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Tecnomatrix WKP115S Activities
Tecnomatrix WKP115S Activities
Robotic Simulation
Actividades
COMIMSA
12 al 16 de diciembre 2011
Saltillo, Coahuila
Contenido
BASIC CONCEPTS............................................................................................................................ 7
Activity: Starting Process Simulate and Opening the Basic Project .............................................. 7
Activity: Setting and Viewing Basic Options ................................................................................ 9
Activity: Create the High-Level Operation Tree (1) .................................................................... 13
Activity: Create the High-Level Resource Tree (2) ..................................................................... 15
Activity: Associate the Trees Together ...................................................................................... 17
Activity: Examine the Object Types that are Available .............................................................. 19
Activity: Examine the Part Library ............................................................................................. 20
Activity: Examine the Resource Library ..................................................................................... 22
Activity: Setting the Working Folder ......................................................................................... 24
Activity: Creating a New Study ................................................................................................. 26
Activity: Browsing the Process Simulate Scene ......................................................................... 29
Activity: Docking and Floating Windows ................................................................................... 31
Activity: Saving a Window Layout ............................................................................................. 34
Activity: Using a Window Layout .............................................................................................. 36
PROCESS SIMULATE ON EMS ENVIRONMENT ............................................................................... 37
Automotive Activity: Getting an Overview of the Objects in the Object Tree ............................ 37
Activity: Object Tree Basics and Groups.................................................................................... 42
Activity: Using the Right Click Popup Menu .............................................................................. 46
Activity: Basic Graphic Viewer Controls .................................................................................... 47
Activity: Selecting Objects in the Graphic Viewer ...................................................................... 50
Activity: Additional Methods of Multiple Entity Selection ......................................................... 53
Activity: Using Toggle Display ................................................................................................... 56
Activity: Blanking all the Frames using Selection Filters (Optional) ............................................ 57
Activity: Blanking all the Frames using Display by Type ............................................................. 58
Activity: Relationship Between Measuring and Units ................................................................ 59
Activity: Changing Visualization Performance ........................................................................... 61
Activity: Changing Graphical Visualization ................................................................................ 64
PLACEMENTS COMMANDS .......................................................................................................... 72
Activity: Using Fast Placement.................................................................................................. 72
Activity: Creating a Frame ........................................................................................................ 75
Instructor Demo: Implementing Joint Logic with Functions (Optional Activity) ....................... 295
Instructor Demo: Kinematics Following a Surface (Optional Activity) ...................................... 298
Instructor Demo: Examine the Train Joint............................................................................... 301
Instructor Demo: Examine the Cam Joint................................................................................ 302
Activity: Setting up Compound Equipment ............................................................................. 304
GENERAL ROBOTICS ................................................................................................................... 310
Activity: Creating a New Study (Again) ................................................................................... 310
Activity: Training Data Overview ............................................................................................ 312
SPOT WELDING APPLICATIONS................................................................................................... 315
Activity: Viewing Spot Mfg Features in Process Simulate ........................................................ 315
Activity: Projecting Spot Mfg Features .................................................................................... 318
Activity: Adjusting a Weld Path .............................................................................................. 321
Activity: Gun Shank Validation ............................................................................................... 328
Activity: Using Weld Distribution Center (with Automatic Approach Angle) ............................ 333
Activity: Putting the Gripper on the Robot (for Ped. Welding) ................................................ 337
Activity: Get/Put the Part in the Fixture .................................................................................. 342
Activity: Creating a Rough Mounted Workpiece Path ............................................................. 346
Activity: Orient the Locations ................................................................................................. 349
Activity: Weld Gun Search ...................................................................................................... 355
Instructor Demo: Simulating Robots with Servo Guns ............................................................. 363
Activity: Working with Servo Guns ......................................................................................... 364
MATERIAL HANDLING APPLICATIONS ......................................................................................... 371
Activity: Pick and Place (Material Handling) Setup .................................................................. 371
Activity: Create the Basic (PNP) Process ................................................................................. 375
Activity: Stacking Boxes .......................................................................................................... 383
Activity: Doing the Second Pass (Optional Activity) ................................................................. 387
CONTINUOUS APPLICATIONS ..................................................................................................... 390
Activity: Using Continuous Feature Operations....................................................................... 390
Activity: Creating Arc MFGs for the Whitehouse Part ............................................................. 398
Activity: Creating Debur MFGs for the Whitehouse Part ......................................................... 405
Activity: Creating Paint MFGs for the Whitehouse Part ........................................................... 410
Activity: Creating Arc Seams for the Whitehouse part (using Project Arc Seam)...................... 417
BASIC CONCEPTS
Activity: Starting Process Simulate and Opening the Basic Project
The objective of this activity is to open a Process Simulate session from the specified
studies.
Login to database using your eMS user ID
Open your Basics Project
Login to database using your eMS user ID
1. Before starting Process Simulate, verify that your Space Mouse is connected to the
computer and that the driver is loaded, if you intend on using this optional device
during your Process Simulate session.
Note:
If the driver is loaded, a blue ring will glow around the manipulator.
2. Double click on the Process Simulate desktop icon.
User Type
eMS User ID
instructor
administrator
student
user1
student
user2
student
user3
student
user4
student
user5
student
user6
WKP115S-Process Simulate Basic Robotic Simulation
etc...
etc...
student
user8
student
user9
4. Click [OK].
Open your Basics Project
1. From the Open Project window, select the Basics Project user## project (where
## is the user number assigned to your by the instructor).
2. Click [OK].
The objective of this activity is to set basic Graphic Viewer settings such as the Process
Simulate System Root.
Note:
The path to all library objects is relative to the System Root. To enhance data
management efficiency, studies from several projects can reference the same objects
under the same System Root.
Set the background color to black
Set the mouse movement mode to Continuous
Check the system root settings
Set the background color to black
3. From the drop down list in the lower left corner (that currently shows Vertical),
select Solid.
4. Change the Background color to black.
Note:
If Corners is selected instead of Vertical, you could select four different colors to
be used at once, instead of just one color. It is your choice.
Set the mouse movement mode to Continuous
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Note:
Direct viewing: Objects only move when you move your mouse. This is the Process
Simulate default configuration.
Continuous viewing: Objects continue to move at the initial speed of mouse movement.
This is the Robcad default
1. In the Options window, select the Graphic Viewer tab.
Note:
You do not have permissions to change the System Root value in class. Local
administrative rights are required.
1. Select the eMServer tab and verify the settings are what the instructor suggests
for class.
11
Warning:
If this setting is wrong you will not have any 3D data in class and will not be able to
complete 90% of the activities. This is a critical setting.
2. Click [OK] to close the Options window.
12
Check Out
.
3. In the Check Out window, click [OK].
4. In the Navigation Tree, right click the Operation
New
5. From the New window, browse and locate CompoundOperation
6. Scroll to the right and enter Operation Tree for the Name.
7. Check the checkbox for it or enter 1 for the Amount.
object type.
Note:
The Name can contain any enterable character and can be up to 256 characters
long.
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object type.
Note:
When creating multiple objects a number can be entered in [brackets which will be
the starting point for the increment. More can be done as well.
5. In the New window, click [OK].
6. Expand below Operations Tree.
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Check Out .
2. In the Check Out window, click [OK].
3. In the Navigation Tree, right click the Resource
New
.
4. From the New window, browse and locate CompoundResource
5. Scroll to the right and enter Resource Tree for the Name.
6. Check the checkbox for it or enter 1 for the Amount.
object type.
Note:
The Name can contain any enterable character and can be up to 256 characters
long.
15
1. In the Navigation Tree (3) (with Resource Tree as the root object), right click the
Resource Tree CompoundResource and select New
.
2. From the New window, browse and locate CompoundResource
3. Enter 2 for the Amount.
4. Scroll to the right and enter Station [1] for the Name.
object type.
Note:
When creating multiple objects a number can be entered in [brackets which will be
the starting point for the increment. More can be done as well.
5. In the New window, click [OK].
6. Expand below Resource Tree.
16
Caution:
Normally we would not do the assignment at the top level. .
1. From the Navigation Tree (3) (displaying the Resource Tree as the root object),
select the Resource Tree CompoundResource.
2. Drag and drop it onto the Operation Tree CompoundOperation.
3. Right click the Operation Tree CompoundOperation and select Properties .
4. In the Properties window, select the Resources tab to see the relationship just
made.
5. From the Navigation Tree (3) (displaying the Resource Tree as the root object),
select the Resource Tree CompoundResource.
6. In the Properties window, select the Operations tab to see the other half of the
two-way relationship just made.
Part Assignment: Associate End Items from the Product Tree to the Operation Tree
1. Unpin
the Sequence Editor viewer to make more room.
2. From the Navigation Tree, expand the Product collection (folder).
3. From the Navigation Tree, right click the Product Tree CompoundPart and select
Navigation Tree .
4. From the Navigation Tree (4) (displaying the Product Tree as the root object), right
click Product Tree and select Expand > Expand 3 Levels.
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5. Drag and drop the Purchased Assy1 CompoundPart onto the Station 1
CompoundOperation.
6. Drag and drop the Part C part onto the Station 1 CompoundOperation.
7. Select the Station 1 CompoundOperation.
8. In the Properties window, select the Product tab to see the relationship just made.
9. Drag and drop the Part D Part onto the Station 2 CompoundOperation.
10. Close the Properties window.
11. Close the Navigation Tree (4) (displaying the Product Tree as the root object)
Adding Resources to the Resource Tree
18
The objective of this activity is to see some of the various object types.
Look at the Object Types
Look at the Object Types
19
The objective of this activity is to open the Navigation Tree viewer for the Part library
in Libraries folder.
Open the Part Library using the Navigation Tree viewer
Look at a Part Prototypes properties
Open the product tree using the Navigation Tree viewer
Use the magnifying glass to see the instance/prototype relationship
Look at a Part Instances properties
Open the Part Library using the Navigation Tree viewer
1. Close all open Properties and Navigation Tree windows except for the original
Navigation Tree.
2. In the Libraries collection (folder) of the docked Navigation Tree viewer, right
click on the PartLibrary .
3. From the short-cut menu that appears, select Navigation Tree . A viewer named
Navigation Tree (2) opens.
4. In the Navigation Tree (2) viewer, expand the tree by clicking the + to the left of
PartLibrary.
Look at a Part Prototypes properties
Note:
Each time you drag a part prototype from a library to a product tree (i.e. a
CompoundPart), it creates an instance of the part in the product tree. Instances
inherit most of their attributes from the part prototype.
2. Pay attention to the PartPrototype Type on the General tab in the Properties
window.
3. Lock the Properties window to this object by clicking Lock Displayed Information
.
Note:
When
20
1. In the Product collection (folder) of the docked Navigation Tree viewer, right
click on the Product Tree .
2. From the short-cut menu that appears, select Navigation Tree
named Navigation Tree (3) opens.
. A viewer
1. Drag and drop a PartPrototype from the Navigation Tree displaying the contents of
the PartLibrary onto the magnifying glass
on the Navigation Tree (3)
viewer displaying the Product Tree .
2. The Product Tree is expanded and the instances in the tree are highlighted.
Look at a Part Instances properties
and select
Properties .
In the Properties (2) viewer that opens, notice the small (i) in the Type field which
indicates that the part is an instance type.
Pay attention to the instance Type on the General tab in the Properties window.
Close the Properties windows.
Close the Navigation Tree (2) and Navigation Tree (3) views you just opened.
21
The objective of this activity is to open the Navigation Tree viewer for the Resource
library in Libraries folder.
Look at the Prototypes in the Resource Library
Look at the instances in the Resource Tree
Look at the Prototypes in the Resource Library
1. Close all open Properties and Navigation Tree windows except for the original
Navigation Tree.
2. Open the Resource Library in the Libraries collection (folder) using a
Navigation Tree .
3. In the just opened Navigation Tree (2), expand the tree by clicking the + to the left
of ResourceLibrary .
4. Pick on a single resource prototype in the library.
Note:
Each time you drag a prototype to the tree it creates an instance. Instances inherit
most of their attributes from the prototype.
5. In the ResourceLibrary
.
6. Pay attention to the prototype Type on the General tab in the Properties window.
7. Close the Properties window.
Look at the instances in the Resource Tree
collection (folder).
22
23
The objective of this activity is to set the softwares working folder (temporary scratch
area).
Check out your working folder and set it as the working folder
Check out your working folder and set it as the working folder
24
Working Folder
administrator's Working Folder
User1 Working Folder
User2 Working Folder
User3 Working Folder
User4 Working Folder
User5 Working Folder
User6 Working Folder
etc...
user8
user9
5. Click [OK].
6. Select File > Project Management > Set as Working Folder.
Note:
The text of your working folder is now displayed bold.
25
StudyFolder
Line 0
Line 1
user2
Line 2
user3
Line 3
user4
Line 4
user5
Line 5
user6
Line 6
etc...
etc...
user8
Line 8
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user9
Line 9
StudyFolder (as shown in the chart above) and select Check out
Select with Hierarchy (This is one of the rare times we will use Check out with
Hierarchy).
Click [OK].
Expand your Line ##
study folder.
1.
2.
3.
4.
5.
6. Close all the Navigation Tree viewers except for the original one.
Open the study with Process Simulate
.
.
Note:
27
For this activity, we have provided 3D data for the human and robot resource (but
not for the product data. We will use much more complex data later in class that
will include 3D data for both product and resources.
28
The objective of this activity is to browse the Scene loaded into Process Simulate.
Expand the ProductTree to See What Came Across (1)
Expand the Resource Tree to See What Came Across (2)
Expand the Operation Tree to See What Came Across (3)
Look at the Relationships
Look at the Properties
Expand the ProductTree to See What Came Across (1)
1. Locate the Object Tree viewer and click the Object Tree tab for it.
2. In the Object Tree viewer, right click the Parts folder select Expand -> 2 Levels.
Expand the Resource Tree to See What Came Across (2)
to expand it.
Note:
In Process Simulate the options that show on the right click menus can be easily
customized based on what is selected and which viewer you are in.
Look at the Relationships
1. If the Relations Viewer is not shown, select View > Open With> Relations
Viewer
.
2. Select the Operation Tree CompoundOperation .
3. Look in the Relations Viewer and notice the Resource Tree CompoundResource
is related to it.
29
Note:
Recall that we made this relationship by assigning the Resource Tree
CompoundResource to the Operation Tree CompoundOperation .
4. In the Operation Tree, select the Station 1 CompoundOperation .
5. Look in the Relations Viewer and notice the Purchased Assy 1 and Part C are
related to it.
Note:
Recall that we made this relationship by assigning the Purchased Assy 1 and Part C
to Station 1 .
6. In the Operation Tree, select the Station 2 CompoundOperation
7. Look in the Relations Viewer and notice Part D is related to it.
Note:
Recall that we made this relationship by assigning Part D to Station 1
1. In the Operation Tree, pick the Operations Tree and select View > Open with
> Properties .
2. Notice the attributes for the selected object.
3. Select other objects in the Operations Tree to see their attributes as well.
Note:
This window can be used for any database object shown in Process Simulate.
4. Close
30
1. In the Operation Tree upper right corner (the title area), click Window Position
and select Floating.
Dock it back to the same place
1. In the Operation Tree upper right corner (the title area), click Window Position
and select Floating.
31
1. Begin dragging the (floating or docked) Operation Tree viewer using the title area
of the window.
2. A four-way arrow indicator appears in the center of the docked viewer you are
dragging across.
3. Drag the floating viewer to one of the arrows of the four-way arrow indicator.
4. It will dock the viewer along that edge of the viewer you are dragging across.
Dock it to a Tab Group
1. Begin dragging the (floating or docked) Operation Tree viewer using the title area
of the window.
2. A four-way arrow indicator appears in the center of the docked viewer you are
dragging across.
1. In the Operation Tree upper right corner (the title area), click Window Position
and select Auto Hide.
Note:
32
2. Mouse over a window on the left side of the Process Simulate window.
3. In the Operation Tree upper right corner (the title area), click Window Position
and select Auto Hide.
Note:
Or click the Pin
33
4. Click [OK].
Note:
The list of layouts on your computer may be different.
34
5. In the Layout List window, enter a new name for the layout: If you are user##,
enter Layout1_user## (where ## is your user number).
Note:
If the name of the new Layout is not highlighted in blue, pick it, press [F2], and
enter the new name.
6. Click Close.
Create Second Window Layout
35
Note:
The previous activity needs to be completed before doing this one.
1. From the Process Simulate toolbar, select the Layout drop-down and choose
Layout1_user## (where ## is your user number).
2. The layout is applied to all open and successively opened windows.
3. Now apply your Layout2_user## (where ## is your user number).
Apply the Standard Layout
36
In this activity, we will explore the nodes and structure of the Operation Tree, Assembly
Tree and Object Tree viewers. These viewers are very useful in getting an overview of a
complex product or resource structure with many levels of related entities.
