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V5 Robotics Training Guide PDF
V5 Robotics Training Guide PDF
copyright law. The copyright in this document is owned by DELMIA Corporation, Auburn Hills,
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DELMIA Corp.
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2 Process Preparation
Step 4 Starting a Project
Reviewing the creation of our project
3 The Project
Step 6 Open the Project and Inserting Robots
Getting familiar with the Project and Insert the robots
1
Step 16 Jogging to the Weld Positions
Use the Jogging icon to move to the weld positions
Step 23 Reviewing the Teach Dialog box and Edit Weld Points
Reviewing the project through simulation in the Teach a robot
2
6 The Advanced Functionalities
Step 33 Adding a Icon to a Toolbar, Creating a Section
Reviewing the project through a section
7 Data Information
Step 41 I / O Map and Monitoring
Monitoring the I / O configurations in the project
8 Advanced functions
Step 45 Clamping Functions
Using the Clamping functions to open close the clamps in the simulation
3
9 Auxiliary Device Functions
Step 47 Setting up the Auxiliary Device
Using the data for the Auxiliary device to run
11 Exporting Data
Step 57 Creating Movies and Pictures
Using the Image functions
4
V5 IGRIP V5R16
Facilitated Project:
Title Working Contexts
RH Body Side Process
Assembly
with Tooling Product
and Robotics
Resources
V5 IGRIP
This procedure describes the V5 software approach using the Process, the Products, and the
Resources. The Resource Centric Approach is also discussed.
The user Physical Activities that will have Resource Assigned, and the Robots, also
will have Active Tasks to be simulated.
If the user changes their mind, the Resource Assignment has to be modified, and the
Active task designated, No Process redesign is required! Time saving, allows for
what if scenarios.
This is where we create our projects process flow. This tells the
story of what activities we are going to do in this project.
We assign (link) from our ProductList and our
ResourceList
Product
Process
Process/ The PPR tree is a 2D view of the process. It appears in the same view as the
Product/ Inventory Space window. It lists all the parts, products and resources required
Resource (PPR) to make a specific product, plus specific applications data. It also lists, in
tree hierarchical form, the actions required to perform the process that produces the
product.
In V5, PPR trees are stored in process documents and have a .CATProcess
extension.
process A process is a series of actions or activities that alter parts. The end result of a
process is the creation of a product or a part of a product.
product Products consist of parts, which may or may not be grouped into assemblies.
They appear in product structure documents; in V5, these documents have a
.CATProduct extension.
The difference between a product and a resource consists in how they are used
with in a process. The end-result of the process should result in the creation of
the product or products listed in the PPR tree.
product The product structure document is a key component in V5. It provides users with
structure a way to organize product creation in a hierarchical format. Each product
document structure document can contain parts, which make up assemblies, which, in
turn, make up products.
Resource Resources consist of parts, which may or may not be grouped into assemblies.
They appear in product structure documents; these documents have a
.CATProduct extension.
The primary difference between a product and a resource consists in how they
are used within a process. The resources required during the process should
be listed in the resource branch of the PPR tree.
Many resources appear in V5 catalogs. Resources imported from catalogs
cannot be broken down into discrete parts (e.g., selecting the mounting plate of
a robot selects the entire robot, not just the mounting plate.)
Facilitated Project:
IGRIP
RH Body Side Software Settings
Assembly
with Tooling
and Robotics
V5 IGRIP
This procedure describes how to launch an IGRIP session and become familiar with the IGRIP
workbench toolbars.
The Training Manuals are divided into modules and steps. Depending on the class, each
module represents the configuration and each step in the module guides you through a
procedure. A project will be created from start to finish.
Settings
This reviews the setting required for our project.
1. Launch the software. To do this, click the icon on the desktop, or select
Start / Programs / DELMIA, DELMIA V5.
2. In the menu bar, select Tools / Options.
3. Select General / General tab. In the save field, deactivate
Automatic Save.
4. In the Document tab click on Other folders (make sure it says Yes under the Active
column). Click the Configure button.
When creating a process, users may choose to obtain part geometry from another file. The
original storage location of these files probably differs from the current location of files. When
V5 attempts to read these files, it cannot find them because pointers inside of the data still
point to the original location. Configure this location to link to the directories where the project
is saved.
5. In the Other Folders window, search for the project and add the directory with the Add
Tree button. Click on OK to complete this setting.
9. In the Navigation field, activate the Gravitational effects during navigation option.
Select Z.
This option is especially useful for a project with a floor; you can rotate around and the floor
stays level with the viewpoint.
10.In the General / Display / Performances tab note the settings for the 3D Accuracy, the 2D
Accuracy, and the Level of detail fields. The values are at the lowest setting (as shown
below) to give a more exact view of the geometry with this setting. A circle is displayed as
round not as an octagon.
11.Scroll down in the Performance tab to the Miscellaneous field, and activate Save lineic
elements in cache. This allows you to see wire frame geometry.
12.The General / Display / Visualization tab displays the color settings for the software. For
this project, change the background to white. Click on the down arrow or click on the pull
down menu to see the available colors.
13.In the General / Parameters and Measure / Units tab, change the length of the units to
inches.
14.Use the General / Parameters and Measure / Report Generation tab to set the location
and report content options.
The default values are acceptable.
15.To hide constraints, in the General / Parameters and Measure the Symbols Tab click on
Filter button. The Constraint Filter dialog box appears. In the Filter field, select Hide All
then click on OK.
16.In the Infrastructure / Product Structure / Cache Management tab / Cache Activation
field, activate the Work with the cache system option.
17.In the Infrastructure / DELMIA Infrastructure / Simulation tab, adjust the simulation
settings to match the options shown. Set the step size to 0.3 to make the simulation run
faster.
18.Select the Infrastructure / DELMIA Infrastructure / Robot Analysis tab. These settings
determine what system behavior when tool center point (TCP) limitations are exceeded
during a simulation. Additional options control TCP trace display in the 3D view.
The table
below
provides an
explanation of
the TCP trace
parameters
that you can
set.
The options
take effect
immediately
and apply to
all
applications
containing
simulation
commands.
Parameter Value
Show point Provides the color and symbol for each point within a TCP trace.
Show line Provides the color, type of line, and line thickness for each TCP trace
Show axis Provides the color, line type, and thickness for the axis of each TCP trace.
A simulation's path is deleted when a new simulation is run. Otherwise, each path
Delete path
remains visible until the session ends.
Text appears when a point/line/axis is (pre)selected by the user. The text contains
information related to the current point. The text can contain any of the following data
(if selected):
Name
Show Time
legends X axis
Y axis
Z axis
Yaw
Pitch
Roll
19.Select the Digital Process for Manufacturing / Tree tab. In the Hierarchy tree field,
select all the items as shown.
20.Select the Digital Process for Manufacturing / DPM Fastening Process Planner /
Commands tab. In the Fastener Assignment field, Activate duplication assignment.
21.Click on the DPM Fastening Process Planner / Fastener Visualization tab. To see the
coordinates, activate the Show the fastener(manuf)/tag option to see the coordinates.
22.Select the IGRIP / Robot Task Display tab. The Options dialog box appears:
Option Role
Cartesian Target These options are for tag, weld, and Cartesian targets.
Show X, Y, Z Values/Show Checking these boxes causes these values to be displayed when the
Y, P, R Values mouse is moved over the target.
Joint Target These options are for joint and home targets.
Show Joint Values/Show Checking these boxes causes these values to be displayed when the
Auxiliary Axes Joint Values mouse is moved over the target.
Show Target Name Shows the target name when the mouse is moved over the target.
23.Click on OK. Use the tasks contextual menu to activate the task display. The task display
is not updated automatically.
25.Select the IGRIP / Teach Dialog Settings tab. No changes need to be made for this
project, however, the following changes are possible:
Select items from the Data included in the table box field and move it to the Available
Data area using the left arrows. Data item order is changed with the up and down arrows.
When the teach command table option is activated in the software, this is the order and
selection that is used.
The options list order determines the order in which the data fields appear in the teach
table.
Activate the Show Task visualization option to automatically display the task visually
when teaching a task.
27. In the AEC Plant / General tab, change the Grid step value to 0.5 in. This value affects
the manipulation handle (used for easily moving a geometry); the manipulation handle
snaps to the value set.
28.Change the Depth Effect value. To do this, in the main menu, Select View / Depth Effect.
In the Near Limit field, activate the Fixed option and set the value to 100.
In the Far Limit field, activate the Fixed option, and set the value to 500000.
Now you can zoom in on an item in the 3D view, and the clipping planes modify to only display
the center of the field of visions center.
29.To change the size of the PPR tree, click on the line connecting the directories, and in the
View toolbar click on the zoom in or out.
Click on the line again to get back to the 3D view. To display, or hide the PPR tree, select the
F3 key on the keyboard.
To deactivate the zoom capability, go to the Tools / Options / General / Display / Tree
Manipulation tab and uncheck the Tree zoom after clicking on any branch option.
30.To find an object in the PPR tree, right-click on the object in the 3D view and choose
Center Graph from the contextual menu.
Keyboard Shortcuts
Use this keyboard key
To...
(or combination)...
Up arrow Relocate the graph 1/10th (one tenth) of a page to the top
Down arrow Relocate the graph 1/10th (one tenth) of a page to the bottom
Left arrow Relocate the graph 1/10th (one tenth) of a page to the left
Right arrow Relocate the graph 1/10th (one tenth) of a page to the right
Workbench main
Software version / menu bar Minimize / enlarge
File name
PPR / close / Window
tree
Compass
3D view
Window
size
buttons
Expand /
collapse
Current
workbench
Click on
line to
adjust PPR
tree
The 3D Compass
Use a graphic manipulator referred to as the 3D compass to perform a number of
manipulations on objects created and managed by certain applications (for example, Product
Structure, Assembly, FreeStyle Shaper, DMU Navigator, etc.).
The 3D compass is always active. Show and hide the compass by toggling the View /
Compass command. Note that hiding the compass does not deactivate it.
The compass is displayed by default in the top right corner of the document.
The letters X, Y and Z represent the axes. The Z-axis is the default orientation. The point close
to the Z-axis is the free rotation handle used for freely rotating the compass and the
document's objects at the same time.
The red square is the compass manipulation handle you use to drag the compass and place
on objects to be manipulated. You can also rotate objects around this point.
The base of the compass, the XY plane, is the privileged plane. This concept is not useful
when simply using the Select command. It is only useful when using application commands
that use manipulators, which require working planes.
1. To reset the compass to its default position, from the main menu select View / Reset
Compass.
2. To move the compass, place the mouse pointer over the red box, and click the left mouse
button or LMB. The pointer changes to a grasping hand. Drag the mouse and compass
toward an object in the 3D view. The compass snaps to that object.
Coordinates
Set the coordinate values to move
and rotate objects.
Increments
Set the incremental values for
translation and rotation.
indicates tips
indicates a warning.
indicates information.
When DELMIA software is launched, by default, it opens the workbench last used in the
previous session.
Facilitated Project:
IGRIP
RH Body Side Workbenches and
Assembly
with Tooling Toolbars
and Robotics
V5 IGRIP
This procedure describes how to launch an IGRIP session and get familiar with the IGRIP
workbench toolbars.
The workbenches and the toolbars are described. Docking and undocking is practiced.
This workbench provides tools for 3D modeling at the workcell level. Robot Task Definition
provides all the tools required to perform robotic feasibility studies and programming in an
environment where product data and manufacturing resources can be integrated into a single
3D model. This model performs the basis for the development of robotic processes. Robot
Task Definition allows you to test for robot reach and access in a complex manufacturing
workcell. It provides tools for the development of robot programs and facilities to test those
programs while checking for interferences. The output of Robot Task Definition is a workcell
model that is ready for the next step: development of a complete manufacturing simulation with
synchronization of all resources.
These models can consist of a combination of multiCAD product models, legacy DELMIA D5
devices, and general CATIA V5 and V4 resource models. Robot Task Definition interacts with
V5 Plant Layout so that users can either re-use the plant model or modify it.
Robot tasks and tag definitions for robot motion are integral to Robot Task Definition. Users
can create tags and add them to tasks or can create tags in free space for clearance moves.
Robot Task Definition provides interactive jogging and robot teaching capabilities to develop
and test robot tasks. These tasks can be simulated, one at a time.
In addition to the basic setup commands, Robot Task Definition contains analysis tools. These
tools add the following capabilities:
It is expected that tool designers and simulation engineers will make excellent use of this
product.
3 workbench toolbars.doc 1 of 10
Copyright DELMIA Corp. 2004
V5 IGRIP V5R16
Workcell Sequencing
To view the toolbars horizontally, drag them by their move handle, redock them in the top
toolbar docking area, and drag them into the 3D view. Some of the toolbars have toolbars
imbedded in them. Use the black arrow to expand the toolbar, and then select the move
handle and drag it.
