.
Click on New Mechanism. You will see Mechanism Creation dialog box.
Type in a name for Mechanism name field or accept the default name and click OK. 342
Advanced Topics
Creating Revolute Joint - Procedure
Build V5 Robot
Click on the required axis of the parent and child part for Line 1: and Line 2: fields respectively.
10
Click on the required plane of the parent and child part for Plane 1: and Plane 2: fields respectively.
11
Check the Angle driven option and click OK. Revolute joint is created between the parent and the child part.
343
Advanced Topics
Defining Fixed Part - Procedure
Build V5 Robot
12
Click Fixed Part on Device Building Toolbar and click the parent part from the 3D window or PPR tree.
You will see a dialog box as shown below, click OK.
After defining the fixed part, inserting parts and creating revolute joints must be continued till a robot is built. 13 Follow the steps detailed earlier to insert parts and create revolute joint between the newly inserted part and the parent part. You can define kinematics relations only after you have built a robot similar to the image shown.
NOTE: Detailed set of steps to create revolute joints is mentioned in the exercise section of this material.
344
Advanced Topics
Defining Kinematics Relations - Procedure
Build V5 Robot
14
Click Kinematics Relations on Device Attributes toolbar and click the robot.
You will see a dialog box listing the non-command joints.
15
Select one of the non-command joints and click on Add/Edit Relation. You will see Define Joint Kinematic Relationship dialog box.
16
Enter the required relationship and click on OK. Repeat the steps for the other non-command joint.
345
Advanced Topics
Assign Generic Inverse Kinematics - Procedure
Click Inverse Kinematics on Resource Device Toolbar and click on the robot. You will see Inverse Kinematic Attributes dialog box.
Build V5 Robot
17
18
Select mount part, mount Offset, reference part, and base part from PPR tree and click on More. 19 Click on Actuator Space Map tab and select the Kin Parts manually from the PPR tree.
346
Advanced Topics
Assign Generic Inverse Kinematics - Procedure
Switch to BaseMore tab and select Generic Inverse for Solver Type field.
Build V5 Robot
20
21
Move to Solver Attributes (Generic) tab page, and click OK. A controller node appears on the PPR tree.
347
Build V5 Robot Exercise
Inst.
348
Exercise Build V5 Robot
40 min.
Scope:
In this section you will build a robot using the steps given in the procedure section. You will then define kinematics relations and assign generic inverse kinematics.
Conditions: V5 and Resource Detailing Device Building workbench must be open.

Insert Parts Create Revolute Joint Define Fixed Part Define Kinematics Relations Assign Generic Inverse Kinematics
349
Starting Point
Ending Point
Load: V5 with Device Building work bench