37
1. Before starting Process Simulate, verify that your Space Mouse is connected to the
computer and that the driver is loaded, if you intend on using this optional device
during your Process Simulate session.
Note:
If the driver is loaded, a blue ring will glow around the manipulator.
2. Double click on the Process Simulate desktop icon.
eMS User ID
instructor
administrator
student
user1
student
user2
student
user3
student
user4
student
user5
student
user6
etc...
etc...
student
user8
student
user9
4. Click [OK].
Automotive Data: Open the desired project
Note:
38
Load a preexisting area of an operation tree that contains 3D data (associated part and
resource instances with .COJTs).
1. In Process Simulate, close the current project, if one is open: Select File > Close
Project.
2. If asked You are about to close the project. Do you wish to continue, select Yes.
However, if asked Do you wish to update eMServer, select No.
3. In Process Simulate, open an existing project: Select File > Open Project.
4. In the Open Project window, select Robotics Example and click [OK].
5. In the Navigation Tree, expand the tree one level.
Automotive Data: Check out your working folder and set it as the working folder
eMS User ID
Working Folder
administrator
user1
user2
user3
user4
user5
user6
etc...
etc...
user8
39
user9
3. Click [OK].
4. Select File > Project Management > Set as Working Folder.
Note:
The text of your working folder is now displayed bold.
Automotive Data: Load the Study
1. From the Navigation Tree, browse into the Studies study folder.
2. Browse into the Line## study folder, where ## is the user number assigned to by
your instructor.
3. Right click on the Robotics Example
4. Click [OK].
5. Right click on the Robotics Example study and select Load in Standard Mode
.
6. Wait for a couple seconds for the data to load.
Automotive Data: Expand the Product Tree (1)
Note:
Expand it to see what came across, if you didnt already.
1. Click the Object Tree tab.
2. In the Object Tree viewer, right click the Parts folder and select Expand -> 2
Levels. The associated parts, if any, are shown.
Automotive Data: Expand the Resource Tree (2)
Note:
Expand it to see what came across, if you didnt already.
1. In the Object Tree viewer, right click the Resources
Level. The associated resource structure is shown.
40
Note:
Expand it to see what came across, if you didnt already.
1. Click the + next to the Operation Tree
41
The objective of this activity is to learn more about the tree structure and its hierarchy.
Browsing the Object Tree
Creating Compound Resources
Creating and Working with Groups
Browsing the Object Tree
1. Successively clicking the display status squares (Blank and Display ) next to
the nodes on the Object Tree viewer causes the displaying or blanking of entities in
the Graphic Viewer.
Note:
When you click the box next to a node, it switches between a filled box and an
empty box. When the box is fully filled, the object is completely displayed in the
tree. When it is partially filled, the object is only partially displayed in the Graphic
Viewer When you see an X in the box, no 3D data is available.
2. As mentioned previously, clicking the + or - icons next to a node expands or hides
the next level, respectively. It is useful to expand the tree fully to display all levels,
since some entities are nested within subcomponents. It is important to learn to
identify the entity icons.
Note:
Expanding Trees:
One level of a tree can be expanded by clicking the + icon next to a node in a tree.
The [*] key from the Number Pad area of the keyboard (which is [Fn] > P on an
American laptop keyboard layout) can be used to expand all levels of the tree. We
will also learn how to do this using the right-click menu in the next topic.
Collapsing Trees:
One level of a tree can be collapsed by clicking the - icon next to a node in a tree.
We will also learn how to do this using the right-click menu in the next topic
3. Individual parts/resources or compound parts/compound resources can be added
or removed from a group. . Complete groups can be moved by highlighting the
42
desired objects in the tree (with the left mouse button), then dragging and
dropping it onto the desired location on the tree.
Creating Compound Resources
1. In Object Tree viewer, select the first object in the Resources folder.
Note:
Only other compound objects can be used as the parent for a new compound
object.
2. Select Modeling > Create Part Resource > Create Compound Resource
Note:
A new CompoundResource1 object is created in the Resources folder of the Object
Tree.
Note:
Whenever a new object is added to a study, it will be added to the bottom of the
list of entities on the Object Tree viewer.
3. Pick the new CompoundResource1 object, press [F2], and enter My Compound
Resource for the Name.
Note:
Nodes in the object tree (that are not read-only) can be renamed by first selecting
them and second, clicking them again. A frame will appear around the selected
text, which a new name can be entered
Note:
You can also press the [F2] key to begin renaming objects.
4. Drag and drop the desired resources on to My Compound Resource.
Note:
This compound resource will be stored back to the original resource tree and
change its structure after eMServer Selective Update
43
is clicked.
Note:
You cannot add both parts and resources to the same compound object.
Creating and Working with Groups
, Flatten Hierarchy
options.
Note:
This group will be stored only in the study and will not affect the original resource
tree structure after eMServer Selective Update
is clicked.
Note:
You can add both parts and resources to the same compound object.
Note:
44
45
The objective of this activity is to use the right click menu in the Graphic Viewer and
Object Tree viewers. When using the various options on the menu, make sure to observe
their effects in the Graphic Viewer.
Change the color of an object from the Object Tree
Blank the object from the Object Tree
Display all the objects from the object tree
Change the color of an object from the Object Tree
46
47
4.
5.
6.
7.
Optionally, use your Space Mouse to manipulate the Graphic Viewer contents.
Note:
48
The device needs to be attached to your computer and the driver loaded before
your Process Simulate session is started.
Pan Right/Left
Pan Up/Down
Zoom
Tilt
- rotate front/back
Spin
- spin around
Roll
- rotate left/right
1. Hold down the Middle mouse button (i.e. press the mouse wheel like a button).
2. Moving the mouse left or right affects the direction of the zoom. To zoom out,
move the mouse left; to zoom in, move the mouse right.
3. Hold down the Right mouse button.
4. Moving the mouse in any direction affects the direction panned, when continuous
viewing is set.
5. Hold down the Middle and Right mouse button.
6. Moving the mouse in any direction changes the viewpoint.
7. To zoom to a specific area, hold down the [Alt] key and draw a box around a small
area of interest with the Left mouse button.
Note:
The behavior of the regular mouse movement options can be modified by selecting
Tools > Options, and choose an option on the Graphics Viewer tab.
49
The objective of this activity is to learn how to select objects and manipulate them in the
Graphic Viewer .
Picking Entities
Change the color of a whole object in the Graphic Viewer
Change the color of part of an object in the Graphic Viewer
Blank and Display the object from the Graphic View
Highlight objects using the mouse wheel
Viewing and selecting PMI
Picking Entities
1. Select the Entity Pick Level. (Most likely it is set to Component right now).
Note:
A short cut key to toggle between the two Pick Levels is the [F12] key.
2. Pick a non-kinematic object (i.e. a rails, lift assists, or tool base). Notice the whole
thing is still highlighted.
3. Pick a kinematic object (i.e. a robot or human). Notice that only part of it is
highlighted.
4. Select the a non-kinematic object (i.e. a rails, lift assists, or tool base)
5. Select Modeling > Entity Level > Load Entity Level .
6. Notice that you can now expand into the object and select its entities.
7. Pick it again.
8. Select Modeling > Entity Level > Unload Entity Level
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2. Right click the human in the Graphic Viewer and select the menu to the right of
Modify Color .
3. Choose a color from the displayed window.
4. Pick on nothing in the Graphic Viewer to unselect the object and see its new color
of the whole human.
5. Select Edit -> Undo
1.
2.
3.
4.
51
8. In the Object Tree or Graphic Viewer, pick one of the PMI objects.
52
The objective of this activity is to learn additional methods of selecting multiple items.
Note:
An object can be selected in the Graphic Viewer by clicking the left mouse button and
drawing a box around the desired object(s). If any part of the object(s) is in the window, it
will be selected. Objects can also be selected by clicking them on the Object Tree viewer.
All selected objects can be deselected by clicking in the empty space around them in the
Graphic Viewer . A selected object can be individually deselected by clicking it, either in
the Graphic Viewer or in the Object Tree viewer, while pressing the [Ctrl] key.
Object Tree Object Selection
Multi-Selecting and Deselecting Objects in the Graphic Viewer
Multi-Selection using the [Ctrl] key or [Shift] key
Using the View Menu
1. Any node can be selected by clicking it; previously selected nodes are then
deselected. To select several separate nodes simultaneously, hold down the [Ctrl]
key and click the additional nodes, as required. To select a range of nodes
together, select the first node you want, hold down the [Shift] key and click the last
node you want.
Note:
The Shift Key:
The [Shift] key enables you to select more than one entity in a consecutive list. Pick
the first entity, then hold down the [Shift] key and pick the last entity in the list.
This key works in the Tree viewer only. Selected entities are highlighted in green in
the Graphic Viewer.
The Ctrl Key:
The [Ctrl] key enables you to select more than one non-consecutive entity. Hold
down the [Ctrl] key and pick each desired object. This key works in the Tree viewer
and the Graphic Viewer. Selected entities are highlighted in green in the Graphic
Viewer.
53
2. Objects can also be selected from the Graphic Viewer. To select whole objects,
make sure the Pick Level is set to Component. To select parts of an object, make
sure the Pick Level is set to Entity.
Note:
Pick Level:
There are two main Pick Levels in Process Simulate, Entity and Component. These
levels determine what is selected when you click an object. If the Pick Level is set
to Component and you click one entity of an object, the entire object becomes
selected. If the Pick Level is set to Entity, then only that entity (that is, part of the
whole object) is selected.
Multi-Selecting and Deselecting Objects in the Graphic Viewer
1. Press the left mouse button and draw a box around several objects in the Graphic
Viewer. Note which objects turn green.
2. Deselect the entities by selecting the empty space around them in the Graphic
Viewer.
Multi-Selection using the [Ctrl] key or [Shift] key
1.
2.
3.
4.
5.
6.
7.
1. Select multiple objects using the left mouse button and the [Ctrl] key
2. Select View -> Blank
. Note how the selected objects change in the Graphic
Viewer, depending on your selection.
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Note:
You can also access these options by right clicking an object in the Graphic Viewer
55
The objective of this activity is to learn how to toggle between the blanked and displayed
objects in the Graphic Viewer.
Note:
Using the Toggle Display
command toggles between the blank objects and the
displayed objects, that is, all displayed objects become blanked and all blanked objects
become displayed.
Toggle the display of blanked and displayed objects
1. Blank
several objects in the Graphic Viewer, using one of the methods
described previously in this chapter.
2. Select View -> Toggle Display .
3. You should now see only those objects that you just blanked (and maybe a few
locations or paths).
4. Blank
some of the objects in this view, and then Toggle Display
5. The objects you just blanked are now displayed.
56
back again.
The objective of this activity is to learn how to use selection filters to select and blank
entities by type.
Blank all the frames using method 1
Note:
This toolbar is turned off by default. Right-click the current toolbar and select Selection to
activate it.
1. From the Selection toolbar, click Select with Filter
.
2. From the Selection toolbar, choose to select all the frames by clicking Selection
Type Frames
(of the selected type). Notice that only the frames are
57
again.
The objective of this activity is to learn how to use Display By Type to select and blank
entities by type.
Blank all the frames using method 2
58
The objective of this activity is to learn about units and measuring within Process
Simulate.
Measure the distance from the one object to another
Change the units
Measure the same distance again
59
1. Bring up the Minimal Distance window and pick approximately same two points to
measure. Notice the units are now converted to inches. (Your numbers and objects
may differ from those shown below).
60
In this activity, you will learn more about how to change the performance settings.
Experiment with Level of Details
Change the level of details to a more typical setting
Experiment with culling
Change the culling to a more typical setting
1. Center the currently displayed objects in the Graphic Viewer by clicking Zoom To
Fit
.
2. Select Tools -> Options.
3. From the Options window, select the Performance tab.
4.
5.
6.
7.
8.
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Note:
Two right arrow clicks from Quality, is the most optimal setting (i.e. good quality
and increased performance).
4. For the Rendering mode, select Use OpenGL display lists.
5.
6.
7.
8.
Click [OK].
The display of the objects in the cell change.
Zoom in and out using the middle mouse button.
Note the difference between this level of detail and the one used earlier.
1. Reopen the Options window, if it was closed, and select the Performance tab.
62
2.
3.
4.
5.
1. Reopen the Options window, if it was closed, and select the Performance tab.
2. Uncheck Cull parts with less than.
63
In this activity, you will modify the visualization of Graphic Viewer objects.
Toggling all objects visualization
Changing a single objects visualization
Using Dynamic Clipping
64
65
66
67
11. Slowly, press the [F10] key several times successively. Notice the effect in the
Graphic Viewer.
12. Return to Shaded Mode
1. Select an object (such as a human) and select View > Object Viewing ->
Transparent
.
2. Pick off of the object.
3. Rotate the view around and notice how you can see through the object now.
68
Note:
Transparency enables users to select a complicated assembly and view its inner
objects.
4. Select the transparent object and select View > Object Viewing -> Shaded
5. Pick off of the object.
6. Notice the effect.
69
70
4. In Dynamic Clipping Plane Settings window, move theClipping Plane slider a little
bit away from Camera.
5. Hold down the middle mouse button and move the mouse toward the right to
zoom in to the view centered point. Notice now the geometry in the way is clipped
so better show the desired geometry.
6. In Dynamic Clipping Plane Settings window, click Close.
Note:
In the future, to return to this clipping, just toggle View > Dynamic Clipping
on and off as needed.
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PLACEMENTS COMMANDS
Activity: Using Fast Placement
The objective of this activity is to learn how to use the Fast Placement
command.
Note:
We checked out and assigned our working folders in the previous activities. Once set for a
project, it will remain set forever (or until another folder is set as the working folder).
1. In the Navigation Tree, browse into the StudyFolder (object type is also
studyfolder).
2. In the Navigation Tree, browse into the Underbody studyfolder.
3. In the Navigation Tree, browse into the Mtr Comptr studyfolder.
4. Locate your assigned study:
eMSUser Id
Studies
user1
M11LH
user2
M11RH
user3
M10
user4
M20
user5
M31
user6
M32
user7
M33
user8
M30
user9
M40
user10
M50
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administrator
M11LH (copy)
6. Right click your assigned study, and select Load in Standard Mode
7. Do NOT save changes to the previously loaded scenario.
Note:
We are only playing around with the data in order to better understand now the
software works.
Use Fast Placement
Note:
We are not going to save changes to this study either.
1. Select View -> Graphic Viewer -> View Point
.
2. Select Top from the View Point window.
3. From the Standard toolbar, set the Pick Level to Component.
Note:
Fast Placement
73
74
Note:
You can keep clicking positions in the Graphic Viewer to change the placement of
the frame.
3. When the frame is placed correctly, click [OK] in the Create Frame By 6 Points
window.
Note:
The frame is displayed in the Graphic Viewer.
4. Select the Object Tree tab to display the Object Tree.
Note:
The frame is also displayed in the Frames
1.
2.
3.
4.
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Right hand rule, determined by the three pick points, is used to determine which
way Z points away from this plane. Click Flip Frame
5. Click [OK].
Create a Frame Between 2 Points
1.
2.
3.
4.
Select Modeling -> Create Frame -> Create Frame Between 2 Points .
Pick a point in the Graphic Viewer. to define the first point.
Pick a point in the Graphic Viewer. to define the second point.
By default the frame will create in the middle (at 50%) of the line between the two
points. Use the slider to move the frame between the two points to the desired
position.
Note:
Click Flip Frame
5. Click [OK].
Create a Frame By Circle Center
1.
2.
3.
4.
Select Modeling -> Create Frame -> Create Frame By Circle Center .
Pick a point in the Graphic Viewer. to define the first point of the circle.
Pick a point in the Graphic Viewer. to define the second point of the circle.
Pick a point in the Graphic Viewer. to define the third point of the circle.
Note:
The frame is created at the center of the circle formed by the three pick points.
Right hand rule, determined by the three pick points, is used to determine which
way Z points away from this plane. Click Flip Frame
Note:
If picking on geometry on a geometric circle or cylinder shape, set the Pick Intent
to Snap
the center. In this case, you should use Create Frame By 6 Values
76
instead of
this option. This option is best, for geometric circles or cylinders that are so
imperfect that Process Simulate does not recognize them as such (i.e. a hexagon).
5. Click [OK].
Look at the frames name
1. Mouse over one of the created frames in the Graphic Viewer and notice the
frames name is displayed.
2. Look in the Frames folder in the Object Tree.
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The objective of this activity is to learn one way to position instances within a session.
Selected object(s) can be shifted by entering values in the X, Y, or Z fields, or by clicking
the up and down arrow keys in the Translate area of the Placement Manipulator window.
Note:
Objects can be selected for placement in several ways:
Pick them (from the Objects Tree or Graphic Viewer) and select Tools -> Placement
-> Placement Manipulator
2. Pick an object
3. Select Tools -> Placement -> Placement Manipulator
.
4. A large frame with arcs appears at the center of the selected object. This is called
the Manipulator Frame.