3 workbench toolbars.doc 2 of 10
Copyright DELMIA Corp. 2004
V5 IGRIP V5R16
______________________________
Select Off-Line
Programming
_________________________________ ___________________________________
PPR Tools
Calibration
_________________________________ __________________________________
3 workbench toolbars.doc 3 of 10
Copyright DELMIA Corp. 2004
V5 IGRIP V5R16
Simulation
Activity Management
________________________________ _________________________________
Team PDM
Data Views
_______________________________ ____________________________________
3 workbench toolbars.doc 4 of 10
Copyright DELMIA Corp. 2004
V5 IGRIP V5R16
View
Standard
________________________________ __________________________________
Simulation Analysis
Tools
Environment Tools
_______________________________ __________________________________
3 workbench toolbars.doc 5 of 10
Copyright DELMIA Corp. 2004
V5 IGRIP V5R16
Knowledge
Layout Tools
________________________________ ____________________________________
Simulation Activity
Analysis
________________________________ __________________________________
The V5 General command toolbars appear in every workbench from this point on only toolbars
specific to Workcell Sequencing, Robot Task Definition, and Device Building are covered.
3 workbench toolbars.doc 6 of 10
Copyright DELMIA Corp. 2004
V5 IGRIP V5R16
Workcell Sequencing
__________________________
PPR Tools
OLP
________________________ ____________________________
IO Import/Export Resource
________________________ ____________________________
IO Management
RRS Connect
________________________ ____________________________
3 workbench toolbars.doc 7 of 10
Copyright DELMIA Corp. 2004
V5 IGRIP V5R16
Interference Zone
Device Motion
________________________ __________________________
__________________________
______________________ ___________________________
3 workbench toolbars.doc 8 of 10
Copyright DELMIA Corp. 2004
V5 IGRIP V5R16
Sequence
Activity Management
_________________________ __________________________
Robot Management
Robot Controller
________________________ __________________________
_________________________
3 workbench toolbars.doc 9 of 10
Copyright DELMIA Corp. 2004
V5 IGRIP V5R16
Device Building
Workbench
________________________
_____________________ __________________________
Frames of Interest
Device Jog
_____________________ ________________________
3 workbench toolbars.doc 10 of 10
Copyright DELMIA Corp. 2004
V5 IGRIP V5R16
Facilitated Project:
Starting the Project
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
This describes how to start a project from the beginning. The products and resources consist
of parts that may or may not be grouped into assemblies. The part data is stored in product
structure documents that have a .CATProduct extension.
The difference between a product and a resource depends on how you wish to use them in
your process. The end result of the process should be the creation of a finished product
consisting of the products listed in the PPR tree. The resources used in the process to create
the final product should be listed in the resource branch of the PPR tree.
Loading products
Loading resources
In addition to loading resources using the Resource Context command (as described in this
procedure), The robot catalog, can also be used.
1. By default, the software opens to the workbench used in the last session. To open the
IGRIP Robot Task Definition workbench select Start / IGRIP. The workbench opens
with a new process document.
1. ProcessList
2. ProductList
3. ResourcesList
4. Notice the displayed toolbars bordering the 3D view, and the Process Name, Process 2.
There are two processes open. Click on the Close button for Process2.
Facilitated Project:
Products and
RH Body Side Resources
Assembly
with Tooling
and Robotics
V5 IGRIP
Products and resources consist of parts (which may or may not be grouped into assemblies)
and appear in product structure documents. Files that contain products or resources have a
.CATProduct extension.
Products and resources differ in how they are used in a process. Products that are used to
create the end-result of a process should be listed under the ProductList section of the PPR
tree. Resources required during the process itself should be listed in the ResourceList branch
of the PPR tree. The PPR tree serves as a tool to organize the digital manufacturing
environment.
The PPR paradigm allows the user to describe a scenario (i.e., the Process) for manufacturing,
processing and transforming a series of items (which are embedded in the ProductList) with a
number of resources (which are embedded inside the ResourceList), The relationships
between the activities (or operations), products and resources are both accessible and editable
inside the PPR Environment.
Process documents are always using a PPR environment.
The actors and the transformed items of a process must be imported into the PPR
environment (as the sections which follow describe). However, a process can be created
without these elements and then completed later as those elements are brought into the
environment at a later stage in the process design project.
In this procedure, a product (RH Body Side Outer) and resources (tooling, tooling bases, robot
risers) are inserted into the process.
2. The Import Window dialog box appears. Select the Product folder from the 3 Geometry
folder, and Open.
4. The Import window appears. Go up one directory, select the Resource directory, and then
select the Station.CATProduct. Click the Open button.
6. Using the View toolbar select the different Icons to change the 3D view.
7. Open the Quick view and View mode toolbars and try different commands. Also use the
mouse to zoom in, out, and rotate.
8. Insert a resource. From the Resources direcrory, select the Fixture Base.CATProduct.
9. The bounding outline, and the compass is used to move the fixture base into position.
Click on the Fixture Base Stn1. Notice that the text in the PPR tree is highlighted orange
(default color), and, in the 3D view, the base is highlighted.
10.Move the mouse over to one of the edges of the base. The side that you selected it
moves in that direction.
11.The base can be rotated with the
compass. To do this, right-click on the
compass and, from the contextual menu,
Select Snap Automatically to Selected
object.
16.Try to place the base under the stations risers. Later the snap function is introduced for
more exact placement.
17.Close this file. A different file with a complete setup will be used in the next step.
Facilitated Project:
Opening a Project &
RH Body Side Inserting Robots
Assembly
with Tooling (Removing from PPR Tree)
and Robotics
V5 IGRIP
The Robot Task Definition workbench, allows you to test for robot reach and access in a
complex manufacturing workcell. It provides tools for the development of robot programs and
facilities to test those programs while checking for interferences. The output of Robot Task
Definition is a workcell model that is ready for the next step: development of a complete
manufacturing simulation with synchronization of all resources
In this procedure, a project is opened and robots and other resources are inserted.
1. In the main menu select File / Open, and select the 3Geometry / Process /
Robotics.CATProcess. Click the Open button.
Some of the data has
already been set up. You
will step through the
inserting process..
3. In the PPR Tree, Click on the Riser M; it highlights. Move the mouse over
one of the lines on the edge and click and hold the mouse. The pointer
becomes a hand. Move the mouse to drag the riser. Position this riser on
the side of the tooling, as shown.
Careful:
If you select the riser M
from the 3D view
window, depending on
what part you clicked on,
that is the only part that
will move.
4. Release the mouse button, and click anywhere in the 3D view to deselect Riser M. When
not selected, the riser is no longer the default color orange.
5. Follow the same procedure to insert the resource, Riser S, and place accordingly.
6. Snap the compass to Riser M. To do this, right-click on the compass and choose Snap
automatically to selected object from the contextual menu, Right-click again on the
compass and select Edit. Click on Riser M from the PPR Tree. Place these numbers in
the Parameters for Compass Manipulation dialog box, Apply and OK.
7. Repeat the procedure for Riser S by clicking on the name in the PPR Tree.
12.Check with the instructor for the path to the robot catalogs. (This location falls where they
loaded the software in the computer).
Note the position to place each robot in the project that we are
stepping through. The layout picture is at the end of this step.
13.Select the ABB.catalog, and click the Open button. The Catalog Browser now shows all
of the robots in the catalog. Switch the view to Details.
15.The Robot now is attached to the pointer in the 3D view. Move the mouse and place the
first robot around (encompass) the station. Notice that the world position values are shown,
(if set in the options), or they appear in the command prompt field. The number changes as
the robot changes position in the world.
16.When the robot is correctly positioned in the world, click the left mouse
button, and another robot appears.
17.Move the mouse over the Riser M, and notice that the crosshairs change to
a box and line. Position the robot as shown, and click on top of the Riser M.
18.Another robot appears. Position this robot on Riser S, and the final robot on the seventh
axis rail, or gantry. Disregard the next robot, and Close the catalog Browser. This cancels
the command.
19. Go into the Catalog for Fanuc robots and insert the S-420iS robot. The project should
look similar to the example shown.
Note the position of each robot and its number in relation to the product. The Positions
are important when setting up the interactions between the robots.
IRB_6400 24_150.3
S-420iS.1
20.For viewing ease, keep the rotation of the mouse relative to the floor. To do this, select the
Tools / Options / Display / Navigation tab. In the navigation field, activate the
Gravitational effects during navigation option and the Z (axis) option.
Facilitated Project:
Creating a Area
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
In the Plant Layout workbench a floor, is created, saved, and imported into the project.
3. Change the X and Y lengths to 800in. To do this, Click inside the white text fields and
type in the numbers. In the 3D view, select in the window the origin of the area. Select
0,0,0. (If you move the mouse around, in the geometry window, you will see the coordinates
change).
4. In the View toolbar, select the Fit All In command. The entire floor is displayed in the 3D
view.
6. The plant floor is created. Right-click on the name Area 1 in the PPR Tree, and under
Properties, deactivate the Show area name option. Then click on the button Apply, and
Ok.
7. Save the floor. In the main menu, select File/ Save as. Select 3 Geometry / Resources
and click the Save button.
8. Close this document (X in corner), and return to the current project. To insert the floor,
select Insert / Insert Resources, and select the Plant Floor.CATProduct file.
Facilitated Project:
Placing and Assigning
RH Body Side the Resource: Robots
Assembly
with Tooling
and Robotics
V5 IGRIP
In this procedure, the snap function is used to move robots and other components.
Robots, and the Robot Riser, are moved and positioned in the project. (Check the last page
in this step to see how the finished project looks)
3. The Snap Options dialog box appears. Accept the defaults. In the far left corner, under the
bottom toolbar, the system prompts you to select an object to be moved. Select the Robot
IRB_6400_24_150.1 from the PPR Tree.
4. The selected robot turns orange, For this snap function, we will
be using the Snap Option,
the Define Reference Plane Define Plane..
(From) dialog box appears and a
green compass is displayed on the
robot showing the current
orientation.
6. Move the white rectangle and line to the desired plane and orientation
as shown in this image and click the left mouse button. The green
compass moves to this location and orientation.
Note: This step does not need to be done if the green compass is initially
in the desired location and orientation.
8. In the 3D view, click in the center of the top plane of Robot Riser
M. Orientate the rectangle and line as shown in the image. Right-click
the compass and click OK in the dialog box.
11.Right-click on the compass again, and select the Edit function. The Parameters for
compass manipulation dialog box appears. In the Along Z, Angle, type in 90, and click on
the Apply button. The robot rotates to face the tooling.
Yes, it
gets
easier
12.Another way to use this dialog box is to place 90 degrees in the Rotation increment values.
With the values set this way, the compass will rotate in 90-degree increments.
13.When you are rotating the IRB_6400_24_150.1 robot, make sure that you select the
Robot first, then the Riser M, (hold down the CTRL button) that way it rotates both using the
Riser Ms compass. This places the robot and riser in front of the tooling.
14.Select the other robot IRB_6400_24_150.2, and rotate. The IRB_6400_24_150.3 make
sure to select the Riser S, then the Robot. This rotates them around the Robots compass.
15.For the ease of programming (creating the robot path), select the S-420iS robot and make
sure that it is placed at these coordinates.
16.In the Layout Tools Toolbar, select the Attach icon. You are prompted to
select the Parent first select the Riser Top as shown,
and then select the IRB_6400_1 (from the PPR tree).
Facilitated Project:
Mounting a Weld Gun
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
In this procedure, two weld guns will be inserted and mounted on each of the robots.
1. From the main menu, select Insert / Resource and select the Weld Gun1.CATProduct
and the Weld Gun2.CATProduct in the Resources directory, under 3 geometries.
2. Select the Set Tool Icon from the Robot Management Toolbar.
4. The end effectors orientation is incorrect on the robot. Manipulate the compass to turn
the end effector as shown (next picture).
7. Follow the same procedure to mount the other weld gun. Use
the Set Tool command to mount the weld gun to robot S420iS.
Facilitated Project:
Hide/Show
RH Body Side Attachments
Assembly
with Tooling
and Robotics
V5 IGRIP
This procedure shows how to use the Hide/Show function using the Text that shows the
Parent/Child Relationship.
In this procedure, commands in the Environment Tools toolbar are used to show and hide text.
The Swap visible space function is reviewed. This is another way to hide all at once (Double
Click on the Icon, and this keeps it active for more selections).
.
4. To view the data in the No Show area, click on the Swap visible space icon in the View
toolbar.
5. This 3D view has a green background indicating that this is the No Show area. A
component hidden in the product structure appears in low highlights in the PPR tree.
6. Click on the Swap Visible Space icon to bring you back to the main 3D view.
7. If there is a lot of data and the view is confusing, use the Hide / Show command to place
some of the data in the No Show area. This area is for viewing only; and the main 3D view
is the active view where functions are available.
8. Try the Hide / Show command with some of the geometry. Pick the geometry from the
PPR tree or from the 3D view to see different results. Also, notice the icon in the PPR tree
when executing the Hide / Show command.
9. When completed, make sure all the geometry is visible, excluding the Parent / Child
relationships.
Facilitated Project:
Creating the Process
RH Body Side Plan
Assembly
with Tooling
and Robotics
V5 IGRIP
This procedure describes how to create a process plan in DPM Fastening Process Planner.
There are two ways to create a Process: using customized activities, and using the standard
default activities. Later, a Process Flow chart will be automatically created.
In this exercise, a process plan will be created for the RH Body Side Assembly. The standard
commands in the Activities toolbar will be used.
Using the Resource Centric approach in the next step, the tasks will be assigned to activities.