350
Inserting Parts and Creating Revolute Joints
1. 2. 3. 4. 5. 6. 7. 8. Click on Insert/Existing Component and click on the product node on the PPR tree. Choose the IRB0.CATPart. Follow step 1 and 2 to insert IRB1.CATPart. Right click on the compass and check the snap automatically to selected object option. Click on IRB1.CATPart and using the compass, position it correctly before creating a revolute joint. Click Revolute Joint in Kinematics Joints toolbar. Click New Mechanism in the Joint Creation:Revolute dialog box. Accept the default name in the Mechanism Creation dialog box and click OK.
Note: You can find the parts used in this exercise in the R17 Robotics / R17-Robotics Project Data / Parts folder. 351
Creating Revolute Joints and Defining Fixed Part
9. Use the below table to fill in the Line and the Plane details:
Line 1 Line 2 Plane 1 Plane 2 10. 11. 12. Z-axis of IRB0.CATPart Z-axis of IRB1.CATPart XY plane on IRB0.CATPart XY plane on IRB1.CATPart
Check the Angle Driven option and click OK. Click Fixed Part command and select IRB0.CATPart from 3D window or PPR tree. Click OK on the Information dialog box.
352
13. Insert IRB2.CATPart and create a revolute joint between IRB1.CATPart and IRB2.CATPart. Click on Revolute Joint command. Accept the default values as Mechanism.1 and Revolute.2 Use the below table to fill in the Line and the Plane details: Line 1 Line 2 Plane 1 Plane 2 14. X-axis of IRB1.CATPart X-axis of IRB2.CATPart YZ plane on IRB1.CATPart YZ plane on IRB2.CATPart
Check the Angle Driven option and click OK. Check if the parts moves to the position as shown in the image.
REMINDER: Insert all the .CATParts using Insert/Existing Component option throughout this section.
Here Revolute joint is used because we want the IRB2.CATPart to rotate on the axis of the IRB1.CATPart
353
15. Insert IRB2a.CATPart and create a revolute joint between IRB1.CATPart and IRB2a.CATPart. Click on Revolute Joint command. Accept the default values as Mechanism.1 and Revolute.3 Use the below table to fill in the Line and the Plane details: Line 1 Line 2 Plane 1 Plane 2 16. X-axis of IRB1.CATPart X-axis of IRB2a.CATPart YZ plane on IRB1.CATPart YZ plane on IRB2a.CATPart
Here revolute joint is used because we want the IRB2a.CATPart to rotate on the axis of the IRB1.CATPart 354
17. Insert IRB3.CATPart and IRB4.CATPart. Create a revolute joint between IRB3.CATPart and IRB4.CATPart. Click on Revolute Joint command. Accept the default values as Mechanism.1 and Revolute.4 Use the below table to fill in the Line and the Plane details:
Line 1 Line 2 Plane 1 Plane 2 18. Y-axis of IRB3.CATPart Y-axis of IRB4.CATPart XZ plane on IRB3.CATPart XZ plane on IRB4.CATPart
Here revolute joint is used because we want the IRB4.CATPart to revolve around the axis of the IRB3.CATPart.
355
19. Insert IRB5.CATPart and create a revolute joint between IRB4.CATPart and IRB5.CATPart. Click on Revolute Joint command. Accept the default values as Mechanism.1 and Revolute.5. Use the below table to fill in the Line and the Plane details:
Line 1 Line 2 Plane 1 Plane 2 20. X-axis of IRB4.CATPart X-axis of IRB5.CATPart YZ plane on IRB4.CATPart YZ plane on IRB5.CATPart
356
21. Insert IRB6Axis.CATProduct and create a revolute joint between IRB6Axis.CATProduct and IRB5.CATPart. Click on Revolute Joint command. Accept the default values as Mechanism.1 and Revolute.6. Use the below table to fill in the Line and the Plane details:
Line 1 Line 2 Plane 1 Plane 2 22. Y-axis of IRB5.CATPart Y-axis of IRB6Axis.CATPart XZ plane on IRB5.CATPart XZ plane on IRB6Axis.CATPart
Here revolute joint is used because we want the IRB6Axis.CATProduct to revolve around the axis of the IRB5.CATPart. 357
Creating Revolute Joints
23. Create a revolute joint between IRB3.CATPart and IRB2.CATPart. Click on Revolute Joint command. Accept the default values as Mechanism.1 and Revolute.7. Use the below table to fill in the Line and the Plane details:
Line 1 Line 2 Plane 1 Plane 2 24. X-axis of IRB2.CATPart X-axis of IRB3.CATPart YZ plane on IRB2.CATPart YZ plane on IRB3.CATPart
Leave the Angle Driven option unchecked and click OK. Check if the parts moves to the position as shown in the image.
358
25. Insert IRB3a.CATPart and create a revolute joint between IRB2a.CATPart and IRB3a.CATPart. Click on Revolute Joint command. Accept the default values as Mechanism.1 and Revolute.8. Use the below table to fill in the Line and the Plane details: Line 1 Line 2 Plane 1 Plane 2 26. X-axis of IRB2a.CATPart X-axis of IRB3a.CATPart YZ plane on IRB2a.CATPart YZ plane on IRB3a.CATPart
Leave the Angle Driven option unchecked and click OK. Check if the parts moves to the position as shown in the image. The robot built should resemble the image shown below:
Here revolute joint is used because we want the IRB3a.CATPart to revolve around the axis of the IRB2a.CATPart.
359
Defining Kinematics Relations
1. 2. 3. 4. 5. Click Kinematics Relations on Device Attributes toolbar and click the robot. Click on Revolute.7 and click on Add/Edit Relation. Type in dof(3)-dof(2) relationship in the field provided and click on OK. Repeat step 2 for Revolute.8 and type dof(3)+dof(2) relationship. Click OK.
360
Assigning Generic Inverse Kinematics
1. Click Inverse Kinematics on Resource Device Toolbar and click on the robot. Use the below table to fill in the fields: Mount Part Mount Offset Reference Part Base part 3. 4. IRB6Axis.CATProduct Tool 1 Frame of Interest IRB0.CATPart IRB0.CATPart
Click on More. Click on Actuator Space Map tab and use the below table to fill in the fields: Command 1 Command 2 Dof(1) Dof(2) IRB1.CATPart IRB2.CATPart
Command 3
Command 4 Command 5
Dof(3)+dof(2)
Dof(4) Dof(5) Dof(6)
IRB3.CATPart
IRB4.CATPart IRB5.CATPart IRB6Axis.CATProduct
Command 6
Select Kin Parts manually from the PPRTree. 361
Assigning Generic Inverse Kinematics
5. 6. Switch back to BaseMore tab and select Generic Inverse for Solver Type field. Move to Solver Attributes (Generic) tab page, and click OK. A controller node appears on the PPR tree.
7.
Click on Jog Mechanism command to jog the robot.
Save As: R17 Robotics / R17-Robotics Project Data / Parts/ V5Robot.CATProduct