Use the Manipulator Frame to move the object
1. In the Graphic Viewer, pick and drag the red X-axis of the Manipulator Frame.
2. The relative coordinates (that is, the distance moved on the currently selected axis
since the object was selected) are displayed in the field in the Translate area, at
the top of the Placement Manipulator window, as shown below:
3. In the Graphic Viewer, pick and drag the green Y-axis of the Manipulator Frame to
move it on the Y-axis.
4. In the Graphic Viewer, pick and drag the white square between the green Y-axis
and X-axis of the Manipulator Frame to move it on the XY-plane..
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5. Notice in the Placement Manipulator window that the Frame of Reference is set to
Geometric Center.
6. In the Graphic Viewer, pick and drag the green arc of the Manipulator Frame to
rotate the object around the Y-axis of the geometric center.
Note:
Notice how it moves.
7. In the Placement Manipulator window, change the Frame of Reference to Working
Frame.
8. Again in the Graphic Viewer, pick and drag the green arc of the Manipulator Frame
to rotate the object around the Y-axis of the working frame.
Note:
Notice how it moves differently than before.
View the coordinates of the object relative to a specific frame of reference
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The objective of this activity is to learn another way to position instances within a
session. We will use the session from the previous activity.
Open the Placement Manipulator window
Measure the distance from the bottom of one object to the top of another
Measure the minimal distance between two objects
Move the object
Change the units and see the affect
1. Pick an object.
2. Select Tools -> Placement -> Placement Manipulator
.
3. In the Placement Manipulator window, set Working frame as the Frame of
Reference.
4. Do not close the Placement Manipulator window yet.
Measure the distance from the bottom of one object to the top of another
Note:
For example, if you wanted to put the second object on top of the first object.
1. Select Tools -> Measurements -> PTP Distance
2. On the toolbar, set the Pick Intent to Snap.
4. For the First Object, click the bottom of the first object.
5. For the Second Object, click the top of the second object.
6. The distance between the two picked points is displayed in the Graphic Viewer and
in the Point To Point Distance window.
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1.
2.
3.
4.
1. In the Placement Manipulator window, notice the current step size units are mm.
2. Select the Step size link, in the translate part of the Placement Manipulator
window, enter 100, and select [OK].
3.
4.
5.
6.
7.
1.
2.
3.
4.
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5. Click [OK].
6. Bring up the Placement Manipulator window for an object again. Notice the units
are now converted to inches.
7. Bring up the Minimal Distance window and measure the same two objects. Notice
the units are now converted to inches.
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The objective of this activity is to learn how to use linear and rotational step sizes.
Selected objects can be moved by step size along a chosen linear or rotational axis. This
step size can be changed and stored until the next time the command is used.
Rotate an object about its Geometric Center
Rotate an object about the Working Frame
1. Pick an object.
2. Select Tools -> Placement -> Placement Manipulator
.
3. Select the rotation Step size link in the Placement Manipulator window.
4. In the Step Size window, change the rotation step size to 45 degrees by entering 45
in the Rotation step (deg) field and clicking [OK].
5. Click Rx in the Placement Manipulator window and rotate an object in 45 degrees
increments around the X-axis by clicking the Move Negative
Positive
and Move
arrows.
Warning:
Do not click the Move Negative To Collision
arrows. They will continue the rotation until a collision occurs. If none occurs
(or if collision detection is not configured), it will come back with a warning saying
No collisions have been detected.
Rotate an object about the Working Frame
Note:
The Placement Manipulator window is still open.
1. Select Working frame from the Frame of Reference pull-down lists.
2. Rotate an object again either by using the Move Negative
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If Snap by step size is checked in the Placement Manipulator window, dragging the
Manipulator Frame will jump the object according to the specified Step Size.
3. In the Placement Manipulator window, click Reset.
4. Click Close
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The objective of this activity is to learn how to use the Relocate command to relocate an
object relative to two new frames.
Relocate by Using a From Frame and a To Frame
3. Pick an object.
4.
5.
6.
7.
8.
9.
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The objective of this activity is to learn how to use the Relocate command to relocate an
object relative to two already existing frames. An existing frame may be the self-origin,
the world frame, any frame in the Graphic Viewer , or any entity in the session.
Relocate an Object Another Way
1.
2.
3.
4.
5.
In the Relocate window, select the corner of an object for the From frame.
Select the corner of another object for the To frame.
Select the Maintain orientation checkbox.
Click Apply.
The corner of an object is now shifted the X, Y and Z distance between the From
Frame and the To Frame, while the object's orientation is maintained.
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The objective of this activity is to open the study called Door Kinematics and jog its joints.
Open the desired data
Open the Joint Jog window
Method 1 to jog the joints
Method 2 to jog the joints
10. Right click the model kin demos study and select Load in Standard Mode .
11. From the Process Simulate Object Tree, right click the room_door_demo object in
the Resources
87
Tip:
You may want to show the Kinematics toolbar.
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1. In the Joint Jog window, click the mouse on j1 gear and do not release the mouse
button.
2. Move the mouse left and right across the whole the Graphic Viewer to see the
selected joint move. (Notice you are not limited to moving the joint inside the Joint
Jog window).
3. Release the mouse button.
4. Repeat these steps for the j2 gear.
Note:
When approaching the limits of a joint the slider and Value will turn red to signify
that you are no longer in the defined working limits. To change the Working Limits
select Tools > Options and go to the Motion tab.
Method 2 to jog the joints
1.
2.
3.
4.
5.
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The objective of this activity is to define kinematic poses for an existing kinematic door
device.
Set the units
Create a New Pose
Jog the joints and create another pose
Move the door between the defined poses
Update the database
6. Click [OK].
Create a New Pose
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2. In the Graphic Viewer, right click the room_door_demo and select Home
to
return it to the position it was in where the kinematics were defined (that is, j1=0,
j2=0).
Note:
This is called the HOME pose.
3. In the Graphic Viewer, right click the room_door_demo and select Pose Editor
.
4. in the Pose Editor, click New.
5. Leave the joint values at j1=0 and j2=0. This is the same as the HOME pose in step
2.
6. For the Pose Name, enter CLOSED.
7. Click [OK].
Jog the joints and create another pose
1. In the Pose Editor window, select the CLOSED pose, and click Jump.
2. Select the OPEN pose, and then click Jump again.
3. This jumps the door from the CLOSED pose to the OPEN pose.
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4. In the Pose Editor window, click Reset to reset the mechanism back to the HOME
pose.
Update the database
2. Check Operations.
3. Click [OK]
4. Click [OK].
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Note:
In the New Device Operation window, the Name and Device fields are already filled
in.
9. In the New Device Operation window, select CLOSED from the From pose pull
down list.
10. Select OPEN from the To pose pull down list.
11. Click [OK].
Play the simulation
Note:
If the Sequence Editor is not shown, select View > Viewers > Sequence Editor.
1. From the Sequence Editor, click Jump Simulation to End
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Note:
The speed of simulation can be adjusted in several ways: either (method 1) change
the time of the operation, (method 2) change the defined joint speeds, or (method
3) change the simulation time interval. There are very different reasons to use
these three techniques.
4. From the Sequence Editor, click Jump Simulation to Start
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Note:
This activity will continue to use the model kin demos study loaded earlier. It contains the
room_door_demo and the real_robot objects.
1. Verify that the Pick Level is set to Component.
1. In the Process Simulate Object Tree pick the top folder named model kin demos .
2. Select Edit > Find.
3. In the Find window for the Name, enter *robot* and click Find Next and Cancel.
Note:
The * on the beginning and ending are important.
4. From the Process Simulate Object Tree, right click the real_robot object in the
Resources
95
3. The links of the robot in the Graphic Viewer are temporarily colored according to
the colors of the links in the Kinematics Editor window.
96
97
Note:
Notice how this type of movement is different from Joint Jog.
1. Select the robot.
2. Select Kinematics -> Robot Jog
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3. While the Robot Jog window is open, grab the Manipulator Frame in the Graphic
Viewer and pull the robot around.
Note:
The robot jog window is only available for robot objects (i.e. objects with a TCPF
frame at the end of its kinematic tree).
Note:
If the robot is not moving when you pull the Manipulator Frame, verify that Snap
by Step Size is not checked. this option is located under the Expand Dialog
area of the Robot Jog window. Having this box checked with a step size that is too
big for the robot will cause the robot to not move when the Manipulator Frame is
dragged.
Create new robotic operation for the robot
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Note:
The creation and validation of proper weld processes is described in detail later in
this in course. The information provided in this topic should not be considered
enough to begin processing welds in the Process Simulate environment.
Create the first location for the robot
1. On the Operation Tree viewer, pick the new bolded real_robot_Weld_Op robotic
operation.
2. Select Operation -> Path Editing -> Add Current Location
Note:
The path editing buttons can also be found on the Path toolbar which is turned off
by default.
Create another via location for the robot
1. On the Operation Tree viewer, pick the via location in the real_robot_Weld_Op
robotic operation.
2.
3.
4.
5.
100
1. On the Operation Tree, right click real_robot_Weld_Op and select Set Current
Operation
101
1. Reload the data that you used earlier in this course (i.e. Airplane, Robotics, or
Structure data), if it is not already loaded.
Note:
At this point in the course you should have at least one basic simulative operation
created. If not, then create one (i.e. object flow, device, or robotic) using the
follow steps.
2. Select an object in the Graphic Viewer.
3. Hold down the [Ctrl] key.
4. Select a compound operation in the Operation Tree.
5. Select Operations > New Operations > New Object Flow Operations
6. Pick a point on the floor.
7. Click [OK].
Note:
More attention is paid to creating flow operations in the WKP101SProcess Simulate
on eMS Part Flow course.
Create a couple snapshots
102
1.
2.
3.
4.
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The objective of this activity is to learn how to use the markup editor.
Open the Markup Editor
Save a picture of the Operation from the Markup Editor window
Note:
Markups can be printed or saved as a graphics file. Any markups added to the view are
saved back to the view for later use.
104
1.
2.
3.
4.
5.
6.
105
106
3.
4.
5.
6.
1. From the Options window, select the Appearance tab, if it is not already selected.
2. Browse into New Object Colors in the top list.
3.
4.
5.
6.
7.
8.
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9. Click [OK].
The objective of this activity is to learn how to create notes in the Graphic Viewer.
Note:
When using File -> Outputs > Attach File to create pictures or markups of a view
containing notes, the font size of the notes, as well as the image size, can be set when the
picture is created.
Create a note for everything in the Graphic Viewer
Create a text note another way
Edit the note
Toggle its display between a flag and text
Change the display of the notes
Change an existing note
Create some labels
1.
2.
3.
4.
5.
1. Pick somewhere in the Graphic Viewer where you would like to add a note.
2. Click the Tools -> Notes -> Create Note
(or click Create Note
on the
toolbar).
3. In the Note Editor window, enter the required text in the Text area.
108
4. Delete the contents of the Link area, or enter a different web link.
5. Click [OK].
Note:
The note can be edited, deleted, or toggled between displaying the text or the flag.
You can also change its color or blank it, as required. To perform any of these
actions, you need to right click the note and then select one of these buttons:
Blank
.
, Modify Color
, Edit Note
, or Delete
1. Select a note.
2.
3.
4.
5.
1. Select a note or group of notes (if more than one exists) from the Graphic Viewer
or Objects Tree.
2. Select Tools -> Notes -> Toggle Note Visibility
.
3. Notice how the note is shown in the Graphic Viewer (as a flag).
4. Select Tools -> Notes -> Toggle Note Visibility
.
5. Notice how the note is shown in the Graphic Viewer.
Change the display of the notes
1.
2.
3.
4.
5.
6.
109
Note:
The new note now takes on the new default color settings for Note Background,
Note Border and Note Text.
Change an existing note
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The objective of this activity is to learn how to create dimensions in the Graphic Viewer.
Add a Dimension
Create a markup
Add a Dimension
1. Select the Tools -> Measurements -> Create Dimension -> Point to Point
Dimension
.
2. Pick two points in the Graphic Viewer.
3. Drag the dimension to position it.
Note:
The note flags and measured dimension can be saved as a picture or edited in the
markup editor and then saved as a picture.
Create a markup
1.
2.
3.
4.
Create a markup.
Select File -> Outputs -> Markup Editor.
Notice the notes and dimensions are shown here.
Close the Markup Editor window.
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The objective of this activity is to learn how to output the Graphic Viewer to a file or
printer.
Set the background color to white
Output a picture of the Graphic Viewer
112
4. Choose Solid from the drop down that currently says Vertical or Corners.
5. Choose white for the color
6. Click [OK].
Output a picture of the Graphic Viewer
113
3.
4.
5.
6.
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The objective of this activity is to learn how the Collision Viewer works.
Activate the collision viewer
Set up fast collision
Check that the collision lists are setup correctly
Look at the collision report
1. If the Collision Viewer is not shown minimized along the bottom edge of the
Process Simulate window: select View -> Viewers -> Collision viewer.
2. If it is not already there, position the Collision Viewer at the bottom of your screen
by dragging and dropping.
3. Expand the Collision Viewer and Pin it so it will stay expanded.
4. In the Collision Viewer, click Show / Hide Collision Sets
to display the left pane
of this window.
Set up fast collision
on the
Note:
The fast_collision_set should be checked in the left pane of the Collision Viewer.
Check that the collision lists are setup correctly
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Note:
Normally we would use collision detection is statically or dynamically (i.e. in the
context of a simulation). In this case we are just moving the parts into collision to
test our collision setup and understand the mechanisms behind Process Simulate
collision detection.
2. Collisions will be highlighted in red as they occur.
Note:
When checking collisions during a simulation we can have the simulation stop at
the first collision or just beep and continue. In both cases the colliding objects are
highlighted in red.
Look at the collision report
1. If there are collisions to report, the Collision Viewer window will display the
collisions (red) and near misses (yellow) that occur.
2. Expand an object in the list. You can see the objects which this piece is colliding
with. For example (depending on your data, this picture may look different):
3. Deactivate the fast_collision_set: In the left panel of the Collision Viewer, uncheck
the box next to fast_collision_set.
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Collision detection is accomplished by searching for a collision between objects in one list
and objects in another list. This means that list pairs must be created before collision
detection is possible.
Multiple list pairs can be defined. A default name is automatically given for each list pair,
although another name can be specified.
Create a new pair of lists
Emphasis the objects in the collision set
Test Collision detection
1.
2.
3.
4.
5.
again.
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In this activity, you learn how the collision window works, including its new features.
Start checking for collisions
Setup the Collision options
Check that the collision lists are setup correctly
Look at the collision report in the Collision Viewer
1. Right-click in the Graphic Viewer and select Options from the displayed shortcut
menu.
2. Select the Collision tab.
3. Check the Check for Collision Near-Miss checkbox.
4. For the Near-Miss Default Value enter 50
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7. Click [OK]
Check that the collision lists are setup correctly
1. If there are collisions to report, the Collision Viewer window will display the
collisions (red) and near misses (yellow) that occur. For example (your data may
look different than the picture below ):
119
2. Expand an object in the list. You can see the objects which this piece is colliding
with. For example (your data may look different than the picture below ):
120
In this activity, you learn more about collision detection and the new features.
Setup the Collision options
Color Selected Pair
Filter List All Pairs
Filters List Colliding Pairs
Show Selected Pair Only
Highlight the area of collision for a specific line item
1.
2.
3.
4.
5.
6.
7.
8.
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In the Graphic Viewer the colliding objects from he selected line item are shown in
blue and red. All other objects are shown white.
6. Click another line item in the Collision Viewer.
7. Look at the results in the Graphic Viewer.
Filter List All Pairs
(It deactivates).
(It deactivates).
122
123
The objective of this activity is to cut sections through the objects in a scene.
Display only the desired objects (parts/resources)
Create a section through these objects (parts/resources)
Manipulate the section
Perform a measurement on the section
Look at the section in the Object Tree and more
1.
2.
3.
4.
1. Optionally, pick a point on the objects (parts/resources) for the origin of the
cutting plane.
Note:
If nothing is selected, it will be created at the Working Frame. It can always be
moved or repositioned later.
2. Select Tools > Section > New Section Plane
Note:
The Section Manager window is open and the new section is shown in the Sections
folder of the Objects Tree and in the Graphic Viewer.
3. In the Section Manager window, click the down arrow
Section Alignment to select Align to X.
Note:
This will cut a section on the YZ-plane of the working frame at the selected point.
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Note:
this causes the section to the be cut in the main Graphic Viewer.
Manipulate the section
or Move
Positive
to move the section across the Z-axis of the section plane (that is,
perpendicular to the section). Note how the section moves as you move the slider.
Note:
If the Section Manager window is accidently closed, right click the section in either
the Sections folder of the Objects Tree and in the Graphic Viewer and select
Section Manager.
2. Change the step size by clicking the Step size link and changing the step size in the
displayed window and move it some more.
3. In the Section Manager window, click the down arrow to the right of the current
Section Alignment to select Align to Point
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Note:
This will maintain the same section orientation, but move it to the selected point.