Physical activities are imported into the process from a user activity library. Dress-up activities
such as viewpoint, visibility, and text message activities are created under the process node.
1. Open to the DPM Fastener Process Planner workbench. From the main menu, select Start
/ Digital Process for Manufacturing / DPM Fastening Process Planner.
2. In the Activities toolbar, scroll the mouse over each icon to see the activity names.
3. Select the Insert Station Activity icon and click in the PPR tree, the word Process.
4. The Create Activity dialog box appears. Click on the More >> button to see the Station
Activity Attributes. Change the Name to Station 1 and click on OK. Create another activity
and name it, Station 2.
When you insert a station activity in the PPR tree, it will always be a successor to another
station activity or a child of the main process. Stations activities children are other activities; it
cannot be a child of, say a clamping activity.
1. In the Data Views toolbar, select the Open PERT Chart and click on the word Process in
the PPR tree.
The PERT Chart Window appears showing the Activities. Select an activity box with the left
mouse button and drag it to the desired location. The position of any activity in the PERT chart
can be modified after changing an activity's position, it will automatically snap to the center of
the nearest grid square when the mouse button is released.
2. To see the Text in the Activity boxes, from the main menu, select Window / Tile
Horizontally.
The names of the activities in the Pert Chart
are easier to see.
The chart may be created with the links in place or it may not have the links in place. This
procedure also explains how to modify existing links. The PERT chart appears below the PPR
tree. Each box represents an activity. Each box can be manipulated and moved within the
chart.
Facilitated Project:
Fastener Assignment
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
This procedure describes how to assign and view welds in a process welding activity, thereby
managing and validating these Weld points well in advance of production.
In this exercise, the DPM Fastener Process Planner workbench will be used to assign the
welds.
2. In the Fastener Management toolbar, select the Assign fasteners from Product to an
Activity command. In the PPR tree Products list, select Assembly Joints under the RH
Body Side Assembly.1.
If there is no welds showing under the fasteners available for assignment, make sure in
the Tools / Options / Digital Process for Manuf / DPM Fastening Process Planner /
Commands / Activate Part Loading Constraints is deactivated.
3. The Fastener Assignment dialog box appears. This displays the total number of welds and
what activity the welds are assigned. At this point, no welds are assigned. Notice that there
is a pull down window for in the List of Products with Fasteners and for the List of
activities. Hold the Ctrl key down and select the Welds 1,3,5. Use the arrow to assign
them to the selected activity.
Welds are assigned and no longer available unless Allow Duplicate Weld Assignment is
toggled on. (This is in the tools / options / Digital Process for Manufacturing / Commands) This
would be toggled on if a parallel process were also being created. Welds can also be
assigned depending on what parts have been loaded prior to the welding activity selected in
the Process. Apply Part loading Constraints must be toggled on for this to take effect. We will
not be using that function.
4. With the Fastener Assignment dialog box still open, select Station 1 >Spot Welding .2
from the List of activities or the PPR tree.
5. Select welds 07, 09, 11, and 13 and click on the arrow to
move the welds and assign them to selected activity.
At this time select the accountability tab and confirm that
the odd welds have been allocated.
7. To continue to view the weld names, position the geometry conveniently in the 3D view.
Select the Show Weld ID in 3D window button. Expand the ProductList in the PPR
tree and select the RH Body Side Assembly. A weld ID dialogue box comes up. Verify
that the All sub-products option is checked, and the Switch is yes, (double click on the
product name if it is not) This activates them on, and off using the Apply button. Click on
the Apply button a few times to see them turn on and off, then when they are off, Close.
Facilitated Project:
Assigning the Robot
RH Body Side Resources to the
Assembly
with Tooling Process
and Robotics
V5 IGRIP
This procedure describes how to assign products and resources to activities within the
process. There are four methods that can be used to assign products and resources to
activities:
In this procedure the robots will be assigned to the welding, loading, and unloading activities.
This creates a process that can be simulated.
Assigning a Product
The products and resources to assign must have been previously imported to the
process (i.e., they are currently displayed in the ProductList and ResourcesList).
The activities that make up the process have been created.
The PPR tree for the process must be visible.
To view assigned resources on the PPR tree, the appropriate filter (Resources) must be
enabled.
Assigning a Product
2. Select the product to be assigned from the ProductList of the PPR tree.
3. Select the activity in the PPR tree that the product is to be assigned to. The selected product will then be
shown in the Items folder of the selected activity. This is a way to assign a product so that it has no relation to
saving to the PPR Hub.
7. Select the type of relation for the process/product and click OK. The
product will then be shown in the Items folder of the selected activity:
(Use the 1st option, they are explained below)
Method 3: Using drag-and-drop from the 3D viewer to the PPR tree with Products
Selection mode
1. Click on the Products Selection icon from the Select workbench to activate the Product Select mode.
Products Selection mode allows for products to be easily selected from geometry displayed in the 3D viewer.
Without the Products Selection mode, clicking on the geometry in the 3D viewer selects only the individual
lines, planes, etc. that are part of a product, but does not select an entire product. When enabled, Products
Selection mode allows for the selection the entire product that a particular line or plane belongs to, and will
highlight the selected product in the PPR tree.
2. Drag the selected part onto the desired activity on the PPR tree.
Holding the CTRL key when clicking on the different products can make multiple part selections, and
dragging the part last clicked to the desired activity on the PPR tree.
3. Click on the Products Selection icon from the Select workbench to turn off Product Select mode.
Assigning a Resource
2. Select the product to be assigned from the ProductList of the PPR tree.
3. Select the activity in the PPR tree that the product is to be assigned to. The selected product will then be
shown in the Items folder of the selected activity. This is a way to assign a product so that it has no relation to
saving to the PPR Hub.
6. Select the activity in the PPR tree that the product is to be assigned
to. The Assignment Type dialog box is displayed when the activity is
selected:
7. Select the type of relation for the resource/product and click OK. The
resource will then be shown in the Resources folder of the selected
activity:
1. Use the mouse to select and drag a resource from the ResourcesList and drop it on an activity. Elements
dragged from the ResourceList to an activity will automatically be assigned as resources.
Method 3: Using drag-and-drop from the 3D viewer to the PPR tree with Products
Selection mode
1. Click on the Products Selection icon from the Select workbench to activate the Product Select mode.
Products Selection mode allows for products to be easily selected from geometry displayed in the 3D
viewer. Without the Products Selection mode, clicking on the geometry in the 3D viewer selects only the
individual lines, planes, etc. that are part of a product, but does not select an entire product. When
enabled, Products Selection mode allows for the selection the entire product that a particular line or plane
belongs to, and will highlight the selected product in the PPR tree.
2. Drag the selected part onto the desired activity on the PPR tree.
Holding the CTRL key when clicking on the different products can make multiple part selections, and
dragging the part last clicked to the desired activity on the PPR tree.
3. Click on the Products Selection icon from the Select workbench to turn off Product Select mode.
Process first processes product ~ This relation is also an input process. This relation should be
selected when a product is first processed by a process. The product may be a raw material from a
parts bin.
Process removed product ~ This relation is a disassembly process. Select this relation to
remove a product. E.g., safety equipment for an assembly part or an assembly part removed
directly.
Process Runs on Resource ~ This relation is used for Main Resources such as Stations and
Machines
Defines this is the Main Resource (like a Machine) o which the Process Happens.
Since Quest world view is Resource Centric (of the same PPR data), the Process is added to
the Resource
Unassigning a Product
1. Click on the Unassign an Item icon: (from the pull down toolbar)
2. On the PPR tree, select the activity that the item is assigned to. A dialog box
will be displayed which lists all products currently assigned to the activity:
3. Select as many items in the list as desired, and click the Unassign button to
remove those selected from the activity.
Unassigning a Resource
1. Click on the Unassign a Resource
icon.
During the assignment of products or resources, the system determines whether the current assignment
duplicates any that already exist. Each product or resource can only be assigned to a particular activity within a
particular process once.
The assignment of a product or resource differs from the use of copy and paste commands. Copy and paste
commands should never be used in place of assigning products or resources to operations; this will not work.
The conventional method for assigning a product to a process (described in the previous section) utilizes either
the Assign an item command or the drag-and-drop method, and results in an assigned product having a "Process
processes product" relationship with the process that it is assigned to by default.
In order to support the same relationships that are supported by the PPR Hub, DPM Process and Resource
Definition now also provides the "Process first processes product" relationship to indicate that a product is being
consumed by a process for the first time.
1. Select the icon Assign a product/resource, and then select the Spot Welding.1 in
Station 1. Select the S-420iS.1 from the Productlist.
2. The Assignment Type dialog box appears, and since this is a product has been finished
by the process select the Process Uses Resource, and OK.
Facilitated Project:
Jogging a Robot
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
In this exercise, the project will review the jogging functions of a robot.
1. In the View Toolbar, we will Hide /Show all of robots and risers, except S-420iS.1 and the
weld gun that is mounted. Swap Visible Space allows you to flip from your chosen objects
shown, vs. the hidden objects.
2. Another way is to Multi-select the required geometries, then right-click and select
Hide/Show.
7. The user can now select three different ways to jog a device at this time. First, we can
select the slide bars that are located on the dialog box. Second, we can use the device
manipulation arrows located on each individual joint of a device. Third, we will be able to
manipulate the compass in any direction to see changes based on the top of the device.
Try all three ways.
8. Notice if you go past the limits, an Output Window appears, and the robot changes to
purple. This is a good time to play with the DOF controls, Linear Step, Angular Step and
to look in the Cartesian page as well. The Robot changes to Red for singularity.
Facilitated Project:
Creating a Robot Task
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
This user-friendly function makes programming a robot less cumbersome, this provides the
ability to take the fastener points assigned to a process activity and reuse them for creating a
robot task. Based on the amount of fasteners assigned prior to selecting this powerful function,
this will generate operations the robots will use in a matter of seconds.
This procedure explains how to create a robot task. A resource-oriented process dedicated
to robot programming, a task is a linear sequence of activities called operations. Each
operation can contain a motion activity (Move To) and a set of actions.
1. Select the Icon Create Robot Task from the Sequence toolbar.
Facilitated Project:
Jogging to Welding
RH Body Side Positions
Assembly
with Tooling
and Robotics
V5 IGRIP
This procedure describes how to move the robot to the weld locations to view the weld
orientation.
In this exercise, we will take a look at the orientation of the welding tags in relationship to the
weld gun.
1. In the Tools, Options, DPM Fastener Process Planner, turn on the Show the
Fastener (manuf) tag. This will give the coordinates for each weld.
Notice the orientation of the compass on the weld gun. This will be compared to the
orientation of each weld.
6. Grab the red box of the compass and place it onto Weld
01. Make sure that the placement of the compass matches
the correct orientation from the weld gun.
Facilitated Project:
Editing the Height of
RH Body Side the Robot Riser
Assembly
with Tooling
and Robotics
V5 IGRIP
Using the different workbenches, we will edit the height of the robot riser, and save this new
height.
1. Open up the PPR Tree for the Riser M.
2. Under the Body tree, Double-click; Double-click, on the Pad.1. This takes you to the
Assembly Design workbench, then the Part Design Workbench.
To verify, check the top
right icon
3. The Pad Definition dialog box appears. Change the Length from 60 to 22 inches,
Preview, and OK.
8. To save the changes to this riser, File/ Save As, and select the Riser M, in the Resources
Directory.
9. To return to the previous IGRIP workbench, double-click on the word PROCESS in the
PPR tree. This returns us to the IGRIP workbenches. Make sure you are in the Robot Task
Definition Workbench.
Facilitated Project:
Creating a Weld Study
RH Body Side Analysis and
Assembly
with Tooling Reviewing the Results
and Robotics
V5 IGRIP
This procedure explains how to analyze the reachable and feasible zones around the free
axis associated with a target such as a fastener. The definitions states yielded by analysis are:
In this exercise, use the Analyze Target Orientation to edit the positions of the welds
automatically.
1. In the Robot Management Toolbar, Select the Analyse Welds
for Robot icon, and then Select the Spot Welding.1 in the
Process Station. This would automatically select the weld items or
either the geometry or PPR tree, select the weld or tag group(s)
that is targets for analysis. The targets
appear in the dialog box.
Parameter Value
Check Clash Defines whether feasibility is needed
If this box is checked, the analysis will even if a feasible solution is found and will compute
Check All the feasible zone. Otherwise, the analysis will stop after the first feasible solution and will not
compute the feasible zone.
Do Flip Enable/Disable the flip analysis (invert the Z axis).
AnalRobotLabel Select the robot on which to do analysis
The algorithm will perform a clash analysis between the coupled robot and tool and the
objects defined in this list. You can select items for this list from either the PPR tree or the
Collision Objects geometry.
Any selected object can be removed from this list using the Remove button.
The Z resolution defines the accuracy of the analysis. The TCP gets rotated by this angle all
Rotate Z
along the range of check.
This tolerance is used for safety check. If the robot+gun gets closer than this value to the
Tolerance
collision objects, the two groups are considered to be colliding.
Using the Start angle and End Angle editors, the user can define the range of checks for the
Start/End Angle
welds selected in the list
Parameter Value
This frame provides the feedback from the analysis. For each robot and target for an
activity, a status will appear after a computation. The possible status results are:
Target Report O = OK
UR = Unreachable
UF = Unfeasible
Sort by robot The default presentation of the data is sorted by robot name.