362
Advanced Topics - Summary

Summary
In this module you learned about advanced functionalities, editing manufacturing positions, offline programming, device building, and building a robot.
Coming Up
Wrap up and Evaluations
1 hour
363
Wrap Up
DELMIA V5 Robotics offers a scalable, easy to use solution for tooling definition, workcell layout, robot programming, and workcell simulation. It is much more than a basic offline programming system. It can capture the underlying philosophy of and intent of the robot programmer allowing the company to capture and reuse best practices, leverage programming knowledge, and automate the repetitive work of robot programming. V5 Robotics is ideally suited for work in the Automotive Industry, specifically robot spot welding and material handling operations. It can be extended for use in other domains as well.
V5 Robotics also allows you to: Define the number and sequence of steps / tasks to obtain a specific state of a product. Associate the tools necessary to perform those tasks. Associate the right methods and data to perform those tasks. Be able to document, validate, and reuse this series of steps. Add product data such as fasteners to an operation in a process. Manage fastener assignments and account for fastener.
Coming Up
Evaluations
364
AFTER TRAINING SUPPORT AND SERVICES
www.delmiasupport.com
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Professional Services
Professional services are available to customers to provide on-site, Over the Shoulder assistance with implementing DELMIA solutions. Contact your local DELMIA office for more information
In the USA
248.267.9696
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Thank you
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Introduction to V5 Robotics - Specialist Course

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Goal of the Project

Create a New Robot Task. (Empty)

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Build the Layout

Tags and Robot Tasks

Activities and Assignments

Build the Layout

Build the Layout

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Workbenches and Toolbars used in this Module

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Build the Layout

Insert Products and Resources

Snap and Attach

Position and Manipulate Compass

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Build the Layout

Position and Manipulate Compass

Factory Layout and Robotics / Device Task Definition

Device Task Definition

Build the Layout

Position and Manipulate Compass

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Build the Layout

Position and Manipulate Compass

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Build the Layout

Position and Manipulate Compass

Build the Layout

Position and Manipulate Compass

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Build the Layout

Position and Manipulate Compass

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Copyright DASSAULT SYSTEMES

Build the Layout

Insert Products and Resources

Factory Layout and Robotics / Device Task Definition

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Device Task Definition

Build the Layout

Insert Products and Resources

Scroll down to select Process and click OK.

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NOTE: Only one process needs to be opened.

Build the Layout

Insert Products and Resources

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Build the Layout

Insert Products and Resources

Click Insert Product icon.

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Build the Layout

Insert Products and Resources

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Build the Layout