4. In the Section Manager window, click the down arrow
Section Alignment to select Align to Surface
Note:
This will move it to the selected point and orient the section tangent to the point.
5. Move the section using the new step size by clicking Rotate Positively
and
Create Dimension
, which help highlight problem areas. This information could
be output as a picture for use in a report.
Look at the section in the Object Tree and more
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If the Section Manager window is accidently closed, right click the section in either
the Sections folder of the Objects Tree or in the Graphic Viewer. Then select
Section Manager.
4. Add section contours tot the results in the Graphic Viewer: Select Tools >
Sections > Show Section Contours
.
5. Add capping and look at the results in the Graphic Viewer: Select Tools >
Sections > Capping .
6. Add hatching and look at the results in the Graphic Viewer: Select Tools >
Sections > Hatching .
7. Close the Section Manager window.
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1. In the Objects Tree viewer, right-click the section and select New Section Viewer
from the displayed popup menu.
2. A section clip will be displayed in a new Section window.
Note:
Now the section is shown in the Section window and the Graphic Viewer.
3. Right-click the section and select Section Manager
from the displayed popup
menu, if it is not already open.
4. In the Section Manager window, click Deactivate Section
.
Note:
Now the section is only shown in the Section window.
Switch the contents of the Section viewer from a clip to a cut
Note:
The section cut is now two-dimensional.
2. Select Tools > Section > Orient View to Section Plane
3. Right click in the Graphic Viewer and select Zoom to Fit
128
.
.
4. Hold down the [Alt] key and draw a box with the left mouse button to zoom in to
an area of interest in the Section window.
Save the section as a JT file and more
1. Draw a selection box with the left mouse button around the section entities.
2. Select Tools -> Sections -> Save Section Contour as Component
3. For File name, enter C:\temp\SectionComp.cojt.
4. Click Save.
5. Right-click the section plane and select Blank
to blank it.
6. Right-click the section plane and select Delete
to remove it.
1. Pick a point on an object and cut a section. The section is cut at that point.
2. Pick nothing then cut a section. The section is cut at the working frame. You can
then shift the object to where you want it.
3. Change the Pick Intent to Self Origin.
5. Pick an objects (parts or resources) to have the section plane originate at the
object origin.
Opening Additional Graphic Viewers
129
1.
2.
3.
4.
From the Object Tree viewer, rename the section just created to View 2.
Close the sections Graphic Viewer.
Use the Object Tree viewer to blank the section located in the Sections folder.
Whenever you want a second Graphic Viewer, just open a new section viewer for
this section.
5. If you no longer want a section, right click it and select Delete .
130
1.
2.
3.
4.
131
1. In the Operation Tree, right click on the process and select Set Current Operation
.
2. Select File -> Outputs -> AVI Recorder
.
3. In the Save Video File as window for Frame size, select Percentage of Window.
Warning:
Using the default 720x576 Frame size typically cuts off the left side of the resulting
video.
Note:
We have not created a simulation yet, so just use Fast Placement
Placement Manipulator
or the
1.
2.
3.
4.
132
In this activity, you learn to use movie manager to create AVIs of simulations.
Open the Movie Manager
Prepare to create several AVIs at once
Play one of the created AVIs
Turn off presentation mode
133
4. Click [OK].
2.
3.
4.
5.
134
1.
2.
3.
4.
5.
In the Navigation Tree, right click Project U797 (user##) and select New
In the New window, check Collection .
Enter 5 for the Amount.
Click [OK].
Rename one collection Process and another Libraries .
135
1.
2.
3.
4.
In the Navigation Tree, select the Project U797 (user##) project folder.
Select File > Project management > Export selected eBop to File.
Browse into the .\sysroot\Import Export files folder.
Enter MyProject user##.xml for the Name, where ## is the user number assigned
to you by your instructor
5. Click [OK].
136
In this activity, you learn about the disconnected method of starting Process Simulate.
Save a .PSZ file from Process Simulate (connected)
Start Process Simulate Disconnected
Make a change and save the .PSZ File
1. Important: Write down the name of the project you are in for later reference.
2. Load in Standard Mode
the previous study that contains all the objects.
3. Select File -> Save .
4. Browse to the desired location and enter the desired name: For example, browse to
C:\temp, create a new folder here named disconnected, and browse into it.
5. For Save as type, select Study Files (*.psz) and Library Components.
Note:
In this case we will not be referring to the same system root as the connected
Process Simulate. To only output the study (with references to a system root either
local or shared), change the Save as type to Study Files (*.psz).
6. For the File name, enter Verify.psz.
137
138
139
In Disconnected mode, users can continue working and save their work locally.
When ready to update the eMServer with the changes made when working in
Disconnected mode, users load the file to Process Simulate and activate the
eMServer Selective Update
not supported in this mode:
o
140
o
o
o
o
o
Copy
and Paste
Public Layout.
Attach File.
Mirror
of Local objects.
.
.
.
141
1. Continue where the last activity left off: with a .PSZ file opened with Process
Simulate Disconnected.
2. In Process Simulate Disconnected, select File -> Exit.
3. Start and login to Process Simulate (connected).
4. Open the same project again.
5. Load the same study again (that you output the .PSZ file from earlier).
6. Select Tools > Customize.
7. In the Customize window, browse the Commands list and locate Update PSZ File
command
8. Drag and drop it on the toolbar.
9. Click Save Customization.
10. Click Close.
Note:
You should also update the Standard windows configuration, as described earlier
in class.
Run Update PSZ File
1. Make a change in the study such as changing the name of a different object in the
Resources folder.
2. Click Update PSZ File.
142
3. Click Yes.
4. For Parts and resources to update, pick the specific parts and resources (that have
changed) that you would like to update in the PSZ file.
5. Click the first Browse button and select the original PSZ file.
6. Click the second Browse button and enter a new name (or take the default).
7. Check Save library components. Click the third browse button and select the
C:\temp\disconnected folder and enter a file name for the zip file such as
sysroot_update.zip.
8. Click [OK]
143
9. Click Yes.
10. Exit from Process Simulate (connected).
Update Your Disconnected System Root
Note:
This step assumes that your Disconnected System Root is different than your (connected)
System Root. For example, it is only on your laptop.
1. Open a Windows Explorer window.
2. From the Windows Explorer window, browse into the C:\temp\disconnected folder
and right click the update_sysroot.zip file and select Extract All.
3. For the Extracted to Folder, enter C:\temp\disconnected\disconnected_sysroot.
4. Click Extract.
5. Choose to over write all files and folders, as prompted.
Look at the Results
144
Note:
This step assumes that your Disconnected System Root is different than your
(connected) System Root. For example, it is only on your laptop.
5. Click [OK].
6. Select File -> Open in Standard Mode .
7. Browse into the C:\temp\disconnected folder and select the new .PSZ file: for
example:verify_20110712_084803.psz.
Note:
Recall that in earlier in this activity, we specified a source and target PSZ file.
Select the target PSZ previously specified.
8. Click Open.
9. Look at the updated data.
145
In this activity, you learn how to update the eMS Database from Process Simulate
Disconnected
View the change in Process Simulate
Update the database
1. Continue where the last Activity left off: with a study opened with Process Simulate
Disconnected.
2. In Process Simulate Disconnected, select File -> Exit.
3. Start and login to the Process Simulate (connected).
4. Open the same project again.
5. Select File -> Open in Standard Mode .
6. Browse and select the latest .PSZ file; such as verify_20110712_084803.psz.
Update the database
146
2. Check Operations.
3. Click [OK]
4. Click [OK].
147
1. If you are not already logged into Process Simulate, double click on the Process
Simulate desktop icon.
eMS User ID
instructor
administrator
student
user1
student
user2
student
user3
student
user4
student
user5
student
user6
etc...
etc...
student
user9
student
user10
3.
4. Click [OK].
5. From the Open Project window, select the Project_209S project.
6. Click [OK].
148
Check out your working folder and set it as the working folder
eMS User ID
Working Folder
administrator
administrator
user1
user1
user2
user2
user3
user3
user4
user4
user5
user5
user6
user6
etc...
etc...
user9
user9
user10
user10
3. Click [OK].
4. Select File > Project Management > Set as Working Folder.
149
The objective of this activity is to open a Process Simulate session from the specified
studies.
Browse to your study folder
Open a study node with Process Simulate
Study
administrator
Line 11 StudyFolder
user1
Line 1 StudyFolder
user2
Line 2 StudyFolder
user3
Line 3 StudyFolder
user4
Line 4 StudyFolder
user5
Line 5 StudyFolder
user6
Line 6 StudyFolder
etc...
etc...
user9
Line 9 StudyFolder
user10
Line 10 StudyFolder
Note:
150
If nodes in your study are checked out by another user, they cannot be updated in
the eMS database (i.e. Process Designer) after you are done working in Process
Simulate.
4. Wait for Process Simulate to load your study.
5. Select Zoom To Fit
from the standard toolbar. The product, welds, and
associated resources are shown in the graphics window.
151
MODELING BASICS
Activity: Modeling a Table
Note:
152
We could have chosen to create our new study in an existing study folder anywhere
in the project.
10. Right click the Studyfolder just created and select New
.
11. In the New window, check the checkbox for RobcadStudy , and click [OK].
12. Pick the Robcadstudy , press [F2], and enter temp for the new name.
Open it with Process Simulate
1. Right click on the temp study and select Load in Standard Mode
2. No, dont store changes to the previous study.
4. Pick the new object name and press the [F2] key.
5. Name it mytable_userX (if you are userX, otherwise append your user id to the
end of the name for training purposes).
153
4. Click [OK].
Note:
All data in Process simulate are stored in mm. This setting only changes the display
units. Display units can be changed at any time.
5. Set the Pick Level to Entity.
1. In the Object Tree, select the mytable_user## object (replace ## with your user
number; such as 1 for user1),.
2.
3.
4.
5.
Select Modeling -> Create 3D -> Box Creation -> Create a Box
In the Create Box window, enter: 1000 for the Length.
Press the [Tab] key to go to the next field.
For Width, enter 1000.
154
12. Select Modeling -> Create 3D -> Box Creation -> Create a Box
13. In the Create Box window, enter: 2000x800x800.
Note:
You can press the [Tab] key to move between the fields such as Length and Width.
14. For Locate at, select Working Frame.
15. Click [OK].
16. Select Modeling -> Create 3D -> Box Creation -> Create a Box
155
156
157
3. In the Save Component As window, browse into the desired folder under the system
root, such as .\sysroot\Libraries\modeling_kinematics\toolprototypes folder.
4. Click Save.
Turn on the Modeling toolbar
3. Notice that many of the buttons we are selecting are available directly from this
toolbar.
Model the Table Again and Add More Geometry
1. From the Resources folder of the Object Tree, select the mytable_user## object.
2. Select Modeling -> Set Modeling Scope .
158
1. From the Resources folder of the Object Tree, select the mytable_user## object.
2. Select Modeling -> Reload Component
.
3. Throw away changes to the object
Note:
The modeling icon is removed from the object and it is returned to the way it looked
the last time we saved (aka clicked End Modeling
).
3. Click Yes.
4. Model and place a donut or bagel onto your table: 1
5. Model and place a drinking glass for your table: 1(outside of cup)
, 2 (inside of
cup)
, 3 (orange juice in cup)
6. Make the glass translucent: Right click on the glass and select Object Viewing ->
Transparent
, 2 (handle)
,3
, 4 (inside of
cup)
, 5 , 6 (coffee in cup)
8. Model two chairs for your table (model the bottom of the chair just like the table):
1, 2, 3, 4, 5 (then add back rest)
9. Put a sun umbrella over your table on a pole: 1
159
,2
160
The objective of this activity is to learn some of the 2D and editing commands.
Start modeling fun1_user##
Optionally, turn the floor on
Create a straight line along the X-axis of the Working Frame
Create a wavy curve
Trim the ends of the curve
Delete the two small curves extending beyond the line
Create a surface of revolution
End the modeling session for fun1_user##
, to reload it.
Note:
2D sketching is performed on the XY-plane of the Working Frame (unless you
sketch on the side of an existing object). When sketching on the XY-plane of the
Working Frame, it doesnt matter if the floor is displayed.
Create a straight line along the X-axis of the Working Frame
161
Caution:
Create a wavy curve that only crosses the line at the curves ends. Also the line should not
cross the Working Frames X-axis
1. Turn off the display of the floor: If the floor is displayed, select View -> Display
Floor
.
2. Set the Pick Intent to Where Picked.
162
5. Click [OK].
Note:
Trim the ends of the curve so that it intersects the polyline, perfectly.
1.
2.
3.
4.
5.
4. Delete
163
5. Display
164
active.
165
1.
2.
3.
4.
5.
Caution:
Create three lines that form a triangle where the corners do not touch.
1.
2.
3.
4.
166
Note:
If your lines cross each other, the system must decide which side of the intersection
to put the fillet on (many times it will be wrong). In this case, you should trim
(using the split command) one or both of the curves using the other one.
4. Close the Point to Point Distance window.
Create the fillet
Caution:
Create the fillet whose radius is about one tenth the distance you measured in the previous
step.
1. Select Modeling -> Create 2D -> Fillet
.
2. Click two tangent sides of the polyline (i.e. polyline1 and polyline2).
3. In the Fillet window for the Radius, enter one tenth the distance you measured in
the previous step.
4. Check Delete original entities.
Note:
If [OK] and Preview are gray after enter the radius, pick another field or press
[Tab].
5. Click Preview.
6. Click [OK].
167
7. Put the same radius fillets at the next corner of the triangle.
Note:
If [OK] and Preview are gray after enter the radius, pick another field or press
[Tab].
Note:
You must have two different (non-parallel) lines to create a fillet between.
However, we only have one curve now. So, we will split the curve, as shown below,
in order to have a different curve on either side of the open end of the shape.
8. Create a polyline across two of the edges (one being a side of the last fillet to be
created).
168
169
5. Stretch it a little bigger picking and dragging the manipulators on the top or bottom
of the preview solid in the Graphic Viewer.
6. Click [OK].
170
active.
171
1.
2.
3.
4.
5.
Create an arc
1.
2.
3.
4.
5.
6.
7.
8.
9.
172
Sweep
1.
2.
3.
4.
5.
6.
Create a cylinder
Tip:
Create a cylinder at the small end of the swept solid
1. Select Modeling -> Create 3D -> Cylinder Creation -> Create a Cylinder
2. In the Create Cylinder window for Radius, enter: 6.
3. For Height enter: 5.
4. Click Expand
.
5. Uncheck Maintain Orientation.
173
6. For the selection type for the Locate at field, select Frame by Circle Center
7. Pick three points around the edge of the small end of the sweep.
8. In the Frame by 3 Point Circle Center window, click Flip Frame
axis pointing out of the solid.
9. In the Frame by 3 Point Circle Center window, click [OK].
10. Click [OK].
to get the Z-
Tip:
Create the second cylinder on the end of the first cylinder.
1.
2.
3.
4.
5.
6.
7.
Select Modeling -> Create 3D -> Cylinder Creation -> Create a Cylinder
In the Create Cylinder window for Radius, enter: 7.5.
For Height enter: 11.
Click Expand, if it is not already expanded.
Uncheck Maintain Orientation, if it is not already unchecked.
For theLocate at field, pick the middle of the end of the last created cylinder.
Click [OK].
174
1.
2.
3.
4.
5.
6.
7.
8.
Click Expand
.
Uncheck Maintain Orientation.
For the Locate at field, pick the middle of the end of the last created cylinder.
Click [OK].
175
8. Click [OK]
Place it at the end of the other cap
1. Draw a selection window around the duplicate cap geometry to select it.
2. Right click the selected geometry and select Relocate
.
3. In the Relocate window for the From Frame, pick the center of the end of the
duplicate cap.
4. Pick in the To frame field.
5. For the To frame, pick the center of the end of the original cap.
6. Click one of the Frame by 6 values
buttons.
176
Note:
Maintain orientation and Translate only on should be unchecked.
9. Click Apply and Close.
177
1.
2.
3.
4.
Select Modeling -> Create 3D -> Cone Creation > Create a Cone
In the Create Cone window for Lower Radius, enter 8.5.
For Upper Radius, enter 11.
For Height, enter 30.
5. Click Expand
, if it is not already expanded.
6. Uncheck Maintain Orientation, if it is not already unchecked.
7. For the Locate at field, pick the middle of the end of the last created cylinder.
8. Click [OK].
9. Select Modeling -> Create 3D -> Cylinder Creation -> Create a Cylinder
10. In the Create Cylinder window for Radius, enter: 11.
11. For Height enter: 100.
178
1.
2.
3.
4.
Select Modeling -> Create 3D -> Cone Creation > Crate a Cone
In the Create Cone window for Lower Radius, enter 10.
For Upper Radius, enter 12.5.
For Height, enter 66.
5.
6.
7.
8.
Click Expand
, if it is not already expanded..