Sort by fastener By checking this option, the table is sorted by fastener or target name.
Displays the results on the viewer in pie form:
Red: Unreachable
Green: Feasible
Display pie Blue: Reachable
White: Not computed yet
Yellow: Feasible in flip mode
This button opens a save window. The computation data shown in the Target Report
Save
Frame is saved in a .txt file.
Check KO When this button is pressed, the current selection of robots and fasteners in the Path
and Target Tab gets modified as follows:
All the unreachable and unfeasible fasteners get tested against all the robots that are
part of the station/line except the original one.
Users need then to replay the analysis to get a second report. This report will let
users know to which robots the fasteners can be re-assigned.
The X axis jumps to the middle of the nearest feasible area. This option minimizes the
Rotate Nearest changes of orientation for the welds.
This button can be checked at any time after the analysis has been performed.
The X axis jumps to the middle of the biggest feasible area. This option minimizes the
Rotate Biggest risks of collision for the robot.
This button can be checked at any time after the analysis has been performed.
Compute/Stop/Resume These buttons control the progress of the analysis.
6. Turn on the Display Pie Report, and Select all of the Activities, (CTRL), then click the
Compute button in the Analyze area. The robot moves to the positions, and the results
documented.
7. Click on the Weld 01. Using the Rotate X (Closest) we will position the Weld 01
orientation to the closest to the middle of the nearest feasible location. The Weld 01s
orientation changes.
10.Using the Teach Dialog box, step through the robot task using the Operations buttons, and
then the Simulation Buttons. (Make a note, if in the simulation the Robot flips while going
to one position to another. If it does, later, we will use the Set Turn Numbers to fix )
Facilitated Project:
Robot Controller Profiles
RH Body Side Motion Profile
Assembly
with Tooling Accuracy Profile
and Robotics
V5 IGRIP
The software uses default settings for the Motion and Accuracy profiles to optimize cycle time
and increase the accuracy of robots as they perform their operations.
Motion profile A motion profile is created using the Create and Edit Motion Profile command The purpose of the
motion profile is to specify speed and acceleration values for the robot. One type of profile may set speed and
acceleration parameters appropriate to a particular kind of move (e.g., moving to weld point) while another may
set those parameters in a way appropriate to a different kind of move (e.g., a via point). The standard velocity vs.
time profile for a move is modeled as a trapezoid, with equal magnitudes assumed for acceleration and
deceleration. If the initial and final velocities are equal, this will result in equal acceleration and deceleration times.
Based on the distance between points and the specified TCP speed, the velocity/time profile may end up being a
triangle, i.e., the maximum speed may never be attained (see the following diagrams).
The motion
profile's dialog
box (after
clicking on the
More button)
allows users to
set the following
options:
Acceptable
Option Explanation
values
Name Text string The name that appears for the profile on the PPR tree and on all menu options
Absolute: Selecting absolute means that the speed value (which must be expressed in
terms of mm/seconds) is the average speed the robot will use.
Absolute
Percent: Selecting percent means that the robot will move a specified percentage of
Motion basis Percent
its maximum speed.
Time
Time: Selecting time means that the user provides a set time for the robot motion, and
the robot calculates its speed to perform the move within that time.
For absolute:
For straight line motion, this speed specifies absolute TCP linear speed.
For joint-interpolated motion, this value is divided by the maximum TCP linear
speed to obtain the percentage of maximum joint speed.
Speed value Numeric For percent:
For straight line motion, specifies percentage of maximum TCP linear speed.
For joint-interpolated motion, specifies percentage of maximum joint speed.
1. In our example, change the name to Custom Motion.1 the Speed value to 90%, and
Toggle between the Motion Basics to view the results. Click on Apply, OK when done.
Accuracy profile An accuracy profile is created using the Create and Edit Accuracy Profile command. The
purpose of the accuracy profile is to define the accuracy of a desired trajectory. When corner rounding is desired,
users can select between two different algorithms to affect it. When speed is selected accuracy mode, the
severity of the corner rounding effect is a function of the deceleration time. In the case of straight-line motion, if
the accuracy value is set to 100%, then motion to the next point begins at the start of the deceleration profile, i.e.,
the robot will not decelerate. This produces the maximum radius for corner rounding. If the accuracy value is set
to 50%, then motion to the next point will begin when half of the deceleration time has elapsed, i.e., the robot will
decelerate for half of the time required to come to a complete halt, and then it will start the next motion statement.
If the accuracy value is set to 0%, then the move will use the standard acceleration/deceleration profile. When the
distance is the selected accuracy move, the accuracy value defines the radius of a virtual sphere, centered at the
position to which the TCP is being moved. The corner- rounding motion begins when the robot's TCP reaches any
point on this virtual sphere. Therefore, when the value of distance is non-zero, the robot's TCP will never reach
the programmed position. To stop within the vicinity of a point, users can select "Flyby Mode = Off," "Accuracy
Type = Distance," and then enter the desired tolerance in "Accuracy Value."
The accuracy profile's dialog box (after clicking on the More button) allows
users to set the following options:
Acceptable
Option Explanation
values
Name Text string The name that appears for the profile on the PPR tree and on all menu options
On: Selecting On means that the robot moves near, but will not stop at, a specific
On
Flyby target (i.e., there will be no deceleration; the target is a via point).
Mode
Off Off: Selecting Off means the robot will stop at the point.
Distance: As it moves near its target, the robot will move within a "virtual" sphere that
has the target point as its center.
Distance
Accuracy Speed: The speed represents the extent to which the robot
Type
Speed decelerates as it rounds the corner. A speed of 0% enables the robot
to move exactly to the target point; a speed of 100% means the
amount of corner rounding will be very large.
Radius of the
target's
surrounding For distance: The accuracy value represents the radius of the sphere.
Accuracy sphere
Value For speed: A percentage of the deceleration speed at which corner
Percentage rounding should begin.
of
deceleration
In our example, change the name to Custom Accuracy.1 and the Accuracy Value to 90%,
and Apply, OK.
Facilitated Project:
Auto Placing Robots
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
This will review the Auto Place function for the robots that have been inserted.
This procedure explains how to compute a grid automatically, and the possible locations for a
robot performing a specific robot sequence. The command asks the user to define a grid in
which the robot might be positioned. The software checks the grid to find the place where the
robot can be placed and still reach the tags defined for the robot sequence.
4. White +s appears
in the area, and the
Auto Place dialog box
appears.
CATEGORY MEANING
Analysis Mode
Partial Reach
The origin and z axis of the robot TCP is superimposed with the target.
(checked)
Partial reach
(unchecked) The robot TCP is perfectly superimposed on the target.
(aka Full Reach)
Results
Full All the targets are fully reachable
Not reachable At least one target cannot be reached
All targets can be reached, but only in partial mode (only seen if partial reach has been
Partial
checked).
The robot clashes while trying to reach the targets. This mode is activated using the
Clash
standard toolbars for simulation analysis.
8. Select the OK button. The grid disappears. Once you have performed the auto place
command, the system remembers the data. If you select the auto place command again,
the grid will automatically appear with the reachable colors for each cross set .
9. Once the Position is set, select the Save Initial State Icon.
10.Also if required, you can select the Save Management, Save Result Icon to save the data.
Robot Location
Facilitated Project:
Robot Envelope
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
This procedure explains how to create a workspace envelope around a robot. This envelope
defines a volume within which all the points are reachable with the selected tool profile. This is
primarily used to find out a reachable position for the product. The envelope becomes a saved
object on the PPR tree and can be shown or hidden.
In this procedure we will select the S-420iS Robot and create an envelope.
3. You can use the pull down menus to select the desired tool profile and mesh resolution.
The available mesh resolutions are coarse, medium, or fine. Using the defaults, Select
the Create button.
4. The envelope appears around the robot and in the PPR tree, as a Workspace under
Analysis Objects.
The inner and outer reachable surfaces are created. The wrist joints are held at their current
position while generating the surface. By default the surfaces are created with the current Tool
profile in effect. It can be overridden by selecting another tool profile. The Travel Limits for the
first 3 positioning Joints in the kinematics chain are used to generate the limits of the surfaces.
Forward kinematics solution is used to generate the envelope
Workspace generation is limited to devices whose first three positioning joints fall into one of
the eight generic type arm kinematics classes.
Cartesian
SCARA
Cylindrical
Block
Bore
Articulated
Spherical
Pendulum
The singularity positions are not considered for the envelope creation.
5. If you select the workspace with the Right Mouse Button, the context menu shown
below appears:
6. Robots with fewer than three joints are not considered.
7. Select Save Workspace, you can create a .cgr file containing the workspace data
8. Hide / Show the envelope when done.
Facilitated Project:
Reach Function for the
RH Body Side Placement of Robots
Assembly
with Tooling
and Robotics
V5 IGRIP
This will demonstrate how to use the Reach function to place a robot in the project.
Using the Reach function, the robot will be positioned so that it will be able to reach the
welding points.
5. The Reachability Status box appears, and the compass snaps to the Robot. Move the
robot away form the fixture, and we see the Targets Status change.
6. Find a position that the Status is Reachable. Similar to the picture, and Apply, OK.
The coordinates for this Robot are:
Facilitated Project:
Reviewing the Teach
RH Body Side Dialog Box and editing
Assembly
with Tooling the Weld points
and Robotics
V5 IGRIP
In this Procedure, the functions of the Teach Dialog Box will be reviewed.
3. The Format shown for the Teach Dialog box is Compact. Select Table, and all the welds
appear with the supporting data.
You have to grab the corner and expand this dialog box to see all of the options.
Users can make the robot jump to an operation by selecting it in the table. Note that the
options described above for inserting operations and modifying them also appear in the tabular
format of the teach dialog box. Also, the teach dialog box can be resized. The column
headings are:
Depending on the task and robot, not all column headings will contain data. Select the
operation to change. Because multi-selection is
supported, select more than one operation at a
time by using the CTRL key. Select a column
heading that you want to alter (in this case,
Motion Type). Click on the name in the title bar.
A dialog box appears; use the pull down menu to select a
different option (in this case, Linear Move).
Select the OK button. The new motion type appears in the table associated with the correct
operation(s). A specialized use of the Teach command is documented in Teaching a Robot to
Follow a Curve (Path).
Facilitated Project:
Tag Transformation for
RH Body Side Weld Positions
Assembly
with Tooling
and Robotics
V5 IGRIP
In this Procedure, translate and rotate manufacturing frames with one command called Tag
Transformation.
In this exercise, the weld positions are verified, and edited where required.
1. Select Using the Teach a robot Icon, and stepping through the welds, of robot
IRB_6400_24_150.1, we notice that weld 11 and 13 have to be adjusted. Close the Teach
dialog box.
3. Select Weld 13, and holding down the CTRL key select Weld 11. The Tag
Transformation Dialog box appears and the compass snaps to the last selected weld.
Select the Options shown below and Grab the circular line, and rotate approximately 90
degrees. Notice that both weld locations move.
Facilitated Project:
Creating Via Points in
RH Body Side our Robot Path
Assembly
with Tooling
and Robotics
V5 IGRIP
Using the Teach Icon, create via Points for our Robot program.
This procedure explains how to create VIA Points. Using the Teach dialog box, inserting a
home position, and various positions needed to reach the weld locations, with out any
collisions.
8. Move to Weld 03, and then step the robot away from the part, and create a Via Point
location after weld 3.
9. Create another via location after that one that moves toward the next weld, going around
the clamping that is shown. Notice the red line showing the robots path.
10. Move to Weld 05, and using the compass,
back the robot from the weld and create a Via
Point after this welding location.
11.Select the Operation 6, (the Robot moves to
that location) and create a Via Position after this
location. These are the final positions back to the
pounce position. OK, when done.
The program should look like this.
12.Right-click on the RobotTask.1 and select Properties to set up the sequence. In the
Operation Order Tab, Click on the Operation 10, and using the Arrow Down, move this
Operation to the end of the Robot Task.
13.Use the table below to determine which buttons to use to alter the sequence.
Move selection up
Cut selection
Copy selection
Paste selection
Delete selection
15. Using the Properties dialog box, click on the Naming tab. Click on the name in the
operation list, and in the Name Dialog section, type in the name. Click on Apply and it
changes the name. Change the names as shown. When done, click on OK.
What that does is store the Robot at the 1st position, vs. the
home position for viewing the simulation. (So it does not
snap back there every time you run the simulation).
What that does is store the 2 nd Robot at the 1st position, vs.
the home position for viewing the simulation. (So it does
not snap back there every time you run the simulation).
Facilitated Project:
Using the Add Tag
RH Body Side Icon
Assembly
with Tooling
and Robotics
V5 IGRIP
The ability to reuse an existing tags in a Robot task, reducing the time to recreate a tag in the
exact same location as a previous tag. This is another way to add via points to the Robot
Task.
This procedure explains how to create a tag from the last position in the Robot Task program.
5. Right-click on RobotTask.2, Properties, and the tab Naming, to reorder the sequence as
shown. Click on Apply, and OK.