Uncheck Maintain Orientation, if it is not already unchecked.
For the selection type for the Locate at field, select Frame by Circle Center
Pick three points around the edge of the large end of the sweep.
179
180
active.
181
The objective of this activity is to create a simple robot for kinematics and learn modeling
commands
Tip:
A drawing of the final robot exists at the end of the activity. Use it to check your work
performed in the activity. Or if you are confident in your Process Simulate modeling skills,
model the robot only using the drawing. Most students should instead follow the activity
closely.
Caution:
All the solids for a robot in Process Simulate should be placed in one object.
Start modeling the my robot object
Perform Basic Setup
Create BASE Link
Save (End modeling) the my robot
Turn on the Modeling toolbar
Create LINK1
Create LINK2
Create LINK3:
Create LINK4
Create LINK5
Create LINK6
Save and End Modeling Changes
Move the new resource to your library
Drawing for the Robot Modeling Activity
1.
2.
3.
4.
5.
182
Note:
Create the geometry for what will become the BASE kinematic link:
183
1. Select Modeling -> Create 3D -> Box Creation -> Create a Box
2. In the Create Box window, enter: 400x420x120.
3. Click [OK].
4. Select Modeling -> Create 3D -> Cylinder Creation -> Create a Cylinder
5. In the Create Cylinder window for Radius, enter: 170.
6. For Height enter: 40.
7. Click Expand
.
8. Pick the Locate at field.
9. Pick the top of the box.
10. Check Maintain Orientation.
11. Click [OK].
12. Select Modeling -> Create 3D -> Cylinder Creation -> Create a Cylinder
13. For Locate at, pick the top of the previously created cylinder.
14. For Radius enter: 110.
15. For Height enter: 110.
16. Click [OK].
Note:
If you are a paranoid person (it is good to be paranoid with computers), save your work
now.
1. From the Object Tree, select your myrobot_userX.
2. Select Modeling -> End Modeling
.
3. In the Save Component As window, browse into the
.\sysroot\Libraries\modeling_kinematics\robots folder.
4. Click Save.
184
Note:
Create the geometry for what will become the LINK1 kinematic link:
185
4.
5.
6.
7.
186
Tip:
Move the working frame to center of the broad face of one of the ears of Link1:
187
3. Click [OK].
4.
5.
6.
7.
188
8. Click [OK].
189
190
25. For the From Frame pick (snap) near the middle of the height of the newly created
cylinder.
Note:
Anywhere on the exterior of the cylinder is acceptable, as long as it is a snap point
half way between the top and bottom of the cylinder.
26. For the To frame, pick near the middle of the edge of the LINK1 boxs Y edge.
27. Check the Maintain orientation checkbox.
28. Check the Translate only on checkbox.
29. Click Z.
30. Click [OK].
31. From the Object Tree, check the display status square for the blanked box and
cylinder solid that is part of LINK2.
Tip:
This is the Z-axis of the Working Frame, which is currently sitting at a different
orientation than the default.
32. Create a cutter to cut a slot from the top of the last box:
Tip:
Move the Working frame to center of the top of the box and rotate 180 about X.
33. Select Modeling -> Set Working Frame
.
34. Pick the top middle of the last created box of what will become kinematic Link2.
35. Click [OK].
36. From the Modeling toolbar, select Create a Box .
37. For Locate at, select Working Frame from the drop down menu.
38. Enter: 300x140x210
39. Uncheck Maintain Orientation.
40. Click Frame by 6 Values
to the right of the Locate at field.
41. In the Location window, click Flip Frame.
42. Click [OK].
191
Tip:
Create LINK3 through LINK5 vertically, then position:
192
1.
2.
3.
4.
5.
6.
193
Create LINK4
Note:
Creae LINK4:
194
1.
2.
3.
4.
5.
6. Click [OK].
Note:
The next chunk of the robot could be made in at least two different ways (option 6a
or option 6b). The activity will use option 6b, however here is the information for
option 6a: From the Modeling toolbar, select Create a Box . Uncheck Maintain
Orientation. For Locate at, pick the middle of the end of the last created cylinder.
Enter: 130x130x195.
7. OPTION 6b: Or the End can be made as a cube and a cylinder :
8. From the Modeling toolbar, select Create a Box .
9. Uncheck Maintain Orientation.
10. For Locate at, pick the middle of the end of the last created cylinder.
11. Enter: 130x130x130.
195
196
Note:
Create LINK5:
197
198
5. Click [OK].
6. Right click the last created solid and select Blank
Create LINK6
Note:
Create LINK6. DON'T FORGET ABOUT THIS ONE:
199
1.
2.
3.
4.
5. Click [OK].
200
201
Note:
Move the new resource prototype to your eMS resource library
1. In the Navigation Tree, browse into your working folder.
2. Browse into the Importing From Engineering folder.
3.
4.
5.
6.
7.
8. Check out
the Robots library.
9. Drag and drop the myrobot_userX into the Robots resource library.
10. Click the Back
button.
11. Close the second Navigation Tree that was opened.
Robot Base
202
Robot Link1
203
204
Robot Link2
205
Note:
In the training class we will make the width 200 instead of 190.
Robot Link3
206
Robot Link4
207
Note:
In the training class we will make the large cylinder 30, instead of 830.
Robot Link5
208
Note:
In the training, we will make the extension 40x40x135
Robot Link6
Note:
209
Diameter 50
15 Thick
210
KINEMATICS BASICS
Activity: Simple Kinematics (Part 1)
Note:
In the Project_209S project, the instructor should load the Scenario (study) two blocks
from the model kinematics studyfolder.
211
7. From the Process Simulate Object Tree, right click the two blocks object in the
Resources folder, and select Display Only
8. Select View > Zoom to Fit
1. From the Resources folder of the Object Tree, select the two_blocks_user##
(replace ## with your user number assigned to you by your instructor) object in the
two_blocks compound resource.
2. Select Modeling -> Set Modeling Scope .
3. Select [OK], to the message about unsupported geometry.
Note:
An M
1. Select the two_blocks_user## (replace ## with your user number; assigned to you
by your instructor) object.
2. Select Kinematics -> Kinematics Editor
212
1. In the Kinematics Editor window, pick the LNK1 link (i.e. the bottom box for the
parent link).
2. Hold down the [Ctrl] key and pick the LNK2 link (i.e. top box for the child link
3. Release the [Ctrl] key.
Note:
A joint can also be created by dragging a line from the parent link to the child link.
4. In the Kinematics Editor, select Create Joint
Note:
We will use the default axis definition from (0,0,0 to 0,0,100) and Joint type of
Revolute
5. Joint Properties window, click [OK].
Note:
Next we will test our kinematics using the Joint Jog window. The Joint Jog
button can be accessed in several places: from the toolbar of the Kinematics Editor,
by right clicking a kinematic object, from the Kinematics toolbar, or from the
Kinematics menu.
6. Close the Kinematics Editor window.
Jog the kinematics
2. Select the two_blocks_user## (replace ## with the user number; assigned to you by
your instructor) object.
3. Select Kinematics -> Joint Jog
213
4. Adjust the sensitivity of the joint steering: From the Joint Jog window, click
Options
and move the Slider sensitivity slider toward low.
5. Click [OK].
6. In the Joint Jog window, select the Steering gear icon for joint J1 and drag it left
and right.
Note:
You can drag the slider beyond the Joint Jog window, which is OK.
7. Click Reset.
214
8. Click Close.
215
1. Select the two_blocks_user## (replace ## with the user number; assigned to you by
your instructor) object.
2. Select Kinematics -> Kinematics Editor
7. Click [OK].
216
2. Select the two_blocks_user## (replace ## with the user number; assigned to you by
your instructor) object.
3. Select Kinematics -> Joint Jog
4. In the Joint Jog window, select the Steering gear icon for joint J1 and drag it left
and right.
5. Click Reset.
6. Click Close.
217
1. Select the two_blocks_user## (replace ## with your user number; such as 1 for
user1) object.
2. Select Kinematics -> Pose Editor
.
3. In the Pose Editor window, click New.
4. In the New Pose window, move theSteering gear for j1 to the right.
5. In the New Pose window for Pose name, enter Turn.
6. Click [OK].
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3.
4.
5.
6.
8. Select the Turn pose from the drop down that currently says HOME.
9. Click Reset and Close.
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working folder.
3. Right click your temp study and select Load in Standard Mode
4. No, dont save changes to the study.
5. Switch from the Navigation Tree to the Object Tree.
Note:
There are only two joints in this case: One for the door at the hinges and another for the
handle.
1. In your mind, envision the first joint (j1): The doorframe is fixed and does not
move when the door opens. So, the doorframe link will be the parent to the door
joint. The axis of this joint goes through the hinges.
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2. In your mind, envision the second joint (j2): The axis of the next joint goes through
the center of the door handle. Relative to the door handle joint, the door is the
parent link and the handle is the child link.
Note:
The links and axis have already been created for you. All you have to do is define
the joints for the mechanism.
Kinematic Tree
Note:
Use what you have learned, along with these hints, to define the kinematics.
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1.
2.
3.
4.
5.
6.
7.
8.
In the Kinematics Editor, drag a line from the doorframe to the door.
For the Parent Link select door frame
For the Child link select the door
Click From
For the Axis From select the line though the hinges twice
Click [OK] to the error message.
Change the Z value for the To point of the axis.
For Joint Type click Revolute.
1.
2.
3.
4.
5.
6.
7.
8.
In the Kinematics Editor, drag a line from the door to the handle.
For Parent Link select the door
For Child Link select door handle
Click From
For the Axis From select the line though the handle twice
Click [OK] to the error message.
Change the X value for the To point of the axis.
For Joint Type click Revolute.
1.
2.
3.
4.
5.
6.
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The objective of this activity is to create the kinematics and use leading joint concept for a
balanced gun.
Load the study (gun_lf)
Create 3 links
Create 2 joints
Jog the kinematics
Save change to the 3D data
Set the lower arm to depend on the upper arm
Enter the correct follow factor
Check the joint motion
Save change to the 3D data
Change follow factor to negative number
Change the HOME pose
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Create 3 links
4.
5.
6.
7.
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Create 2 joints
1. In the Kinematics Editor window, pick the first link (i.e. the body for the parent
link).
2. Hold down the [Ctrl] key and pick the second link (i.e. upr arm for the child link
3.
4.
5.
6.
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Note:
When loading the next study we can choose to not save changes to the scenario,
since none have been made
Set the lower arm to depend on the upper arm
Note:
Set joint J2 to follow (i.e. lower arm to depend on the upper arm) joint J1.
1. Select gun_lf_user##
2. Select Modeling -> Set Modeling Scope
3. Select Yes.
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Note:
The default value is Independent.
8. Click the down arrow
9. Click j1.
Note:
Details of the joint j2 function are displayed in the Joint Function area.
Enter the correct follow factor
Note:
Enter the correct follow factor. This factor is a ratio of one joints motion to another. To
define the follow factor for each of the joints so that they will be fully open when the
leading joint is fully open:
Note:
The follow factor might be 2.13, depending on how you define the kinematics.
Remember, the follow factor is a ratio of one joints motion to another.
Note:
Follow factor = Follow joint range / Leading joint range
1.
2.
3.
4.
Click Multiplication.
Type (-2.13) in the Joint Function window.
Click Apply and Close.
Close the Kinematics Editor window.
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1.
2.
3.
4.
Select gun_lf_user##
Select Modeling -> Set Modeling Scope .
Select Yes.
Change follow factor to negative number (or to a positive number), so that the joints
(lower and upper arm) move away from each other when jogged.
5. Check the motion of joints and note difference.
Change the HOME pose
Note:
Use Joint Jog and Pose Editor windows to change the HOME pose so that gun tips are
closed when this pose is applied.
Note:
Normally the HOME pose is where all joints are equal to zero. However, this is not a
requirement. There may be a situation when you need the HOME pose to have a different
value.
1. In the Joint Jog window, jog the joint until the tips are closed.
2. Right click and select Copy
for the joint value shown in this window.
3. In the Pose Editor window, select the HOME pose and click Edit.
4. Right click in the Joint value field and select Paste
5. Click [OK].
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.
.
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9. Click Next.
10. On the Slider Crank Links window, click the first link.
12. Pick the equivalent entities for this link in the Graphic Viewer.
13. Repeat this process for the other three links.
14. Click Finish. The kinematic tree is defined.
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Kinematic Definition
Note:
This activity provides ONE way to define the kinematics of this gun. There are several
ways that it could be done. Please make sure that you are able to perform the steps as
written before trying other ways of doing the kinematics.
1. In the Kinematics Editor, click Create Crank
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5. In the Object Tree, pick the fr1 frame within your gun_geo object.
Note:
This is the frame between the blue and yellow links.
Note:
All three frames should be created in advance and should exist on one plane down
the middle of the gun. We have suggested in the activity to pick the frames in the
Object Tree in order to guarantee that the correct point is selected. If the wrong
point is selected (and the mistake is not found until you are done defining the
crank), all crank kinematics must be deleted and recreated.
6. On the Slider Crank Joints window, click the second point (to the right of the Fixed
Link).
7. In the Object Tree, pick the fr2 frame within your gun_geo object.
Note:
This is the frame between the blue and yellow links.
8. On the Slider Crank Joints window, click the second point (to the left of the Fixed
Link).
9. In the Object Tree, pick the fr3 frame within your gun_geo object.
Note:
This is the frame between the blue and yellow links.
Note:
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base (green)
upr (yellow)
Output Link
rod (magenta)
Input Link
cyl (blue)
Coupler Link
lwr (orange)
Fixed Link
1. In the Kinematic Editor window, create a joint by dragging a line from the base to
the lwr link.
2. In the Joint Properties window, pick From and pick fr3 from the Object Tree.
3. In the Joint Properties window, pick To and pick fr3 from the Object Tree.
4. Click [OK] to the error message.
5. For the Y value for To, enter 100.
6. Click [OK].
7. Close the Kinematic Editor window.
Test with Joint jog
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Note:
There are only two joints to jog.
2. Jog the two joints of the object.
Note:
J1 rotates the lower arm. The other joint moves the upper gun arm with the
solenoid. See the first part of this topic to see why there are only two jogable joints
for a mechanism with five joints defined. Remember, there are no joint limits set.
Note:
When you jog the gun, only one of the jaws moves. It may look a little strange right
now.
Tip:
If the motion seems wrong (i.e. the two jaws don't open but it spins around) select
the joint just created and click Reverse Joint
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The objective of this activity is to see two ways to make the two jaws open: follow factor or
a function.
Continue and create a balanced joint gun
Go to Joint Jog and test
Edit the Function
Save change to the 3D data
Note:
Both arms will move the same amount in opposite directions. This can be accomplished by
making the upper arms joint the leading joint and the lower arms joint the follow joint
with a factor of 2 (or -2.13).
1. Open the Kinematic Editor.
2. Pick the joint that moves the lower arm (J2).
3. Use what youve learned to add this function to the joint: (T(fixed_InputJ1))*(-2)
Go to Joint Jog and test
Note:
There are only one joint to jog. This means that there is only one independent joint.
J1 moves both arms at the same time, but in opposite directions. Remember there
are no joint limits set.
3. Remember to go to the HOME pose before leaving Joint Jog
Edit the Function
1. Try editing the function and changing the 2 to some other value (i.e. 2).
2. Then jog it and notice affect on motion.
Save change to the 3D data
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The objective of this activity is to define the max speed and acceleration on our gun joint.
Add speed and acceleration values
Test it
Move the object home and end modeling
Test it
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The objective of this activity is to learn how to define OPEN, SEMIOPENED, and CLOSE
states for the gun.
Open gun_geo for modeling
Verify that the linear units are set to mm (and not inches)
Create the CLOSE pose
Create the SEMIOPEN pose
Create the OPEN pose
Test the poses then Reset the mechanism
1. Continue using the same data loaded in Process Simulate (gun geo).
Note:
This activity is a continuation of the previous one, and the kinematics must already
be defined.
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Note:
Return the gun to the position it was in when you first defined the kinematics (that
is, j1=0, j2=0). This is called the HOME pose.
4. Select Modeling -> Set Modeling Scope
5. Select Yes.
Verify that the linear units are set to mm (and not inches)
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1. In the Pose Editor window, click New. The New Pose window is displayed.
2. Click the up/down arrows for the joint value until it is-15 (or 15, depends on the
axis direction).
Note:
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This gun has two joints, but only one shows in the list. Do you remember why? It is
because j2 is dependant on j1.
3. Click [OK].
4. Pose Editor window, pick the pos1 just created, pick it again and enter
SEMIOPEN.
5. (Do not close the Pose Editor window yet).
Create the OPEN pose
Note:
Jog the gun to the open position (or type in the value in the Pose Editor directly).
1. Select Kinematics -> Joint Jog
.
2. In the Joint Jog window, select the blue j1 slider, and move the mouse left and right
in the Graphic Viewer to jog the gun to an open position.
3. From the Pose Editor window, click New.
4. Click [OK].
5. Pose Editor window, pick the pos1 just created, pick it again and enter OPEN.
Test the poses then Reset the mechanism
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The objective of this activity is to create the frames required by the Tool Definition button.
Note:
The TCP Frame represents the Tool Center Point Frame of the robot. The robot TCP is
super-imposed onto each location (workpoint) in the robotic path. The TCP Frame of the
robot is placed on the gun TCP frame defined by the tool definition command.
Note:
The Mount Frame represents how the gun will be mounted to the TOOLFRAME of the
robot. By default the mount frame will be superimposed onto the TOOLFRAME of the
robot. Every robot has a TOOLFRAME located on the faceplate at the end of the robot
arm.
Create the TCP frame
Create the Mount frame
1. Continue modeling the same gun data loaded in Process Simulate (gun geo).
2.
3.
4.
5.
6.
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7. On the Object Tree, name the frame tcp (pick it, press the [F2] key, and enter tcp).
8. Select the tcp frame.
9. Select Modeling > Edit > Set as Preserved Objects
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4. On the Object Tree, name the frame mnt (pick it, press the [F2] key, and enter
mnt).
5. Select the mnt frame.
6. Select Modeling > Edit > Set as Preserved Objects
Note:
Continue modeling the gun.
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1. Continue modeling the same gun loaded in Process Simulate (gun geo).
2. Select the gun, either in the Graphic Viewer or the Object Tree.
3. Select Kinematics -> Tool Definition
1. In the Tool Definition window, select Gun from the Tool Type drop down list.
2. In the TCP Frame field, select the tcp frame from the drop down list, the Graphic
Viewer or the Object Tree.
Note:
You can temporarily modify the position of the selected frame by clicking the drop
down arrow next to Frame of Reference and specifying the new location of the
frame using one of the four methods available.
3. In the Base Frame field, select the mnt frame from the drop down list, the Graphic
Viewer or the Object Tree.
4. In the Do not check for collisions with area, specify the objects which may collide
with the tool (i.e. the weldgun) by selecting them in the Graphic Viewer. For
example, the tips (or caps) of the gun arms. This means that collisions between the
specified objects and the tool are neither checked for nor noted.
5. Click [OK]. The selected device is defined as a tool of type gun.
Note:
In order for this definition to work, the object must be kinematic and have the
OPEN, SEMIOPEN, and CLOSE poses defined (case sensitive).
Save and end modeling
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1. Verify that the MNT frame and TCP are in the correct positions.
2. Select the object and pick Kinematics > Kinematics Editor
3. In the Kinematics Editor window, click Create Link
4. Create the base link and select its geometry
5. Click [OK].
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Note:
Jump from one pose to the other just to understand how the gripper functions, to find the
gripping entities (the pink ones) and to verify it has kinematics.
1. Create the first joint between base and left arm. It should be named j1 and move
prismatically along the X axis
2. Create the second joint between base and right arm. It should be named j2 and
move prismatically along the X axis.
3. Test the (direct) kinematics and reset them to HOME when done.
4. Add an OPEN pose and a CLOSE pose using the Pose Editor
.
5. Jump from one pose to the other.
Note:
The existence of kinematics is a prerequisite to define any tool.
6. Close the Pose Editor window.
Define it as a gripper
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The objective of this activity is to add kinematics to the robot created in an earlier activity
in order to learn the kinematic tools provided in Process Simulate.
Get the my robot geo object
Envision the kinematic chain in your head and then begin modeling
Create the first link
Create the second link
Define the next 5 links the same way
Axis Definition
Define the first joint
Define the second joint of the robot
Continue this process to define all six joints
Save and end modeling
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2. What are the links, what are the joints, and so on. We will need to define 7 links and
6 joints
Note:
The 7 links will be named: base, lnk1, lnk2, lnk3, lnk3, lnk4, lnk5, and lnk6. The
joints will be names J1, J2, J3, J4, J5, and J6.
3. Select the robot.
4. Select Modeling -> Set Modeling Scope
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5. Click Yes.
6. Create frames in an easy to select location to be used to create the axes of the robot
(one for each axis). Remember that when entering the axis for joint, the From/To
point coordinates are in reference to the working frame.
Create the first link
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3. Click [OK].
4. The three entities colors are changed to green.
Note:
The default name lnk1 is assigned to this link
Define the next 5 links the same way
1. Define the next 5 links the same way, for a total of 7 links:
Here is lnk2:
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Here is lnk3:
Here is lnk4:
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Here is lnk5:
Here is lnk6:
Axis Definition
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6. In the Graphic Viewer, pick the center of the end of the depicted cylinder.
7. Pick the center of the center of the end of the opposite end of the cylinder.
8. In the Joint Properties window, click Expand Dialog
9. For Limits type, select Constant.
10. For High Limit, enter 70.
11. For Low Limit, enter -70.
12. For Speed, enter 110.
13. For Acceleration, enter 9999.
14. Click [OK].
Note:
Reference joint range values for the purposes of this activity only. Choose the appropriate
axis for each joint.J4 and J5 use the same axis.
1. Continue this process to define all six joints. Use this table for reference:
Joint
Parent
Link
Child
Link
Constant Low
Limit
Constant High
Limit
Max
Speed
Max
Accel.
J3
lnk2
lnk3
-70
70
110
9999
J4
lnk3
lnk4
-190
90
170
9999
J5
lnk4
lnk5
-110
110
170
9999
J6
lnk5
lnk6
-340
340
240
9999
Note:
Normally the joint ranges for J2 and J3 are dependant on each other. In this activity, we
will define them as constant. This is not suggested for production robotic kinematics.
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The objective of this activity is to test the kinematics of the robot that we created.
Test the 6 joints in the mechanism
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The objective of this activity is to add a TOOLFRAME onto the kinematic device in order
to make it into a robot (able to use inverse kinematics).
Continue modeling the my robot geo object
Look at the kinematic links
Define Inverse Kinematics
Save and end modeling
1.
2.
3.
4.
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Note:
Look at the temporary coloring of the kinematic links of the mechanism.
1. Select the robot.
2. Select Kinematics -> Kinematics Editor
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Note:
Recall that this robot has 6 joints that are all rotational (i.e. its primary kinematic
branch configuration is RRRRRR).
Define Inverse Kinematics
Note:
Make this device into a robot (i.e. inverse kinematics).
1. In the Graphics Window zoom in on the robots wrist.
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Note:
The GTAC website (http:\\support.ugs.com) contains several hundred commercial
robots from robotic vendors. In most cases you will not have to model your own
robots.
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The objective of this activity is to use the inverse kinematics that have been defined.
Use Robot Jog to move the robot
Create new robotic operation for the robot
Create a location for the robot
Create another via location for the robot
Play the simple simulation
Note:
Notice how this type of movement is different from Joint Jog.
1. Continue using the same data.
2. Right click the robot and select Robot Jog
shown below.
3. Grab the Robot Jog Manipulator Frame in the Graphic Viewer and pull the robot
around.
4. Dont close the Robot Jog window yet.
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Note:
The robot jog window is only available for robot objects (i.e. objects with a TCPF
frame at the end of its kinematic tree).
Create new robotic operation for the robot
1. On the Operation Tree viewer, pick the new bolded Weld_Op robotic operation.
2. Select Operations -> Path Editing -> Add Current Location
Note:
The path editing buttons can also be found on the Path toolbar which is turned off
by default.
Create another via location for the robot
1. On the Operation Tree viewer, pick the new location in the new bolded Weld_Op
robotic operation.
2. Select Operation -> Path Editing -> Add Location After
.
3. Use the Manipulator Frame or Robot Jog window to move the robot to another
position.
4. Close the Robot Jog window.
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.
.
The objective of this activity is to provide additional inverse kinematics examples. These
are considered optional activities. In this case, only the basic steps will be provided.
Defining Transporter (AGV) Kinematics
Defining Fork Lift Kinematics
Defining Overhead Crane Kinematics
Defining another Type of Crane Kinematics
Defining (Regular) Lift Assist Kinematics
Defining (Special) Lift Assist Kinematics
Note:
We will model the crawler and crawler_top as separate objects. Later we would define the
crawler top as a tool to be mounted to the transporter. In this case this tool would contain
the one translational joint and would add flexibility to how the poses could be applied for it.
(Otherwise if the bed kinematics were part of the crawler, the poses would contain all the
joints of the robot and the bed, making the modification of the simulation difficult).
Note:
If you are not sure what the kinematics should look like, open crawler_demo and
crawler_top_demo, mount it, then Robot Jog it. Delete it from the study when finished.
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1.
2.
3.
4.
Right click the crawler_user## in the Object Tree and select Display Only
Select Modeling -> Set Modeling Scope
.
Create four empty links.
Add all the geometry (except the bed) to link4
Note:
You do not have to put geometry into a link.
5. The first joint (between link1 and link2) should be named X and move
prismatically along the X axis.
Note:
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It does not matter where the axis is defined for prismatic joints as long as it goes in
the right direction.
6. The second joint (between link2 and link3) should be named Y and move
prismatically along the Y axis.
7. The third joint (between link3 and link4) should be named Rz and move
rotationally around the Z axis.
8. Test the (direct) kinematics and reset them to HOME when done.
9. Add a TOOLFRAME to link4, located on the ground between the front wheels
(pick fr1 frame from the Objects Tree).
10. Test the (inverse) kinematics and reset them to HOME when done.
11. Select Modeling -> End Modeling
12. Right click the crawler_top_user## in the Object Tree and select Display Only
.
13. Select Modeling -> Set Modeling Scope
.
14. Create two empty links.
15. Add the bed geometry to link2
16. The one joint (between link1 and link2) should be named lift and move
prismatically along the Z axis.
17. Select Modeling -> End Modeling
Warning:
There is no usable data for a forklift in the training data. These steps are here for reference.
1. Follow the same basic process described for the crawler, except use forklift
geometry (minus the fork).
2. Follow the same basic process described for the crawler_top, except use forklift
fork geometry.
Defining Overhead Crane Kinematics
Note:
If you are not sure what the kinematics should look like, open crane2_demo and Robot
Jog it. Delete it from the study when finished.
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.
).
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9. The first joint (between link1 and link2) should be named X and move
prismatically along the X axis (0,0,0) (10,0,0)
10. The second joint (between link2 and link3) should be named Y and move
prismatically along the Y axis. (0,0,0) (0,10,0)
11. The third joint (between link3 and link4) should be named z and move
prismatically along the Z axis. (0,0,0) (0,0,10)
12. Add limits to the joints?
13. Test the (direct) kinematics and reset them to HOME when done.
14. Add a TOOLFRAME to link4, located on the fr1 frame
15. Test the (inverse) kinematics and reset them to HOME when done.
16. Click File > eMServer Selective Update
[OK].
Note:
If you are not sure what the kinematics should look like, open crane1_demo and Robot
Jog it. Delete it from the study when finished.
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Note:
In this case, we will create hook as a separate device with one linear joint that we will
mount to the end of the crane to give us to type of flexibility we want during simulation.
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1.
2.
3.
4.
Right click crane1_user## in the Object Tree and select Display Only
Select Modeling -> Set Modeling Scope
.
Define the kinematics as shown in the demo object or as desired.
Add a TOOLFRAME to the last link.
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Note:
If you are not sure what the kinematics should look like, open lift_assist_demo and Robot
Jog it. Delete it from the study when finished.
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1.
2.
3.
4.
5.
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Note:
If you are not sure what the kinematics should look like, open top_lift_assist_demo.cojt
and Robot Jog it. Delete it from the study when finished.
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1.
2.
3.
4.
5.
Right click top_lift_assist_user1 in the Object Tree and select Display Only
.
Select Modeling -> Set Modeling Scope
.
The first two joints are prismatic along the X-axis and Y-axis.
Joints 3, 4, and 5 are rotational using the Z-axis of the frames on the top of the arm.
Joint 6 is rotational and Joint 7 is linear along the Z-axis
Note:
This robot can be used in conjunction with the human (follow the weld operation of
the lift assist).
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1. The same project should still be opened from the previous activity.
2. Right click on temp study and select Load in Standard Mode
3. No, dont store changes to the study.
4.
5.
6.
7.
8.
Note:
The geometry for the rail could be created in a CAD system, such as NX. However, the
kinematics should be defined in Process Simulate.
Note:
It can consist of two boxes. One is the rail track and the other is the carriage that carries the
robot along the track.
Example: Dimensions:
1. Rail 15,000 x 800 x 1000 (box
2. Carriage 800 x 100 x 1000 (box
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)
)
WKP115S-Process Simulate Basic Robotic Simulation
1. Use what you've learned to place the carriage on one end of the rail.
Define the links and Joints
1. After creating the links, define the rail as a kinematic device having a single
prismatic joint (J1) to move the rail along the track.
End the modeling session
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The objective of this activity is to look at an example of kinematic motion of various cranks
and defining the kinematics using the Kinematics RPRR offset slider.
Insert the various crank object examples
Look at the Joint Functions and Jog the Device
Start Modeling the RPRR Slider with Offset
Define the crank for the RPRR Slider with Offset
1. The same project and study should still be opened from the previous activity.
2. Select Modeling > Insert Component from File .
3. Browse and select these COJTs from the
.\sysroot\libraries\model_kinematics\more_kin folder: rrrp.cojt, prrr.cojt,
rprr_offset.cojt, prrr_offset.cojt, rprr_offset_geo.cojt, and rrrp_offset.cojt.
Note:
rprr_offset_geo.cojt does not have any kinematics. We will add them later in this
activity.
4. Right click in the Graphic Viewer and select Display All
5. Use Fast Placement
1. Joint Jog
one of the crank objects.
2. Open the Kinematics Editor window for one of the crank objects.
Note:
Look at the functions on the joints using the Joint Kinematics Functions
button on the Kinematics Editor toolbar.
Start Modeling the RPRR Slider with Offset
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Link Name
gray entity
Fixed Link
green entity
Input Link
red entity
Coupler Link
blue entity
Output Link
4. On the Slider Crank Joints window, click one of the three points on the Linkage
Diagram and pick the equivalent point in the Graphic Viewer
Point
Location
po7
po8
po9
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Note:
A triangle is drawn in the Graphic Viewer between the three points.
5. Click Next.
6. Check With offset.
7. In the Graphic Viewer for the From point, pick the end of line_3 sticking out of the
green input link.
8. In the Slider Crank Joints window, pick in the To point field.
9. In the Graphic Viewer for the To point, pick the end of line_3 sticking out of the
yellow coupler link.
10. Click Next.
11. On the Slider Crank Joints window, click the first link (Fixed Link).
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The objective of this activity is to look at an example of kinematic motion added to a weld
gun. In this example the upper arm until a certain limit before the bottom arm begins to
move.
Instructor opens Gun Geo Advanced
Joint jog the gun
Look at the Kinematic Joint Functions
Warning:
This is not a student activity.
1. The same project should still be opened from the previous activity.
2. Load the gun geo advanced study from the model kinematics study folder.
Note:
Students could use the temp study and insert the gun funobject into it. However,
they should not save any changes to this object, since the whole class is looking at
the same gun .COJT.
Joint jog the gun
1. Joint Jog
the gun.
Note:
Look at the functions on the joints using the Joint Kinematics Functions
Kinematics Editor toolbar.
button on the
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Note:
J4 NOTE:
o
o
o
o
o
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Expression1 is D(j1)<=41.275
Expression2 is (-.003145)*D(j1)
Expression3 is D(j1)>41.275
Expression4 is (-.1298)+ ((-.002806)*(D(j1)-41.275)))
J4s Logic: Multiply expression1 times expression2 plus expression3
times expression4. This means that j4 will depend on expression2 for its
joint value when j1 is less than or equal to 41.275, but will depend on
expression4 when j1 is greater than 41.275.
The objective of this activity is to look at an example of kinematic motion that follows a
surface defined by a mathematical function.
Insert the surface tracker object
Joint jog the gun
Look at the Kinematic Joint Functions
1. The same project should still be opened from the previous activity.
2. Select Modeling > Insert Component from File .
3. Browse and select the surfacetracker.cojt (CAM Motion Example) object from the
.\sysroot\Libraries\model_kinematics\more_kin folder.
4. Click Open.
Note:
It is OK for the .COJT filename to be different than the name shown in Process
Simulate. They are two different attributes of the object.
5. Right click the CAM Motion Example (surface tracker) object and select Display
Only
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1. Joint Jog
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6. Click Close
7. Click Close
8. Select the CAM Motion Example (surface tracker) object.
9. Select Modeling > Reload Component
.
10. Select Yes,
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The objective of this activity is to examine the trainj. There is an example object named
trainj available for examination. It has all of the functions defined and works properly.
Steps for the Train Joint
1. The same project should still be opened from the previous activity.
2. Insert the trainj.cojt from the .\sysroot\libraries\modeling_kineamtics\functions
folder and begin modeling it.
3. Right click the trainj object and select Display Only
4.
5.
6.
7.