Facilitated Project:
Using Trace TCP in the
RH Body Side Teach Dialog box
Assembly
with Tooling
and Robotics
V5 IGRIP
Using the Teach Icon, run the simulation with the Trace TCP function on.
6. Clicking on the Export the Points, the information gets saved as an Excel worksheet.
Click on the Export icon, and save the path as shown below.
8. Right-clicking on the line shows the name of the point, and the allotted time. Click again
on the icon, and use the Hide/Show for the Trace TCP.
Facilitated Project:
Weldgun Actions
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
Weldgun actions can be added to a simulation with user settings to match actual physical
weldgun movements.
This procedure explains how to use the weld gun settings for Retract, and Weld actions.
Facilitated Project:
Dress Operations
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
Weldgun actions can copied from one weld operation to many others within the same robot
task, thus helping increase the productivity of the user.
This procedure explains how to use the Dress Operations to copy from one to another.
2. Select the Weld01, under robot S-420iS, it appears in the Dress Operations dialog box.
Select the other two welds with the CTRL button. Notice that the Apply becomes active,
click on the Apply.
Notice that the Weld functions are with the Weld Operations.
3. For the last weld, Weld05, we want the gun to open up all the way, so double-click on
the Weld under Weld05. The dialog box appears, in the OpenGun Tab switch it to
Home_3, and OK.
4. Follow through with the other Welding Activity with Robot IRB_6400_24_150.1.
Facilitated Project:
Using a Call Task
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
This procedure explains how to create a robot task using the Call Task command. The Call
Task command enables you to select multiple tasks assigned to a robot, call them sequentially
within one task.
1. Using our Menu select the Insert / Inserting a Resource function, and in the Resources
Directory select the Tip Dresser 1. CATProcess.
2. Place the tip dresser at location shown.
13.Select our RobotTask.1, then click on the icon again, and the Prog and Maint, and
select our Maintenance Program.
14.Notice that the order is reversed. Right click on the Prog and Maint, and in Properties
change the order so that the Maintenance program is the last one.
17.Select the icon Set a Active Task, and select the Prog and Maint.
Facilitated Project:
Robot Task Simulation
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
Using the Robot Task Simulation, we will review the path created, and verify that the weld
guns open and close.
1. The RobotTask that was created for that program has to be assigned to that
Activity. In the Resource Program, Select the Set an Active Task Icon, and
select Spot Welding.1.
2. The Active Task Dialog box appears, select the S-420is then RobotTask.1, and OK.
3. Follow through with the same procedure and assign the Active Task to Spot
Welding.2.
5. Click on the Process Simulation, and zoom into our workcell to view both of the robots.
6. Notice that the Process Simulation Toolbar appears. Click on the Run Icon, and the
word Process, and notice that it steps through each activity and runs that assigned
function.
10.Select the S-420-iS Robot. The Select Task/Sequence appears. Select the RobotTask.1,
and OK. The Process Simulation and the Simulation Control toolbars appear.
13.If the robots wrist spins when you run the simulation, disregard this, as
later in the project we will correct this automatically. Using Set Turn Numbers.
Facilitated Project:
Clash Analysis
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
Perform a clash analysis on the stationary aspects of the setup of the project, and on the
dynamic interaction between each moving object.
This procedure explains how to use the clash detection to determine in any clashes exist in
our project. The collision or clash checked is between the weld gun and robot, and the tooling
and the geometry.
3. For the Selections, Selection.1 is activated, so select the Weld Gun 2, and the Robot S-
420iS. Select these from the PPR tree, that way all of the components making up the
resource will be
selected. As
they are
selected, they
highlight.
4. Click in the Section2 window (activated it is blue), and select the RH Body Side
Assembly (1), and the Station.1.
6. The Check Clash dialog box opens showing all of the Results and Conflicts. This is
reviewed later, click on Apply to review the Check Clash Dialog box. Click on OK when
done.
15.Grab (left mouse click, and hold) onto the X axis, and move towards the center of the
part (knowing that the weld gun will hit). When done, click anywhere in the blank screen to
disable this function.
16.Notice that the under the Tag List, the ViaPoint is highlighted. Each
RobotTask has a TagGroup. This topic is reviewed later.
17.In the Analysis Configuration dialog box, Change the settings from
highlight to interrupt. Run the path again, and the Robot will stop
when it comes into contact.
18.To review what created the contact, close the Simulation icon,
and double click on the Interference Results.1 in the PPR tree
under Applications.
19.The Check
Clash dialog box
appears, and
click on Apply
the data is
updated in the
List by Conflict
tab.
23.This file is opened at the end of this step to show the results.
24.Following the previous procedure, move the Via location back to the original
position.
25.Run the Simulation again, and make sure the path is collision free, and close all windows.
Created by les
1 / 22 / 2004, 11: 56: 49
Clash Publish
Interference.1
Products Selected
Selection 1 Selection 2
Weld Gun 2 (Weld RH Body Side Assembly (RH Body
Gun 2.1) Side Assembly.1)
S-420iS (S-420iS.1) Station 1 (Station 1.1)
Computation Result
- Relevant
ROCKER2#2:BRACKET1 10166934pp
Clash 0.135107
(ROCKER2#2:BRACKET1.1) (10166934pp.1)
in
- Relevant
ROCKER2#2:BRACKET1 10166934
Clash 2.051933
(ROCKER2#2:BRACKET1.1) (10166934.1)
in
- Relevant
ROCKER2#2:HOLDER3 10166934pp
Clash 0.220399
(ROCKER2#2:HOLDER3.1) (10166934pp.1)
in
- Relevant
ROCKER2#2:HOLDER3 10166934
Clash 0.751606
(ROCKER2#2:HOLDER3.1) (10166934.1)
in
Result Description - 1
Interference resume
Clash
Product 1 Product 2 Type Value Status
Comment
Result Description - 2
Interference resume
Clash
Product 1 Product 2 Type Value Status
Comment
Result Description - 3
Interference resume
Clash
Product 1 Product 2 Type Value Status
Comment
Result Description - 4
Interference resume
Clash
Product 1 Product 2 Type Value Status
Comment
This procedure describes how to turn on a view to see the violation in a preview window and
access additional data about the violation. Users can temporarily halt the simulation to
observe the violation and then return to the simulation. This option works for dynamic clash
analysis also.
The Tools->Options->Digital Mockup->DMU Space Analysis->DMU Clash options must be
set so that, in the Results Box section, First line automatically selected is checked.
A simulation must be running. From the Interference Window, select the portion of the
collision you want to see.
1. Run the Simulation again, with these settings;
When a collision appears, click on the warning and the simulation halts.
Select the clash to view by double clicking on it. The preview window appears. To return to
the simulation, press the OK button on the Check Clash dialog box, then the run button on the
Process Simulation player.
When a line is selected in the Interference Window, the Process Simulation player shows the
same time as the one in the Interference window.
If the simulation is ended by deselecting the Process Simulation command or closing the
Process Simulation player, the Interference Window becomes grayed out. The preview window
and the Clash Check dialog box are saved in the Applications node of the PPR tree.
Facilitated Project:
Adding a Icon to a Toolbar
RH Body Side Creating a Section
Assembly
with Tooling
and Robotics
V5 IGRIP
Insert a icon into a toolbar to perform a section and review the sectioning options.
This procedure explains how to use the Customize icon, and create a section.
1. To Insert an Icon into the Robot Management Toolbar, In the Menu bar, select Tools /
Customize.
2. The Customize Dialog box appears, and scroll down in the Toolbars tab, and Select Robot
Management, and Add commands.
7. Notice there is a large yellow plane, and a coordinate system in the center. When the
mouse is moved around the yellow plane area, Grab the green arrow, and drag the plane
over the tooling. In the Preview window the latest section is shown.
Facilitated Project:
Modifications to the
RH Body Side Path
Assembly
with Tooling
and Robotics
V5 IGRIP
Quick modifications to the path will be done, using the Teach a Robot icon.
This procedure explains how to use the settings that were previously created for Accuracy
and motion, and activate them in the Robot Program.
Facilitated Project:
Automatic Configuration
RH Body Side of Singularity
Assembly
with Tooling
and Robotics
Set Turn Numbers
V5 IGRIP
Operators are always facing the task of trying to remove the singularity from their robot
programs as they do feasibility studies. Set Turn Numbers allows automatic configuration of
turn numbers for smooth robot motion.
Now if you were lucky enough not to set your robot in a position where the robots wrist
doesnt spin uncontrollably then this function will not have to be performed.
2. The Set TurnNumbers dialog box appears with Cartesian Target Type selected. Leave
the default settings and select Set.
3. Select Teach a Robot icon and run through the path to see the corrections.
Facilitated Project:
Multiple Resource
RH Body Side Simulation
Assembly
with Tooling
and Robotics
V5 IGRIP
The Multiple Resource Simulation command enables users to select tasks associated with
more than one resource (e.g., multiple robots or multiple stations) and simulate those tasks
simultaneously, even though the tasks run sequentially in the process document.
This command serves as a lead-in to the Process Simulation command. Once invoked, the
Multiple Resource Simulation command, the Multi Resource Simulation dialog box appears.
2. Select the Robots as shown.
3. The dialog box lists all the resources in the PPR tree that have tasks associated with them.
Use the pull down menu to select the tasks to run simultaneously. (Remember that NONE
is an option for each resource's pull down menu.) Once the tasks are selected, click on the
OK button, the toolbars associated with the Process Simulation command appear.
4. Click on the Run icon.
Facilitated Project:
The Pert Chart
RH Body Side
Assembly
with Tooling Running a Process in
and Robotics
Parallel
V5 IGRIP
Using the Pert Chart, the activities will be maneuvered to find the optimum sequence for the
station or worcell.
This procedure explains how to edit our Process so that both robots will start at the same
time.
1. Select the Open PERT Chart from the Data Views toolbar. The
command prompt asks; what Process or Activity, select Station 1.
The Pert window appears showing the process activity flow of the
Station 1. Notice the links between the activities.
Therefore Spot Welding 1 has to finish before Spot Welding 2 can start.
2. Right click on the link or line between Spot Welding 1, and Spot Welding 2, and delete.
3. Click on the Grey Box for Spot Welding 2 and move it below Spot Welding 1.
Facilitated Project:
Running the Process
RH Body Side Simulation
Assembly
with Tooling
and Robotics
V5 IGRIP
In this procedure, using the Resource Centric Approach, a RobotTask will be assigned to
each Robot, and run through the simulation from beginning to end.
This procedure explains how run through the complete Process using the Simulation Icon.
1. For our PPR tree, select View / Tree Expansion / Expand First Level.
2. Open up our Process Station.1 and both of the Spot Welding Activities.
These procedures were done in
previous steps; make sure that you
have them assigned.
3. In our Resource Program toolbar, select the Set an Active Task icon.
4. Verify in Spot Welding 1, 2 have tasks assigned.
5. Using the Process Simulation Icon, run through the Process Activities.
Notice as the simulation is going through each Activity, it is highlighted in orange. Click on
pause to stop the process simulation after Spot Welding 2. Deactivate the icon. This will also
allow for all activities with programs to run as long as the set an active task has been activated
for all the robots with programs.
To run through Station.1, only, double click on Station 1 and the Process simulation will
ONLY run through that Activity, Station 1.
Facilitated Project:
Adding Weld Tags to
RH Body Side the Path
Assembly
with Tooling
and Robotics
V5 IGRIP
Using the Teach toolbar, new weld tags will be added to an existing path, to make the project
more complex with robot paths overlapping.
This procedure explains how we will add weld locations to the existing path.
2. In the Robot Management toolbar, select Teach a robot, and select the S-420iS robot.
The welds 8 and 10 are added to the RobotTask.
3. Using the Teach a robot icon, move the robot to the Operation (5) after Pounce. (Your
number might be different).
4. Grab the compass and place it onto weld 8. The robot moves to that location. Check
the orientation of the weld. When acceptable use the settings shown and Insert.
5. Move to this new tag point. Follow this same procedure for Weld 10. Add via points that
are required to go around the geometry.
6. In the PPR tree, change the names to the correct weld numbers. Right-click on the name
in the PPR tree, in Properties, and change the operation name.
8. When you are satisfied with your simulation, using the Dress Operations icon, select
Weld01, (shows in the Reference window), holding the CTRL down, click on Weld08, and
10. Apply, and OK.
Facilitated Project:
Automatic Task
RH Body Side Collision
Assembly
with Tooling
and Robotics
V5 IGRIP
This feature has an automatic computation of interference zones based on robot collisions.
This command analyzes a selection of robot tasks and automatically inserts within the tasks
the needed IO instructions to model the interference zones.
In this exercise, the Automatic computation is used to create the interference zones for the
welding robots.
6. In the Geometry window the robots step through the programs and place squares where
there is interference. (drop mark at check interval what was highlighted in the Analysis box)
7. When the computation is done, use the scroll bar at the bottom to view the results for each
of the positions.
8. Select the Interlock Map tab; select the Set/Wait button, and Update Interference Zone
bar, and Close. This imports all of the I/O waits and sets into the RobotTask.
9. For the interference zones to be set between the robots, follow through the same
procedures, but select the Enter/Clear button, and Update Interference Zone.
(We will not do this in this exercise)
10. Run the simulation again, and the robots will wait for one another.
Facilitated Project:
I/O Map and Monitoring
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
This will review the I/O Connections that was set up using the Automatic Task Collision.