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The objective of this activity is to examine the camfinalj. There is an example object
named camfinalj available for examination. It has all of the functions defined and works
properly.
Steps for the cam joint object
1. The same project should still be opened from the previous activity.
2. Insert the camfinal.cojt from the
.\sysroot\libraries\modeling_kineamtics\functions folder and begin modeling it.
3. Right click the camfinal object and select Display Only
4.
5.
6.
7.
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and
and click
Note:
This will allow others to check out this library.
10. Right click the Rail EquipmentPrototype and select Check Out
Note:
This will allow you to continue editing your EquipmentPrototype.
11. In the Navigation Tree displaying the Resource Library , drag and drop the
e_carriage_l and e_rail_l25 resource prototypes (from the
compound_equipment2 library) unto the Rail equipment prototype.
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and click
Note:
This will allow others to check out this library.
4. Right click the Robot and Rail EquipmentPrototype and select Check Out
click [OK].
and
Note:
This will allow you to continue editing your EquipmentPrototype.
5. In the Navigation Tree drag and drop the Rail equipment prototype onto the Robot
and Raill equipment prototype.
6. In the Navigation Tree, drag and drop the real_robot robot (from the robots
library) onto the Robot and Rail equipment prototype.
7. Drag and drop the Robot and Rail user## object from the compound_equipment
library to the Graphic Viewer.
Place the robot on the rail
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1. In the Object Tree, select the Robot and Rail user## equipment instance.
2. Select Kinematics > Kinematics Editor
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WKP115S-Process Simulate Basic Robotic Simulation
4. Click Close.
5. Select the Robot and Rail user##.
6. Select Modeling > End Modeling
.
7. In the Save Component As window, browse into the Libraries >
Model_kinematics > compound_equipment folder.
8. Enter CompEquip_User## for the name and click Save.
9. Select File > eMServer Selective Update
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Note:
Equipment instantiation is performed the same way as the instantiation of any other
object in the Resource library
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GENERAL ROBOTICS
Activity: Creating a New Study (Again)
StudyFolder
administrator
Line 0
user1
Line 1
user2
Line 2
user3
Line 3
user4
Line 4
user5
Line 5
user6
Line 6
etc...
etc...
user8
Line 8
user9
Line 9
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1.
2.
3.
4.
5.
6. Close all the Navigation Tree viewers except for the original one.
Open the study with Process Simulate
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.
.
The objective of this activity is to load and examine two studies created at the Scenario
(study) level. This is the most common level for every day Process Simulate use.
Start Process Simulate
Define your working folder
Load the station22 Scenario (study)
Load the station02 Scenario (study)
Load the pnp Scenario (study)
Load the arc multi axisScenario (study)
3. Click [OK].
4. Open the Robotics Sim Begin (user##)
assigned by the instructor).
5. Click [OK].
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1. In the Navigation Tree of Robotics Sim Begin (user##) , browse into the
Working Folders.
collection.
2. Select the User## folder, where ## is the user number assigned to you by your
instructor.
3. Right click it and select Check Out .
4. Click [OK].
5. Select File > Project Management > Set as Working Folder.
Load the station22 Scenario (study)
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studyfolder.
studyfolder.
2. Right click arc multi axis and select Load in Standard Mode
3. Examine the Scenario (study).
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The objective of this activity is to view spot manufacturing features in Process Simulate.
Load the Station02 Study
Open the Mfg Viewer
View some of the attributes of the weld locations
1. Process Simulate should already be started, and you may have already opened the
Robotics Sim Begin (user##) project , and loaded thestation02 study. If so, skip to
step 3.
Note:
this would only be the case if you were following the instructor's demo.
2. If you are NOT already in the Robotics Sim Begin (user##) project with the
station02 study loaded:
o Select File > Close Project, if a different one is open.
o Select File > Open Project.
o Select Robotics Sim Begin (user##) and click [OK].
o In the Navigation Tree displaying theRobotics Sim Begin (user##) project,
browse to the Studies studyfolder.
o Browse to the Line ## studyfolder , where ## is the user number assigned
to you by the instructor.
o If not already checked out, right click the Line ##
studyfolder and select
Check Out .
o Check Check Out with Hierarchy, and Click [OK].
o Browse into the processing
studyfolder.
o
Right click the station02 study and select Load in Standard Mode
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and verify
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The objective of this activity is to project the weld locations we have created onto the
workpiece and orient them roughly to avoid collision with the workpiece.
Start Projecting Spot Mfg Features
Note:
By projecting the Spot Mfg Features onto its related parts, we will get a robotic simulative
operation, where each spot will be represented as a location operation.
1. Continue in Process Simulate from where the last activity left off.
Note:
The station02 study should be loaded from the Processing
studyfolder .
2. From the Operations Tree, expand into station02 and click the display status square
for the pink WeldOperation 1 simulative operation, if it is not currently displayed.
Note:
A dotted line is shown in the Graphic Viewer which represents the order of the Mfg
Features in simulative operation.
3. Select the pink WeldOperation 1 simulative operation.
4. Select Weld -> Spot > Project Weld Points
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Note:
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The default approach and perpendicular axis are defined and can be modified by
either clicking Options
tab.
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The objective of this activity is to edit the weld path of locations from the previous activity
and jog a weld gun along it.
The station02 study should be loaded from the Processing
studyfolder .
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1. From the Operations Tree, right click the pink WeldOperation 1 simulative
operation and select Set Current Operation
Note:
If the Sequence Editor is not shown, select View > Viewers > Sequence
Editor.
2. From the Sequence Editor, right click on nothing and select Tree Filters Editor.
3. In the Tree Filters Editor window, check all three unchecked boxes.
4. Click [OK].
5. From the Sequence Editor, expand the pink WeldOperation 1 simulative operation
to show all the locations.
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6. Looking at the Graphic Viewer: Drag and drop the locations on the Sequence Editor
(in between other locations) so that they are in sequential order from right to left
(i.e. starting with e254 and ending with e278).
Get the first approximation (guess) of a gun
1. Select the first location in the pink WeldOperation 1 simulative operation (i.e.
e254).
2. Select Weld -> Rotate Locations
location.
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3. Rotate the weld location around the Z-axis (as shown above).
Note:
Constraint the approach of the gun must be modified to avoid collisions.
Note:
While the Rotate Location window is open, the gun is attached to the weld location.
This command rotates the weld location NOT the gun. When the location is rotated,
the gun will follow.
4. Close the Rotate Location window.
Align the orientations of the other weld locations to this one
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Note:
This command aligns all orientations while maintaining the perpendicular constraint
of the weld locations.
Note:
Weld locations for Selected Locations list can also be selected with a pick window.
Note:
Watch the gun simulating and imagine the robot attached. Does this orientation for
the gun make sense? Are there any sharp changes in orientation (i.e. flips) ?
2. Click Jump Simulation to Start
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WKP115S-Process Simulate Basic Robotic Simulation
Note:
Originally there was no time associated to these location operations. However,
based on the gun time (no robot motion yet) a time has been assigned to the
locations.
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3. Click [OK].
4. Click [OK].
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The objective of this activity is to create cross-sections of the weld gun at various spot
welds to check for clearance and validate the gun for this process.
The station02 study should be loaded from the Processing
studyfolder .
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3. In the MultiSections window, double click on a weld location in the Locations list.
Note:
The gun is shown in the Graphic Viewer of the MultiSections window at the
location; and a transparent cutting box and gun are shown in the main Graphic
Viewer at the location.
4. Modify the dimensions of the cutting box to define rough volume of gun by clicking
Fit all Cutting Boxes to Gun
.
5. Modify the dimensions of the cutting box to be a 2D section by entering new values
from the keyboard to adjust dimensions: Click on one of the current values.
6. In the Cutting Box Dimensions window for Y Dimension, enter -1 for the Low and
1 for the High value.
7. Make the other four values 20 mm larger.
8. Click [OK].
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9. Notice how the cutting box shape has changed, as well as the resulting sections.
Note:
The MultiSections window forms sections according to the cuttingbox parameters.
It produces a section for each location displayed in the Locations list.
Show side view of multi-section (line them up)
1. From the MultiSections window, click another location from the Locations list.
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Note:
The frame representing the location is highlighted in magenta and the section plane
is moved in the main Graphic Viewer to the selected location.
2. The gun is jumped to that location in the Graphic Viewer and MultiSections window
if the location is double clicked.
Note:
It is possible, based on gun overlay, to modify the shank (in Process Simulate
modeling or by sending a .JT of the sections to the gun designer in another CAD
system) OR choose another gun that is appropriate for this particular process.
Store the multi-section as an object
1. From the MultiSections window for Store Sections, click All Sections as one
Component.
Note:
The output of this command can be either a .JT or .COJT, depending on what was
set for the File Format using the Settings
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Note:
A JT file is created in a .COJT folder which contains all sections shown in the
MultiSections window.
5. From the MultiSections window, click Close.
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In this activity, you learn how to use the Weld Distribution Center with automatic approach
angle.
Locate a Spot Weld Operation
Open and Setup the Weld Distribution Center
Weld Distribution Center Settings and Filters
Using the Pie Chart and Automatic Approach Angle in Weld Distribution Center
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Note:
If a weld force had been assigned to these weld Manufacturing Features, it would
show here.
Weld Distribution Center Settings and Filters
1. Click Settings
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to the right of
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WKP115S-Process Simulate Basic Robotic Simulation
NEOCORTEX, SIEMENS PLM. Prohibida su reproduccin parcial o total
Note:
Currently the pie chart shows white because a robot has not been assigned to this
weld location yet.
8. In the Location Pie Chart window, check the checkbox for Opened Gun.
9. Move the slider to manually adjust the location orientation.
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Note:
The mount command places the mounted object, attaches it to the TOOLFRAME of the
robot, and sets the robot TCPF to the predefined position and orientation on the mounted
object.
Caution:
Notice that we are mounting the gripper to the robot, not the spacer. The spacer will be
attached to the gripper.
1. Select the robot.
2.
3.
4.
5.
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TCPF to the pre-defined TCP position and orientation in the tool. However, if the
tool is already in position (and don't want the Mount Tool command to move it,
pick the same frame for the Mounted Tool: Frame and Mounting Tool: Frame.
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3. Click [OK].
4. Click [OK].
Note:
In the next activity we will attach the station22 product assembly to the gripper
using a gripper operation. Eventually, this is a tree of what our attachments
(including the tool mount) should be in this Scenario (study):
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The objective of this activity is to create a pick and place path (operation).
Create a new Pick and Place operation
Add a location to the path just created before the first location
Add a location after the last location
Make separate pickup and drop off paths
Sequence the operations
Add a pause event and play the simulation
Reset the simulation and update the database
9. Pick the frame just below the part for both the Pick and the Place location (it is part
of the fixture).
10. Click [OK]. Operation s420a_PNP_Op1 is created.
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Add a location to the path just created before the first location
1. On the Operations Tree, drag and drop s420a_PNP_Op1 onto station22 with the
[Ctrl] key depressed.
2. Name one copy Pick up and the other Drop off.
3. Delete the place location from the Pick up operation.
4. Delete the pick location from the Drop off operation.
1. On the Gantt chart of the Sequence Editor, right click on the end of the Pick up
operation and select Pause Event.
2. Enter 0 seconds Before End of Task.
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3. Click [OK].
4. From the Sequence Editor, click Play Simulation Forward . The robot should
start at home, move into the fixture, pick up the part, and return to home pose.
Reset the simulation and update the database
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4. Click [OK].
5. Click [OK].
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Note:
The default approach and perpendicular axis are defined and can be modified by
either clicking Options
tab.
Note:
The locations we just created are mounted workpiece locations. So we need to associate the
locations with the welding frame on the sw40d.
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1. From the Operations Tree, right click the pink WeldOperation simulative
2.
3.
4.
5.
6. Click [OK].
7. The icon for the weld operation changes (because External TCP was checked).
Play the simulation
the simulation
again.
Check reachability
Note:
Jump the robot to the reachable locations to see how they look (i.e. is the sheetmetal part
colliding with the sw40d) ?
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7. If the robot does not return to his HOME pose, right click it and select Home
8. If the product assembly does not go back to its proper start position select
station_22 from the Parts folder of the Object Tree and chooseTools >
Placement > Restore Design Relative Location
9. Click Play Simulation Forward
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Note:
A shadow of the sw40d may be placed at the location (and the robot will not move)
if only the ped. gun is associated to the weld operation. If both the ped. gun and
robot are associated to the weld operation, then the robot will move to the ped gun.
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4. Rotate the weld location (using the yellow arc of the manipulator frame) so that the
sw40d is on the opposite side of the part as the robot.
5. Close the Rotate Location window.
Use the pie chart command to verify that the location is reachable
Note:
Closed Gun should not be checked.
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3. In the Location Pie Chart window, move the slider below the pie left and right until
the longer axis (X-axis) is in the blue (reachable) area of the pie.
4. Close the window.
Note:
This type of reach check considers the reach envelope of the robot, but not
collisions between the part and the sw40d.
Note:
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The Rotate Interactively tool considers the collisions between the part and the
sw40d, but the reach envelope of the robot would not be considered.
Align the rest of the locations and play the simulation
Note:
We used one technique to fix the alignment of wp4 and another for wp5. In this case, align
the rest of the locations in the pink WeldOperation simulative operation to match our wp4
reference location.
1. Select the pink WeldOperation simulative operation.
2. Select Weld -> Align Locations .
3. For Align Selected Locations to, pick the wp4 location you just rotated.
4. Click [OK].
5. Perform the reach test again.
6. Click Jump Simulation to Start .
7. From the Gantt chart of the Sequence Editor, right click the pause event and select
Delete .
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4. Click [OK].
5. Click [OK].
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The objective of this activity is to use the Weld Gun Search tool in Spot. It is a step-bystep wizard that guides the user to find the optimum gun for welding.
Load the Station02 Study
Start Gun Search
Use weld guns from the resource library
Check if the guns collide
Define the gun search options
Display gun search results
Save the gun results to an Excel file
Insert the resulting gun into the Scenario (study)
1. Process Simulate should already be started, the Robotics Sim Begin (user##)
opened, and the station02 study loaded. If so, skip to step 3.
2. If you are NOT already in Robotics Sim Begin (user##) with the station02 study
loaded:
o Select File > Close Project, if a different one is open.
o Select File > Open Project.
o Select Robotics Sim Begin and Click [OK].
o In the Navigation Tree of Robotics Sim Begin (user##), browse to the
Studies studyfolder.
o Browse to the Line ## Study Folder , where ## is the user number
assigned to you by the instructor.
o If not already checked out, right click the Line ##
studyfolder and select
Check Out .
o Check Check Out with Hierarchy, and Click [OK].
o Browse into the processing
studyfolder.
o
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Right click the station02 study and select Load in Standard Mode
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3. Select the pink WeldOperation 1 simulative operation from the Operation Tree
that we have used during the first part of class.
4. In the Geometric Gun Search Targets window, select Next.
Use weld guns from the resource library
1. In the Geometric Gun Search Select Guns window, select Library from the
Select guns from drop-down.
2. Browse into Resource Library and Robot Tools and Guns and select the
Spotweld Guns library.
Note:
If you have a ResourceLibrary* that is checked out, ignore it for now. This library
contains the new objects that you created in the modeling activities.
3. Click Use
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Note:
Lists of guns can be stored or loaded for later use by clicking either Load Gun Set
or Store Gun Set
4. Click Next.
Check if the guns collide
Note:
Parts or tooling can be selected for checking the guns against. Gun poses that will be used
at each location can be chosen.
1. From the Object Tree, select the product assemblies being welded. In this case the
parts are surf_part and door_frame.
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6. Click Next.
Display gun search results
In the Geometric Gun Search Search window, click Search.
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Note:
The picture above is for reference only. Your results may be different. The description of
how to define a resource prototype as a gun is described in the earlier in this course.
Save the gun results to an Excel file
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4. Click Save.
Insert the resulting gun into the Scenario (study)
1. Check the checkboxes for all non-colliding (suitable) weld guns (i.e. ).
2. Click Insert Guns
3. Click [OK].
Note:
The following guns are inserted into at the origin of the study. (The picture below
shows the guns spread out, when in reality they will be in a big pile at the origin)
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The objective of this activity is to load an existing cell and simulate a robot with servo
guns.
Load the cables servo demo Scenario (study)
Play and reset the simulation
Note:
The guns in this Scenario (study) are servo guns.
1. In the Operation Tree, right click on cables_servo Demo and select Set Current
Operation
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it.
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Note:
This button can also be found on the right click of a robot.
3. In the Robot Properties window, click the External Axis tab.
4. Notice the servo gun joint does not show.
5. Click the Settings tab.
6. From the Robot Properties window, click Mount Tool
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Note:
The same Mount Tool
command can be accessed from the Robot Properties
window, the Kinematics menu, Kinematics toolbar, or the robot right click.
7. Pick the gun for this robot.
8. For the Frame on the gun, select the mtg frame.
9. Click Apply and Close.
10. Click the External Axes tab again. Notice the servo gun joint does show.
Note:
If it does not show, close and reopen the Robot Properties window again.
11. In the Robot Properties window, click Close.
Move the robot in front of the location to its left (lo1)
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1. From the Operations Tree, browse and right click pa3 and select Operation
Properties
.
2. In the Properties window, click the Process tab.
3. Select the r120_3 robot.
4. click [OK]
Assign external values for a location
1. From the Operations Tree, browse and select the first location of pa3 (r3pounce).
2. Select Kinematics -> Set External Axes Values
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3. In the Set External Axes Values window, check the Approach Value checkbox.
Note:
The current value for the external axis joint is automatically copied from the Joint
Jog window to the Approach Value field in the Set External Axes Values window.
4. In the Joint Jog window, move the slider for the j1 (srtc_u0181_l1) joint to a
different value.
Note:
In this case we want to have a different value for the external axis when
approaching and departing from this location.
5. In the Set External Axes Values window, check the Depart Value checkbox.
Note:
The current value for the external axis joint is automatically copied from the Joint
Jog window to the Depart Value field in the Set External Axes Values window.
Note:
You can also, just type the desired value into this field. Or if several locations need
the same value you can copy and paste the value to the other fields (using right click
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and Get
Look at the external axis value for the gun in the Path Editor
4. In the Customize Columns window in the Available columns list, expand into the
General group of attributes.
5. Add any other desired columns such as Joint Speed, Motion Type, and Zone.
6. Click [OK].
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7. Scroll to the right and locate the Depart External Axes Values or External Axes
Values columns.
8. Mouse over the pencil icon in the Depart External Axes Values or External Axes
Values columns to see the external axis joint values for each location.
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3. Click [OK].
4. Click [OK].
The objective of this activity is to setup the pick and place (material handling) simulation.
Load the PNP Study
Mount the gripper to the robot using the Mount Tool window
Duplicate the boxes
Update the database
Load the PNP Study
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Mount the gripper to the robot using the Mount Tool window
1. With the robot facing you (and the container in front of the robot), pick the box on
the left conveyor. Notice it is named box24x24x12_left1.
2. With the robot facing you (and the container in front of the robot), pick the box on
the right conveyor. Notice it is named box24x24x12_right1.
3. Pick the box24x24x12_left1.
4. Hold down the [Ctrl] key.
5. Pick the box24x24x12_right1.
6. Release the [Ctrl] key.
7. Select Modeling -> Duplicate Objects
Note:
In the WKP215 course (for intermediate users) we will describe how to create
appearances of the parts so that copies do not need to be created and managed. We
will also use logic to determine the next path instead of the hard coded sequence
described here. But, hey, you've got to start somewhere.
8. In the Duplicate Objects window for Number along X, enter 2.
9. In the Duplicate Objects window for X spacing, enter 0.
10. Click [OK].
Note:
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3. Click [OK].
4. Click [OK].
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The objective of this activity is to create a basic collection of pick and place paths
(operation) for one box from the left and one from the right.
Create a new Pick and Place operation for the left box
Check Reachability
Again, make separate pickup and drop off paths
Stick the part to the gripper
Add a location before/after the pick (left1) location
Add a location before/after the place (drop left bottom) location
Sequence the operations for the first pass
Simulate the pnp path so far
Rotate the Place location and its approach/retract locations
Reset the simulation and update the database
Create a new Pick and Place operation for the left box
1.
2.
3.
4.
5.
6.
7.
8.
9.
Select Operations -> New Operation > New Pick and Place Operation
For Pick pose, select CLOSE.
For the Place pose, select OPEN.
Change the Pick Intent to Self Origin.
12. For Place, choose near the middle of the left third of the bottom.
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1.
2.
3.
4.
5.
6.
7.
8.
9. In the Graphic Viewer, grab the X axis of the Manipulator Frame and drag it
toward the robot until the place location gets a blue check in the Reach Test
window.
10. Close the Placement Manipulator window and the Reach Test window.
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1. On the Operations Tree, drag and drop kawasaki_uz100_PNP_Op1 onto pnp with
the [Ctrl] key depressed.
2. Name one copy kawasaki_uz100_pick_left1 and the other
kawasaki_uz100_drop_left_bottom.
3. Delete the place location from the kawasaki_uz100_pick_left1 operation.
4. Delete the pick location from the kawasaki_uz100_drop_left_bottom operation.
Tip:
As long as you don't jump the simulation to the beginning, the attachment will
remain.
Add a location before/after the pick (left1) location
Note:
600 mm approximately equal to 24 inches.
5. Close the Robot Jog window.
6. On the Operations Tree, click the via location.
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1. In the Operation Tree, right click pnp and select New Compound Operation.
2. In the New Compound Operation window for Name, enter FirstPass.
3. Move the two robotic operations into the FirstPass compound operation.
4.
5.
6.
7.
8.
In the Operation Tree, right click pnp and select Set Current Operation
Click [OK] to reset the simulation.
In the Sequence Editor, select kawasaki_uz100_pick_left1.
Hold down the [Ctrl] key and select kawasaki_uz100_drop_left_bottom.
Release the [Ctrl] key.
9. Click Link
.
10. In the Sequence Editor, right click first pass and select Reorder by Links.
Simulate the pnp path so far
Note:
Notice that when the robot puts the box into the container, it collides with side of
the box. (You can step the simulation backwards or setup and turn on collision
detection to see it). This problem can be easily solved by rotating the place location
(and its approach/retract locations) 90 degrees. We will do this in the next step.
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the simulation.
6. From the Sequence Editor, click Play Simulation Forward . The robot should
pick up the box and put it into the container. This time the place location is rotated
90 degrees.
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4. Click [OK].
5. Click [OK].
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The objective of this activity is to build on the results of the previous activity. After this
activity we will have 2 rows or 2 boxes in he container.
Create a new Pick operation for the right box
Move the path's locations to the right side
Create a new Place operation for the right box
Move the path's locations to stack the box on the left top
Farther sequence the operations of the first pass
Add Display Events
Reset the simulation and update the database
Create a new Pick operation for the right box
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WKP115S-Process Simulate Basic Robotic Simulation
NEOCORTEX, SIEMENS PLM. Prohibida su reproduccin parcial o total
, if needed.
385
4. Click [OK].
5. Click [OK].
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The objective of this activity is to create a process for the second stack of boxes.
Create a new Pick and Place operations for the second set of boxes
Move the Place operations for the second stack
Sequence the operations of the second pass
Simulate the first and second pass
Reset the simulation and update the database
Create a new Pick and Place operations for the second set of boxes
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To put the stack for the second pass in the other half of the box
7. Click Close
Sequence the operations of the second pass
, if needed.
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4. Click [OK].
5. Click [OK].
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CONTINUOUS APPLICATIONS
Activity: Using Continuous Feature Operations
collection.
2. Right click the Robotics operation tree and select Navigation Tree .
3. In the new Navigation Tree (2), browse into your Line## area (where ## is the user
number assigned to you by your instructor) and locate the arc 7th axis station under
Other Selected.
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4. Check out
5.
6.
7.
8.
Note:
The Continuous MFG has a geometric line associated to it. It will be the basis for
the path generated from the Continuous Feature Operation that it is associated to.
3. In the new Navigation Tree (3), drag and drop the 7a1 continuous Mfg feature in
the library onto the new ContinuousFeatureOperation.
4. Rename it to Continuous MFG Operation.
5. Close the two new Navigation Tree viewers.
Now reload the arc 7th axis Scenario (study)
1. Now reload the arc 7th axis Scenario (study) from the Other selected
studyfolder.
2. Expand into your Line## Study Folder , where ## is the user number assigned to
you by your instructor.
3. Check out
your assigned studyfolder with hierarchy, if it isn't already.
4. Expand into the Other selected studyfolder.
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and select
1. In the Operations Tree, right click on the Continuous Feature Operation and
select Operation Properties
.
2. In the Properties window, click the Process tab.
3. Click in the Robot field, and select the other robot (the one not used by the spot
simulation).
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4. Click [OK].
Compare the orientation of assigned TCPF with the parameters for locations that will be
created
Note:
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Notice that the setup for continuous MFG projection is on a different tab than the
spot weld project setup (located on the Weld tab of the Options window).
3. For thePermitted Deviation Angle (Normal), enter 360 degrees.
4. Click [OK].
Begin creating the continuous seam and continuous seam locations
Note:
Maximal Segment Length Maximum allowable distance between two
location created when projecting a Continuous MFG Feature.
o Maximal Tolerance Maximum allowable distance between a location and
the curve that defines the seam geometry.
3. For Maximal Segment Length, enter 3000.
4. Check Project on approximation only.
o
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5. Click Project.
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1.
2.
3.
4.
In the Operation Tree, select ls1 (the first continuous mfg location).
Hold down the [Ctr] key and select ls2 (the second continuous mfg location)
Release the [Ctrl] key.
Select Weld > Flip Locations > Flip Locations on Surface
.
Note:
We will mount the gun on the robot, put the robot on the rail, and check robot reach
later in this course.
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3. Click [OK].
4. Click [OK].
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The objective of this activity is to create the Mfg Features needed in order to create the
continuous Mfg features to be used for arc weld seams
Load the arc multi axis Scenario (study)
Get the view setup to create the arc MFG feature
Create the Geometry for Arc Continuous Mfg Feature
Create the Arc Continuous Mfg Feature
Load the arc multi axis Scenario (study)
Note:
Now perform the activity by first loading the arc multi axis Scenario (study) from the
other selected studyfolder.
1. From the Navigation Tree, expand into the Studies collection.
2. Expand into your Line## Study Folder , where ## is the user number assigned to
you by your instructor.
3. Check out your assigned studyfolder with hierarchy, if it is not already.
4. Expand into the Other selected studyfolder.
5. Right click arc multi axis
6. Select View -> Display All
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and Resources
folders.
Note:
More is described on modeling objects earlier in this in the course.
1. Select the FRONT_whitehouse_weldpart part, if it is not already selected.
2. Change your view point so that you are looking at the bottom of the part.
Note:
This can be done by hold down the right and middle mouse buttons and moving
your hand in a circle; or by clicking the [down arrow] key about three times.
3. Zoom in on the bottom edge of the part.
Note:
This can be down by holding down the middle button and moving the mouse to the
right; or by holding down the [Alt] key and drawing a zoom window with the left
mouse button.
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Note:
The new Front_Whitehouse_ArcSeams_user## curve is created in the
FRONT_whitehouse weldpart. However, we will not store this change
permanently in this part. Instead, we will store this geometry into a separate .COJT
related to a continuous MFG feature (in the next page of this activity).
13. Change the Pick Intent to Snap.
Note:
In this activity we used the Modeling > Create 2D > Intersection Curve
command to create the curve. Other commands could have also been used to create
the curve. Or the curves can be created in a CAD system, converted to a .COJT, and
associated to an existing MFG feature.
Create the Arc Continuous Mfg Feature
Note:
In production, the exact folder name could be anything under the system root folder.
However, you should create a standard for what to name the MFG features and
where they should be placed.
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6. Click [OK].
Note:
This command will create a new .JT file (in a .COJT folder) that will contain this
curve. This .COJT will be associated to a new MFG feature which will be shown in
the MFG Viewer. After executing this command we can either delete this curve
from the original part (FRONT_whitehouse_weldpart) or just reload the original
part. We will do this later.
7. To see the Mfg Feature just created, select View > Viewers > Mfg Viewer.
8. Continue to the next whitehouse part activity on creating a debur MFG feature.
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The objective of this activity is to create the Mfg Features needed in order to create the
continuous Mfg features to be used for debur paths. A similar process could be followed to
create glue paths.
Create the Geometry for Debur Continuous Mfg Feature
Create the Debur Continuous Mfg Feature
Create the Geometry for Debur Continuous Mfg Feature
Note:
More is described on modeling objects earlier in this in the course.
1. Continue from where the last whitehouse part activity left off.
2. Change your view point so that you are looking at the top of the part.
Note:
This can be done by hold down the right and middle mouse buttons and moving
your hand in a circle; or by clicking the [up arrow] key about three times.
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Note:
We are still modeling the part from the previous activity and the Pick Level is still
set to Entity.
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8. Click Preview.
Warning:
If the curve is not created along the front face of this solid, pick it again and click
Preview.
9. Click [OK].
Note:
The new Front_Whitehouse_Debur_user## curve is created in the
FRONT_whitehouse weldpart. However, we will not store this change
permanently in this part. Instead, we will store this geometry into a separate .COJT
related to a continuous MFG feature (in the next page of this activity).
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Note:
In this activity we used the Modeling > Create 2D > Intersection Curve
command to create the curve. Other commands could have also been used to create
the curve. Or the curves can be created in a CAD system, converted to a .COJT, and
associated to an existing MFG feature.
Create the Debur Continuous Mfg Feature
Note:
In production, the exact folder name could be anything under the system root folder.
However, you should create a standard for what to name the MFG features and
where they should be placed.
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6. Click [OK].
Note:
This command will create a new .JT file (in a .COJT folder) that will contain this
curve. This .COJT will be associated to a new MFG feature which will be shown in
the MFG Viewer. After executing this command we can either delete this curve
from the original part (FRONT_whitehouse_weldpart) or just reload the original
part. We will do this later.
7. To see the Mfg Feature just created, select View > Viewers > Mfg Viewer.
8. Continue to the next whitehouse part activity to create the Paint MFGs.
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The objective of this activity is to create the Mfg Features needed in order to create the
continuous Mfg features to be used for paint paths.
Create the Geometry for Paint Continuous Mfg Feature
Create the Paint Continuous Mfg Feature
Reload the FRONT whitehouse weldpart
Update the database
Create the Geometry for Paint Continuous Mfg Feature
Note:
More is described on modeling objects earlier in this in the course.
1. Continue from where the last whitehouse part activity left off.
2. From the Mfg Viewer, blank both MFG features by clicking their display status
squares .
Note:
Later in this activity we want to pick the curves of the
FRONT_whitehouse_weldpart part not of the MFG features.
3. Change your view point so that you are looking at the top of the part.
Note:
This can be done by hold down the right and middle mouse buttons and moving
your hand in a circle; or by clicking the [down arrow] key about one time.
Note:
We are still modeling the FRONT_whitehouse_weldpart part from the previous
activity and the Pick Level is still set to Entity and the Pick Intent is set to Snap.
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Note:
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Note:
In production, the exact folder name could be anything under the system root folder.
However, you should create a standard for what to name the MFG features and
where they should be placed.
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9. Click [OK].
Note:
This command will create a new .JT file (in a .COJT folder) that will contain this
curve. This .COJT will be associated to a new MFG feature which will be shown in
the MFG Viewer. After executing this command we can either delete this curve
from the original part (FRONT_whitehouse_weldpart) or just reload the original
part. We will do this later.
10. To see the Mfg Feature just created, select View > Viewers > Mfg Viewer.
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Note:
This command will undo all changes made to this object since that last time it was
saved.
4. Click Yes.
Update the database
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3. Click [OK].
4. Click [OK] again.
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Activity: Creating Arc Seams for the Whitehouse part (using Project Arc
Seam)
The objective of this activity is to create seams using the MFG Features created in the
previous activity.
Setup Continuous Features
Set the Start Point and Direction
Create the simulative operation and seam
Split off the seam along the bottom front edge
Update the database
Setup Continuous Features
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6. In the Indicate Seam Start window, pick in the Via direction point field.
7. For Via direction point, pick a point in the Graphic Viewer about half way across
the bottom edge of the front of the Front_Whitehouse_ArcSeams_user##_Mfg
Mfg feature.
Note:
A blue point is shown at the pick point
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8. Click [OK].
Create the simulative operation and seam
Note:
A simulative operation is a generic term for the operations created by Process Simulate to
represent a simulation. In this case the simulative operation is a robot operation.
1. From the Object Tree, display the BOTTOM_whitehouse_weldpart and
FRONT_whitehouse_weldpart parts by clicking its display status square .
2. Change the Pick Level to Component.
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16. In the Edit Mfg Feature Data window, pick the Side part field.
17. From the Object Tree or Graphic Viewer, pick the FRONT_whitehouse_weldpart.
Note:
If you have selected the wrong parts for the Base part or Side part, click Swap
Parts
. By default the Base part is the part that is assigned to the MFG feature.
This is the part that controls the placement of the MFG feature. To change the
assigned part (before opening the Project Arc Seam window), select Weld >
Assign Parts.
18. Click [OK] to close the Edit Mfg Feature Data window.
19. Verify the General Arc Alignment Parameters are as desired.
Note:
We will keep the defaults in this case. However, in production you may want to
change them in order to push or drag the arc torch.
20. Click Project.
21. Click Close.
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Note:
The split location will be added to both seams resulting from the split.
4. Click [OK].
Note:
Now there are two seams in the Front_ArcSeams_Op.
Update the database
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3. Click [OK].
4. Click [OK].
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