This procedure describes how to view I/O Mapping, which is a static representation of the I/O
connections within one or more robot tasks, and I/O Monitoring, which is a dynamic
representation of the I/O connections as robot simulation takes place.
x41 IO Monitoring.doc 1 of 4
Copyright DELMIA Corp. 2004
V5 IGRIP V5R16
If multiple tasks appear in the dialog box and you decide you do not wish to view the mapping
for them all, you may select one or more tasks and press the Remove Selected Tasks button.
5. The IO Map and Monitoring Dialog box appears.
7. Checking the Graphic Display of IO Map box enables the IO map in the 3D view.
x41 IO Monitoring.doc 2 of 4
Copyright DELMIA Corp. 2004
V5 IGRIP V5R16
8. When completed, exit the IO Map and Monitoring mode by selecting the IO Map and
Monitor command (which is highlighted in orange) or you can press the Close button on
the IO Map and Monitoring dialog box.
IO Monitoring
x41 IO Monitoring.doc 3 of 4
Copyright DELMIA Corp. 2004
V5 IGRIP V5R16
9. As the simulation runs, the Force Selected Wait IO button becomes available, which
enables a force selected wait IOs to release waiting.
x41 IO Monitoring.doc 4 of 4
Copyright DELMIA Corp. 2004
V5 IGRIP V5R16
Facilitated Project:
Exporting I/O
RH Body Side Information
Assembly
with Tooling
and Robotics
V5 IGRIP
This procedure describes how to export IO information. The data can be exported in one of
two formats:
Excel spreadsheet
Text file (tabs serve as the delimiters between data; consequently, this file can be
opened as an Excel spreadsheet even after it is saved as text.)
Two kinds of information are available:
IO details: This includes information about the inputs and outputs defined for the
resource involved, IO name, IO number and the interference zone name (if any).
IO map: This includes information pertaining to the IO mapping between different IO
items belonging to the resource involved. This data is provided in the form of output ->
input connections.
Users can choose to get both or either kind of IO data. The different types of data can
appear in different files or in the same file
In this exercise, the export IO function is used for the S-420iS robot.
3. The save window appears, type in the name, and save it in the Process folder.
4. Open that file, and we see the IO data. (Yours may be different depending on the
RobotTask)
Facilitated Project:
Data Readouts and
RH Body Side Documentation
Assembly
with Tooling
and Robotics
V5 IGRIP
With the robot programs completed, create cycle time data readouts and graphics.
Using the Data Readout functions create documentation from this project.
1. Select the Data Readout from the Simulation Analysis Tools, and select the Display
Icon in the Options toolbar.
12.In the Generated Files path, Select our file directory HTML and call the file Station 1
Robotics, and Save.
16.Close all
windows
after done
reviewing.
Facilitated Project:
Listing Activities
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
Products
Resources
Unassigned products
Associated activities of a product
Associated activities of a resource
Hyperlinks
Using the Icons we will check our relationships with some of the objects. When viewing the
product list, any existing sub-parts are also shown.
1. The system prompts you to select a process. Select either the List Products or List
Resources icon. Select a single activity, or select the top-level process to view a list of
all resources or products assigned to all processes.
2. A dialog box displays the products (or resources, if the List Resources command was
selected) used by the selected activity, as well as the type of assignment the product or
resource has.
3. Click on the List Resources and select the word Process in our PPR tree.
For a long list of results, the list can also be sorted alphabetically by clicking on a column
heading (Activity, Products, or Type of Assignment).
The List Unassigned Products command generates a list of products, which are not currently
assigned to any activity.
Select the List Unassigned Products icon from the Data Views toolbar.
A dialog box lists any products that are not assigned to an activity:
Double-click an entry in the list to highlight it and center its view within the PPR tree.
The List Associated Activities of Product and List Associated Activities of Resource
commands allow you to select a product or resource from the PPR tree and list all activities
that have the selected item in their ProductList or ResourcesList.
Select the List Associated Activities of Product or List Associated Activities of Resource
1. Select a product or resource from the PPR tree. A dialog box appears with a list of activities
that use the selected product or resource, and indicates the relation type for the product or
resource.
2. Click on the List Associated Activities of Resource and select the S-420-iS robot in
our PPR tree.
Double-click any entry in the resulting list of activities to highlight the selected activity and
center its view within the PPR tree.
Facilitated Project:
Clamping functions
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
This will review Clamping procedures, opening and closing for the project.
In this procedure, set the clamping functions for one of the clamps in Station 1.
5. The MoveDevice.1 appears below the Clamping. Click on it, and drag it up into
Clamping.1.
6. Click on the icon again, and select Unclamping. Use the settings Opened, duration 1,
and OK.
Facilitated Project:
Offline Programming
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
Delmia OLP is a robotic solution for off-line programming of complex, multi-device robotic
resources. This helps to reduce man-hours while greatly improving program accuracy.
In this exercise, the S-420iS robot is utilized. Create a download program from a RobotTask.
3. Behind the scenes, an XML file has also been created, and this has been created in a
directory on the C: drive. Go to c:\documents and settings\User\Local Settings\Temp.
Uploading
3. Create a Robot Task inside of the Robot, so select New Robot Task icon and select the
robot IRB_6400_24_150.1.
Facilitated Project:
Setting up the
RH Body Side Auxiliary Device
Assembly
with Tooling
and Robotics
V5 IGRIP
Using the Define Auxiliary device Icon, the user will set up the links with the robot and the rail.
This procedure explains how to set up the devices with the rail, and jog the robot.
1. In the Robot Task Definition workbench, use the Snap Surface function in the Layout
Tools toolbar, move the robot onto the rail (if not done previously).
5. The Define Auxiliary devices dialog box appears, select the robot, the rail, and click on
Apply, Close. (Select from the PPR tree)
8. A new tab appears in the Jog dialog box, Mechanism.1. Move the DOF control button, or
use the Home Positions. When done, return the robot to the home position under
Predefined position.
Facilitated Project:
Mounting a End
RH Body Side Effector to a Robot
Assembly
with Tooling
and Robotics
V5 IGRIP
In this Procedure, insert the End Effector and attach to the Robot.
In this exercise, insert the grippers into our project and attach one to the robot
IRB_6400_24_150.2.
1. In the Tools / Insert, select Insert Resource. In the Path select 3Geometries /
Resources / PedGripper.CATProduct, and Station_Gripper.CATProduct.
2. The names appears in the PPR tree, and the gripper appears beside the Fanuc robot.
Grab and move the gripper over beside the Pedistal welder.
3. Move the Station Gripper close to the Robot IRB_6400_24_150.2. (Gripper under the
area, floor)
6. The end effectors orientation is incorrect on the robot, so grab the lines on the
compass and turn the end effector as shown.
8. The Parent Child relationship appears in the 3D view. Right-click on the line or text, and
Hide / Show.
Later we will attach the other end effector, as that will have to be done differently.
Facilitated Project:
Teaching the Robot on
RH Body Side a Rail
Assembly
with Tooling
and Robotics
V5 IGRIP
Using the Rail, teach a program for the pick and the place for the part.
4. Close the Jog window, and click on Insert in the Teach dialog box.
5. Click on the Save Initial State.
9. Lower the end effector so that it is in position to pick up the part, Click on Insert.
Please note, we do not have to
be accurate, just make sure it is
close for the functionality
11.Right click on the RobotTask.2, and in Properties, change the Operation names. And
reorder them.
Required tabs
15.The robot moves to the middle of the Rail. Click on Insert in the Teach dialog window.
16.Close, OK these windows, and run the simulation.
17.Also we can use the Reach function for the robot on the rail.
Facilitated Project:
Pick and Drop
RH Body Side Operations
Assembly
with Tooling
and Robotics
V5 IGRIP
Just like weldgun actions, gripper actions can also be created and these are picking, and
drop which are available for the user to incorporate in to the simulation.
These procedures explain how we will assign Pick and Drop functions to the Robot.
5. Click on the PickPart tab, and select the items shown from the PPR tree, and OK.
6. With the Drop Action icon, select the last operation, and select as
shown. (even though this is in the middle of the rail, we will drop it
there)
10.Select our Robot under Unloading.1, and the Active Task dialog box
appears. Select RobotTask.3, and OK.
If there are any positions that are not satisfactory, use the Teach a robot icon, and edit the
positions.
Facilitated Project:
Steps in creating a
RH Body Side Remote TCP for the
Assembly
with Tooling Ped Welder
and Robotics
V5 IGRIP
This procedure describes how to review functions for a Remote Tool Center Point for the
Pedestal Welder. There is different ways to do this function, this is the best practice way.
4. The gripper snaps to that location. Use the Manipulator snapped object section in the
dialog box, and grab the line on the compass, and place as shown. Click on OK when
done.
5. Using the Attach Icon, select the 6th axis of the robot and then the gripper
from the PPR tree. Click on Enter on the keyboard.
Facilitated Project:
Creating a New
RH Body Side Tag Group
Assembly
with Tooling
and Robotics
V5 IGRIP
A tag group is a collection of tags that are grouped so that they can be manipulated together.
Tags can only be created in a tag group. Once a tag group has been created, then insert tags.
4. Does the tag group need to be associated with a device or product? Yes. Click on the A
Pillar Inner (Shown below in PPR tree), and the geometry name appears in the Owner
Name.
Make sure you select the A Pillar Inner
from the RH Body Side Assembly.2
An explanation of where to find the tag group on the PPR tree appears below. Select the
device or product, either from the 3D inventory space or from the PPR tree. The name of the
selected device or product appears in the owner name field; the path to the file containing the
item's data appears beneath.
The lock icon in the dialog box indicates that the product data is stored in a read-only file.
Do you want the link mode to be local or modify reference?
If you select locally, a positional link between the item and the tag group is created. If the
object moves, the tag group will follow. The data is entirely created within the
.CATProcess document and the .CATProduct file containing the device is not affected.
If you select modify reference, then the .CATProduct file containing the product data will
contain the new tag group. The tag group will be created as a child of the selected object,
and you will need to save the .CATProduct file.
Facilitated Project:
Creating Tags in a
RH Body Side Group
Assembly
with Tooling
and Robotics
V5 IGRIP
This procedure describes how to create tags. Tags are created within previously created tag
groups. Individual tags or tag groups can then be assigned to robot sequences.
In this exercise, we will use the function Creating Tags that will be snapped to the geometry.
1. With the new Tag Group created, select the New Tag Icon.
2. Select the newly created Tag Group, Ped Welder. The Define Plane dialog box appears.
Select the Define Plane icon, if not already selected. Place 2 welds as shown.
Position
for two
welds
5. Follow the same process for another weld. The finished results.
6. Change the
tags name by
selecting the tag
on the PPR
tree, selecting
Edit-
>Properties
from the menu
bar, and
selecting the
Tag tab from the
Properties
dialog box, or
Right-click on
the name, and
select
Properties.
Used to define the tool action point of a device. This is used when mounting
Tool
the device. (See Mounting a Device on a Robot.)
Used to define the base of a device. This definition of base is used when
Base
mounting the device. (See Mounting a Device on a Robot.)
7. Enter the desired tag name, the tag type, as shown and select the Apply button. The table
below explains the tag types.
Finished Tag list.
Facilitated Project:
Creating a Robot Path
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
In this exercise, we will use Tag Groups to create the Robot Task, or Path.
6. Select our Teach a robot icon, then the robot, select the
format to Table. If needed, Highlight them all, (hold down shift
and select the first, then the last), and click on the word
CONFIG in the table menu and change to config_1, and make
sure the Motion type is JOINTMOVE.
Run the simulation. Next we will add the Pick and Place so the Robot picks up the part,
comes close to the ped welder, and then places the part and returns to home position.
Facilitated Project:
Creating a Pick and
RH Body Side Drop Edit the
Assembly
with Tooling Operation Positions
and Robotics
V5 IGRIP
This procedure explains how to create a Pick and a Place, and edit some of the Operations
for the Robot Program.
6. Select the Picking Object, the gripper from the PPR tree, and the dialog box appears, and
select Home for the Device Predefined State.
7. Click on the PickPart tab, and select the gripper from the PPR tree, and the part from
the 3D view, then OK.
8. Using the Teach a robot icon, move to the drop position, knowing
this Operation number, Click on the Drop Action Icon, and select
the Operation (10). Select After (Successor), and OK.
11.Using the Teach a robot icon, run the simulation, then place the Robot at the First
Operation, and click on Save Initial State icon. Very Important!
What that does is store the Robot at the 1 st position, vs. the
home position for viewing the simulation. (So it does not
snap back there every time you run the simulation).
Facilitated Project:
Performing a SetTool
RH Body Side for the Fixed TCP
Assembly
with Tooling
and Robotics
V5 IGRIP
This procedure describes how to set up the spot welds for the Remote Tool Center Point.
In this exercise, we will use the previous tags, and insert them in to the path, and utilize the
Remote TCP, and assign that RobotTask to the robot in the process.
1. With the Robot at the Home position, set the tool to the robot,
and assign the FIXED TCP. Select the Set Tool, icon.
2. The Robot Dressup dialog window appears. Select the Robot IRB_6400_24_150.3 and
the device select the Ped Welder (no not the gripper). In the Mode function, click on
Fixed TCP, and Click the Coordinate system at the Weld cap. Click on OK when all
selections are completed.
3. The two weld positions that were created will now be added
to the path. Select the Add Tag Icon. This allows us to add
a tag, or a tag group.
8. Right-click on the
RobotTask.1, and in the
Properties, select the
Operation Order Tab. Click
on the Weld 1, 2, and
reorder them after the
operation that we adjusted
previously.
9. Select the Teach a robot icon, and in the Teach dialog box, select Table.
10.Set up the variables for the two weld positions. Holding down the CTRL Key, select the
two welds. Click on the top table name for the Tool and CONFIG, and change
accordingly.
Notice that the ones following also change, as they had the default setting, and were not set;
therefore they accepted the ones that were changed above.
Follow through with the same procedure, and set those to the default setting as
shown.
12.If your locations are off, use the Teach dialog box, and modify the two weld positions.
13.If the gripper is spinning a few times and that is not required,
click on the Set TurnNumbers icon, and click on the
RobotTask. If not, then continue on #15
16.Next, add gun actions to the two welds. Click on the Weld
Action icon, select the RobotMotion under Weld.1 and select
the options as shown, and OK.
17.Click on the ped_welder.1 under WELDER_PEDISTAL. For the close gun select
Home_1, weld time .5 Open Gun Home_2 and OK. Follow through the same steps for
Weld 2.
18.Assign this RobotTask.1 to the Robot in the Activity Process. Switch to the Workcell
Sequencing Workbench. (Start/)
19.Expand the process so that we have Station 2, Spot Welding and the resources shown.
Click on Set an Active Task icon, and click on the SpotWelding.3. This will allow you to
select what RobotTask this robot is to perform in the activity.
21.Now using the Process Simulation, run through the completed process.
Facilitated Project:
Creating Movies and
RH Body Side Pictures
Assembly
with Tooling
and Robotics
V5 IGRIP
In this exercise using the Image selections, and the project, capture images and create a
movie.
With the completed project, capture images, create a movie, and view the created files.
The command activated by default in the Capture toolbar depends on the type of document
active when displayed by the toolbar. When a Part or Assembly document is active, the Pixel
command is activated. When viewing the specification tree in a document, the Vector
command is activated.
4. Click on the Options icon to see the capture icons dialogue box.
check the White Background option if you want the capture to be taken on a white background
check the Capture White Pixels as Black option if you want to print white pixels as black on the
resulting capture
check the Anti-Aliasing option to modify the appearance of lines in order to make the jagged edges
look smoother
check the Constant Size Capture option if you want the captured images to be the same size when
displayed to a scale of 1:1, whatever their resolution
set the Rendering Quality factor which determines the quality of output:
Low (screen): the quality of the output matches the screen resolution
Medium
Highest
Custom.
The higher the setting, the greater the quality of the capture. Use the Preview icon to
compare captures made with different rendering quality factors.
If selected, Custom value, the More... button will be activated to access the Image size
dialog box:
This dialog box enables the print Width, Height and Resolution:
First, choose the Resolution, either in pixels/inch (.dpi) or in pixels/cm. The highest the
resolution, the longer the capture generation (and with a price to pay in performance)
The values indicated in the Pixel Size group box are displayed for information only to
give an idea of the image size in pixels, according to the Print Size defined.
Click the Album... button to define the preferences for storing the images captured in the
album:
Select the desired file format from the pull down list.
Select the compression type:
Packbits (default option)
No compression (if you do not want to compress the file)
JPEG
HUFFMAN
Fax Group 4
Select the JPEG compression type, the Quality slider is activated to define more
precisely the compression quality (from 0 to 100 %). the higher the value, the
better the quality.
There are four tabs available on the Advanced Configuration dialogue box.
Verify with your instructor which tabs are applicable for your application.
11.Once satisfied with your parameters, click OK in the Advanced Configuration dialogue box,
and in the Capture Options dialogue box.
12.Click the Capture icon to capture the screen image and store it in the Album. A
progress bar will appear while the captured image is generated. Once the captured image is
generated, the Capture Preview window opens:
13.Zoom into our tooling, and click on the Capture Icon.
15.This window provides a preview of the captured image that will be stored in the album
when clicked on the Album icon.
save the image under another name and/or another format. To do so, click
the Save As icon, give a name to the image then navigate to the desired location
before clicking OK to confim the save. Refer to Saving Images to Other Formats for
detailed information
print the image by clicking the Print icon to open the Print dialog box. Refer to
Customizing Print Settings Before Printing Your Documents for detailed information
17.Click the Open Album icon or select the Tools / Image / Album... command to display
the album.
The album is displayed, listing the current contents of the album.
18.In the Album dialogue box, double-click on the Capture_000. Click on the last two icons,
and review their functions.
Zoom the image in this Print Preview box for better visualization. In this example, this is 34%
the size of the original image in the album.
At the bottom of the preview window, the text annotation entered in the capture options
dialogue box at the beginning of the exercise is shown.
the Album
23.The Erase icon is just what it implies. Simply highlight the desired capture in the
Album dialogue box to be erased, and click on this icon.
24.Click on the blue circle with lower case i This icon allows the user to edit the
properties of the picture. Look closely at the dialogue box below. Click on the memory tab to
see additional options. Take some time to experiment with the options. Close the box when
done, OK.
25.Now click on the last icon on the right. This icon allows the user to modify a picture.
Look closely at the dialogue box that appears. Take some time to experiment with the
options. Close the box when done.
The formats you can save to depend on the format (pixel or vector) in which the
image was originally saved.
http://www.partners.adobe.com/asn/developer/PDFS/TN/TIFF6.pdf
A bitmap is a set of pixels arranged in lines and columns and is fully described
by its width and height, its color depth (bits per pixel) and its compression
scheme. The format common format is true color (24 bits per pixel). An
additional color component, called Alpha component, may be used to define
the transparency of each pixel. The bitmap format generally supports
compression (either lossless or lossy). Some of these bitmaps are coded on 8
bits and the pixels are indexed on a color table, called the palette.
The advantage of bitmap files is that they can reproduce complex scenes (for
instance photographic or photo-realistic images) that could not be reproduced
using basic geometrical shapes.
The following table summarizes information about bitmap files and the various
formats you can use to save your images in the album:
Standard
bitmap
BMP X X X X X X X 2G*2G storage on
MS-
Windows
Very few
applications
JPEG X X X X X 64K*64K support the
lossless
JPEG mode
Successor
PNG X X X X X X 2G*2G of the GIF
format
Supported
RGB X X X X X X X 64K*64K by very few
applications
Very
popular and
general
format
TIFF X X X X X X X X 2G*2G
recognized
by most
imaging
applications
PostScript: PostScript is a page description language that supports text, vector graphics and
bitmaps. It is device-independent and implements an industry standard for communicating
graphic information between applications and hardware devices such as printers.
For detailed information about PostScript, browse the following Internet site:
http://www.partners.adobe.com/asn/developer/PDFS/TN/PLRM.pdf
Vector files contain geometrical descriptions of the image elements. These elements may be
lines, dots, rectangles, circles, polygons, splines, text with font information or bitmaps (only in
metafiles) and are used to reconstruct the final image. Each element has its own attributes
specifying its size, its relative position in the whole image, its color and filling type.
The advantage of vector files over bitmap files is that image scaling does not affect
image appearance. When zooming bitmap files, pixels become visible as shown in the
example below:
CGM ISO
CGM CALS
CGM ATA.
http://www.cgmopen.org
The table below summarizes the purposes of the above mentioned formats:
Format
HP-GL/2-
X
RTL
PS X
EPS X
PDF X
CGM X
On UNIX only, and if you save to a vector format, click the Options... button to set further save
You do not need to open the album first to save images to other formats. The Save As...
icon is also available by selecting the Tools->Image->Capture... command and clicking
the Save icon in the Capture toolbar, allowing you to save to a file directly (without
saving the image in the album).
Creating a Movie
1. Close all previous windows and select from the Tools / Images.
2. The Video Recorder dialog box appears.
5. The Process Simulation dialog box appears, change the run speed to .5.
6. Click on the Record (Red Button) on the Video Recorder box, and then click on Run in
the Process Simulation box.
7. The Process is simulated, and when completed, click on the Stop button to stop the
recording. When competed, close all of the dialog boxes.
8. In the Explorer, open up the directory
where the movie was stored.
Facilitated Project:
IGRIP
Ped Welder Workbenches and
Toolbars
Device Building
This procedure describes how to launch an IGRIP Session and get familiar with the IGRIP
Workbench Toolbars.
This exercise will show the user interface menus and toolbars.
Device Building provides a complete set of tools for modeling mechanical systems that are
typically used in the manufacturing process. Such systems include robotic end-effectors
(grippers, weldguns, etc.), positioning devices, stamping presses, milling machines, lathes,
and tracked vehicles. The target is generic modeling of forward-kinematic devices that can
only be driven in joint coordinates.
Device Building allows the user to define a mechanical system in terms of rigid bodies (called
parts) and articulated joints. The parts may originate from CATIA, DELMIA, or other CAD
sources. The joints may characterize a combination of mechanical constraints (such as
rotation about a fixed axis) and geometric constraints (such as following the surface of a part).
Finally, the mechanical system may include closed-kinematic loops, where a collection of parts
forms a closed chain.
After a device has been created, the user may define a set of predefined positions (called
"home positions") and a timetable to be used when moving between them. Tools are provided
to directly manipulate the joints of a device and observe the resulting configuration. Basic
display attributes such as color, display mode, etc., will also be set at the device level.
For those dealing with legacy data, Device Building can load all CATIA V4 kinematic models
and most Deneb/DELMIA device files. The user may perform a variety of analyses on these
models, but cannot directly modify them or save the results to disk.
It is expected that tool designers and simulation engineers will make excellent use of this
product.
Facilitated Project:
Opening the Project
Ped Welder Inserting a Toolbar
Device Building
This procedure describes how we will open our project, and Insert a toolbar from another
workbench.
We will open our Ped Welder, and create the working environment.
2. We are starting with this example as if we have positioned all the parts needed to create
the Ped Welder, already in position.
3. We see that all the parts that are needed to create the Ped Welder are positioned in the
PPR Tree at the Root Level; this is necessary in order to create a joint mechanism in V5.
4. Right Mouse click on the Compass and select Snap Automatically to Selected Object.
This will allow the user to select an object and have the Compass snap to the objects zero
design position.
Facilitated Project:
Attaching Parts
Ped Welder
Device Building
This procedure describes how we will use the attach function to create sections.
We will use our Ped Welder, and start creating the Mechanism.
1. Select the Right mouse button, select Cylinder10 from the PPR Tree or graphically and
pick Hide/Show.
2. This will allow us to view the Piston10 that is located inside the Cylinder.
5. Select Piston10 as the Parent then (hold down Ctrl button) pick
Holder18, without selecting OK from the pop-up window, select
Shank21, and Cap1 in that order as Children of Piston10, and then
click on OK.
6. In the relationship created, the Green line is the Parent and the red represents the
Children.
7. Now we can test the Attach function by selecting Piston10 and the Compass moves to the
zero design position of the part. Now move the Compass in any direction, and the parts are
attached and move with the Piston.
8. To move back to the original position, select Undo , and reset the Compass
(view/reset compass).
Facilitated Project:
Creating a Frame for
Ped Welder the Piston
Device Building
This procedure describes how we will create a Frame for the Piston.
1. Now that we have the parts attached to the Piston, we can create a joint axis that will lead
us to creating a Prismatic joint for the Ped Welder.
2. Select from the Frames Toolbar, the Frames of Interest Icon, and then
select Piston10. What is being created is a storage area for different Frame Types that can
be used on a device.
3. Click on the Frames of Interest.1 from the PPR Tree and notice that
the Compass will jump to the zero design position of the Piston.
5. Select from the Define Plane dialog box: Define Plane using Compass
8. We need to change the Compass position so that the (w) axis faces vertically. If we dont
change the position of the (w) axis then the joint will run horizontally instead of vertically, as
we need it.
9. Important note: Prismatic as well as Revolute Joints are based on the position of the
(w) axis. Prismatic will move along as well as the Revolute will rotate around the (w)
axis.
Facilitated Project:
Device Building
This procedure describes how we will create a Frame for the Base.
We will create the frame for the Base of the Ped Welder. This is the similar procedure that
we previously created.
1. Now we need to create a Frame for the part that will not move, which in this example is the
base of the Ped Welder.
3.
Facilitated Project:
Creating a Joint from a
Ped Welder Axis
Device Building
5. Under Axis 1 select Design1 frame from base\Frames of Interest then under Axis 2
select Design1 frame from Piston10\Frames of Interest.
6. So the dialog box should look like this and select OK.
Facilitated Project:
Setting the Joint Limits
Ped Welder and Jogging
Device Building
This procedure describes how we will set the Joint limits for the Ped Welder.
1. To complete the final pieces for a kinematic device we will do the following.
2. Select the Fixed Part icon, the New Fixed Part Dialog box
appears, (accept the defaults) and click on the base in the PPR
Tree.
4. We get the Joint Edition dialog box. Here we will set the defaults for the motions.
Jog using the command.1 pull bar, or type in numbers. (Notice the Mechanism moving)
Facilitated Project:
Device Building
This procedure describes how we will create home Positions for the Piston.
1. Make sure the Ped Welder is reset (open) from the previous step.
Select New again and move Command.1 slider to 100mm (or 4.5in) or type 100mm (or
4.5) and type in Closed then pick OK.
6. Now we can Jog the Mechanism with the new Home Positions by selecting
in the Jog Dialog box, the Open or Closed predefined Position.
Facilitated Project:
Creating Tool Center
Ped Welder Point
Device Building
This procedure describes how we will create the Tool Center Point for the Ped Welder.
We will create the Tool Center point for the joints created.
2. Open Frames of Interest under base in the PPR Tree. (Make sure that the compass
does not have the snap automatically to selected object highlighted)
6. Pick three points around the circle to place the plane and select
OK. (The color of cap may need to be changed for better
visibility).
8. Select Tool1 and move it between Caps for new position of TCP.
Facilitated Project:
Opening a Project
Rocker Gun
Device Building
This procedure describes how we will open our project, and create a revolute joint.
We will open our Rocker Gun and create the working environment.
1. Go to 3 Geometry \ Weldgun.
3. We are starting with this example with all the parts positioned as to create the Rocker
Gun.
4. We see that all the parts that are needed to create the Rocker Gun are positioned in the
PPR Tree at the Root Level; this is necessary in order to create joint mechanisms in V5.
If we are not at the Root Level, creating a mechanism will not work.
5. RMB click on the Compass and select Snap Automatically to Selected Object. This
will allow the user to select an object and have the Compass snap to the objects zero
design position. If we click on ROCKER1:CAP7_1.1, we see the compass snap to the
cap.
6. Click on the Compass again, and remove the Snap Automatically to Selected
Object, and view reset the Compass.
Facilitated Project:
Attaching Parts
Rocker Gun
Device Building
This procedure describes how we will use the attach function to create sections.
We will create sections from attaching parts. This will create the moving mechanism.
1. We need to attach the Shanks, and Caps as Children to each Holder, so as the Holders
(Parents) rotate we will have all the parts moving in unison.
3. Select HOLDER1 as the Parent then pick SHANK1, The Child Selection dialog box
appears, without selecting OK continue and select CAP7_1 in that order click on OK.
Repeat the same steps for HOLDER2, SHANK2, and CAP7.
4. So we can see the relationship we have just created. The Green line is the Parent and the
red would represent the Children.
5. Now we can test the Attach function by selecting HOLDER1 and the Compass moves to
the zero design position of the part. Now move the Compass in any position and we see the
parts are still attached and moving with the HOLDER.
Undo
Facilitated Project:
Creating a Frame for
Rocker Gun Holder 1
Device Building
This procedure describes how we will create a frame for Rocker Holder 1.
1. Now that we have the parts attached to the HOLDER1 we can go ahead and create a joint
axis that will lead us to creating a revolute joint for the Rocker Gun.
3. With the Snap automatically to selected object highlighted on the compass, Select
Frames of Interest.1 from the PPR Tree and notice that the Compass will jump to the zero
design position of the HOLDER1.
5. Select from Define Plane dialog box: Define Plane using Compass
6. Now if we zoom in on the Compass we can see in this view that the (w) axis is pointing
vertically and we need to have it point Horizontally. Do not select OK at this point; we
need to modify the Compass position.
7. We need to change the Compass position so that the (w) axis faces horizontally. If we
dont change the position of the (w) axis then the joint will revolve incorrectly crashing into
the Bracket.
8. Important note: Prismatic as well as Revolute Joints are based on the position of the
(w) axis. Prismatic will move along as well as the Revolute will rotate around the (w)
axis.
12.We can see that a Frame is created at the Compass or the zero design position of
HOLDER1.
Facilitated Project:
Creating a Frame for
Rocker Gun the Bracket
Device Building
This procedure describes how we will create a Frame for the Bracket.
We will use our Rocker Gun and create the frame for the Bracket.
1. Now we need to create a Frame for the part that will not move, which in this example is the
BRACKET1 of the Rocker Gun.
5. We previously rotated the Compass to place the (w) axis horizontally, go ahead and rotate
again to match the previous Frame. Now we have two frames that are in the exact same
position for two different parts.
6. Now we can see if we open each Frames of Interest that we have Design frames that are
unique to the BRACKET1 and HOLDER1.
7. Repeat the same steps: Creating a Frame, and Frame type for HOLDER1 now for
HOLDER2.9 (make sure that you rotate the compass for the frame type)
Facilitated Project:
Creating a Joint from a
Rocker Gun Axis
Device Building
This procedure describes how we will create a joint from our axis.
1. In the Device Building Toolbar, and use the Arrow Down to display
the Kinematic Joints Toolbar, Pull this toolbar out.
5. Under Axis 1 select Design1 frame from BRACKET1\Frames of Interest then under Axis
2 select Design1 frame from HOLDER1\Frames of Interest.
6. The dialog box should look like this and select OK.
7. Select Joint from Axis again but dont select New Mechanism, we are adding to
the Mechanism already created earlier. Under Joint Type select Revolute again\Under Axis
1 select Design1 frame from BRACKET1\Frames of Interest then under Axis 2 select
Design1 frame from HOLDER2\Frames of Interest, the dialog box should look like this and
select OK.
8. Go to the PPR Tree and open the Applications branch and we see the two joints created.
Facilitated Project:
Setting the Joint
Rocker Gun Limits, and Jogging
Device Building
This procedure describes how we will set our Joint Limits for the Rocker Gun, and Jog and
verify them.
We will use our Rocker Gun and set our limits for the joints created.
4. Toggle on Angle
Driven. Input 0
degrees into Lower
Limit and 6 degrees
Upper Limit.
6. Repeat for Revolute.2 Input 6 degrees into Lower Limit and 0 degrees for Upper Limit
7. So it should look like this.
9. Now we can select Jog Mechanism and select the Rocker Gun.
10.Using the slide bars we can see if the angles are correct.
11.We can see there is a collision with the HOLDERS and we need to modify both of them so
that we have a correct Open position.
12.So double-click again Revolute.1 and Revolute.2 and flip the numbers for the degrees
since we created the Rocker Gun in the closed position we want the degrees to work for us
and open the HOLDERS to an Open position. (Note now +6 degrees)
Facilitated Project:
Creating Home
Rocker Gun Positions
Device Building
We will open our Rocker Gun and create the Home Positions
Facilitated Project:
Other Commands
Clamp
Device Building
This procedure describes the remaining commands for Device Building Workbench.
Mechanism Properties thats what it is. It will give you the properties of the mechanism
you just created or want to view.
Time Table . Edit the time that each jog position will take.
Travel Limits . Another way of editing the travel limits that we see in the Jog panel
instead of double-clicking the Joint from the PPR Tree.
Tool Tips . Select the weld gun caps that you want during a weldgun search or creating a
simulation. These Tool Tips that you specify will not be included during collision analysis.
Mechanism Dressup . If there are still parts that have not been added to your
mechanism, this will help you add them.
Update Positions . This will place constraints (O rings) that make up a joint at the origin of
creation.
We see that the Piston on the left is in the Close position, which is the modified position. On
the right after selecting Update Positions and picking the device, the piston is set back to the
original creation point, in this case its the Open position.
Import Delmia D5 Component . This will allow us after certain user options have been
set to bring in D5 legacy components for use in DELMIA V5.
Facilitated Project:
Creating Home
Rocker Gun Positions
Device Building
We will open our Rocker Gun and create the Home Positions
Facilitated Project:
Adding Tool Center
Rocker Gun Point
Device Building
This procedure describes how we will add the Tool Center Point to the Rocker Gun.
Facilitated Project:
Opening our Project,
Clamp and Setting Options
Device Building
This procedure describes how we will be creating a clamp with a Prismatic and a Revolute
Joints.
We will open our Clamp, and set the options for Gravitational effects.
4. RMB click on the Compass and select Snap Automatically to Selected Object. This will
allow the user to select an object and have the Compass snap to the objects zero design
position.
6. Select Display
7. Select the Navigation tab
8. Go to Gravitational effects during navigation, Select Y
9. OK
10.The Compass
changes orientation,
and in the geometry
window the geometry
rotates around the Y-
axis.
Facilitated Project:
Creating Design
Clamp Frames for Prismatic
Joints
Device Building
This procedure describes how we will be creating Design Frames for Prismatic Joints.
2. Now and a placeholder for Frame Types has been created. Click on the Frames of
Interest, and the compass snaps to the cylinder.
4. The Compass is already located and oriented in the correct direction select OK and a new
Design frame has been created and also populated in the PPR Tree.
5. Now that we still have the Compass located at the piston zero design position we will
create another Design frame for the Bracket that will be our fixed part.
6. MAKE SURE THAT THE COMPASS DOES NOT LEAVE THIS LOCATION, OR YOUR
AXIS WILL BE IN THE WRONG LOCATION
7. Create another Frame of Interest for L-110R:L-110-R_0.pdb and Frame Type (Design)
and select OK.
8. We have created the Design frames for both the Piston and Bracket that will be used for
Prismatic joint, and now we will create the Design frames for the clamps that will be used for
revolute joints.
Facilitated Project:
Creating Design
Clamp Frames for Revolute
Joints
Device Building
This procedure describes how we will be creating Design Frames for Revolute Joints.
2. Create a Frame Type and select Design. Once again we are seeing that
the Compass doesnt need to be rotated since it is positioned and oriented
in the proper angle. Select OK.
3. For the L-110R:L-110R_0.pdb, we need to create a Design Frame Type for the Bracket
again and place it at the Compass position.
4. Click on the Frame type Icon, and click on the Frames of interest, and OK.
We see that confusion could occur if we didnt keep track of all our design frames, so we have
the opportunity to rename frames now.
5. RMB click on Design 1 from L-110R:L-110-R_0.pdb and go to Properties then the Tag
tab and rename to Piston Design 1, rename Design 2 to Clamp Arm 1 Design 2.
6. So the name of the Design Frame for the Bracket at the Piston location is different from the
Design Frame located at the first Clamp Arm (Design 2)
9. Create a new Frames of Interest and Frame Type for L-110R:L-110-R_2.pdb. Change
the name after the next Frame type created, (If you change the name now, it will not
recognize the compass, and default out)
10.Click on a new Frame Type then click on L-110R: L-110R_0.pdb, rename to match image
below.
11.MAKE SURE THAT THE COMPASS IS STILL ON THE AXIS AS PREVIOUS PICTURE
12.At this point edit your PPR Tree so it looks like the image below.
Facilitated Project:
Creating Prismatic and
Clamp Revolute Joints from
Design Frames
Device Building
This procedure describes how we will be creating Joints from Design Frames.
2. Select Joint from Axis and Joint Creation using Axis box
appears.
x78, Pris, rev 4 Creating Prismatic and Revolute Joints from Design Frames.doc 1 of 3
Device Building V5R16
6. So the dialog box and PPR Tree should look like this and select OK.
7. Again, under Joint Type select Revolute. Match the image below with your dialog box
and PPR Tree again and select OK.
x78, Pris, rev 4 Creating Prismatic and Revolute Joints from Design Frames.doc 2 of 3
Device Building V5R16
8. Repeat revolute joint for Clamp Arm 2 Design3 in the Frames of Interest for the Bracket
and Clamp Arm 2 Design1 in the Frames of Interest for the Clamp.
9. After this is complete following the examples from above the Joints branch under
Mechanisms should look like this. One Prismatic joint and two revolute joints.
x78, Pris, rev 4 Creating Prismatic and Revolute Joints from Design Frames.doc 3 of 3
Device Building V5R16
Facilitated Project:
Editing the Joints, and
Clamp Jogging
Device Building
We will edit our Joints and jog them to verify the Clamp.
1. We need to edit each joint in order to have kinematics; we will do this by the doing the
following. Double-click Prismatic.1 and we have a dialog box appears. Fill out the
length driven, and Joint limits in dialog box as we see it in the image.(100 mm or 3.94in)
Select OK.
2. Double-click Revolute.2 and match your dialog box once again with the data below.
3. Repeat again for Revolute.3 and match your dialog boxes with the image below.
4. So now we have edited each joint with increments that we need in order for the joints to
move in certain millimeters and degrees. We can see also that in the Mechanism branch of
our PPR Tree the Commands branch is populated with our edits.
5. Now we need to have a Fixed Part so that we are able to have a device that will have
kinematics.
7. Select the Mechanism.1, which at this time is our only mechanism. We are able to select
different mechanisms when needed or create a new as you can see from the image. Now
select the Bracket and we get the Information box below.
8. You are now ready to jog the Mechanism . We get the Jog panel with three different
Commands that are the joints we just created.
9. Now as we use the Slide bars we see that the edits we made are incorrect so we can go
ahead and edit these joints again just by double-clicking the joints in the PPR Tree.
11.Now Jog the device again and see your edits work for you.
Facilitated Project:
Creating Home Positions
Clamp
Device Building
This procedure describes how we will create Home Positions for our Clamp.
1. Select Home Positions Icon, and select New. The Home Posture Editor Opens, in
the Home Position area, Type in Open and select OK.