Robcad Basics PDF

Robcad Basics Training Guide
Robcad Basics
Version: 7.5.1
Course Code: WKP100U
Updated: July 2006
Publication Number: MTXW100U-SG-0751
Table of Contents
i
Robcad Basics
Training Guide
July 2006
WKP100U – Version 7.5.1
Publication Number
MTXW100U-SG-0751
ii
Manual History
Manual Product Publication
Revision Version Date
A V 3.3 July 1996
B V 3.4.1 April 1997
C V 3.5.1 December 1997
D V 3.7.1 December 1998
E V 3.8.1 December 1999
F V 4.0 December 2000

G V 6.0.3 December 2002
H V 7.1.2 December 2004
I V 7.5 October 2005

J V 7.5.1 July 2006
This edition obsoletes all previous editions.
© UGS Corp.
All rights reserved.
Printed in the United States of America.
Table of Contents
iii
Proprietary and Restricted

Rights Notices
The following proprietary and restricted rights notices apply.
This Guide is delivered subject to the following conditions and
restrictions:
) This Guide contains proprietary information belonging to UGS
Corp. Such information is supplied solely for the purpose of
assisting explicitly and properly authorized users of Robcad.
) No part of its contents may be used for any other purpose,
disclosed to any person or firm or reproduced by any means,
electronic or mechanical, without the express prior written
permission of UGS Corp.
) The text and graphics are for the purpose of illustration and
reference only. The specifications on which they are based are
subject to change without notice.
) The software described in this guide is furnished under a
license. The software may be used or copied only in
accordance with the terms of that agreement.
) Information in this Guide is subject to change without notice.
Corporate and individual names and data used in examples
herein are fictitious unless otherwise noted.
This software and related documentation are proprietary to UGS
Corp. LIMITATIONS TO U.S. GOVERNMENT RIGHTS.
UNPUBLISHED – RIGHTS RESERVED UNDER THE COPYRIGHT
LAWS OF THE UNITED STATES. This computer software and
related computer software documentation have been developed
exclusively at private expense and are provided subject to the
following rights.
iv
If this computer software and computer software documentation

qualify as “commercial items” (as that term is defined in FAR
2.101), their use, duplication or disclosure by the U.S. Government
is subject to the protections and restrictions as set forth in the UGS
Corp. commercial license for the software and/or documentation as
prescribed in FAR 12212 and FAR 27.405(b)(2)(i) (for civilian
agencies) and in DFARS 227.7202–1(a) and DFARS 227-7202-3(a)
(for the Department of Defense), or any successor or similar
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similar regulation, as applicable or as amended from time to time.
UGS Corp., 5800 Granite Parkway, Suite 600, Plano, Texas 75024,
USA.
Copyright 2006 UGS Corp. All rights reserved.
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Other company and brand products and service names are
trademarks or registered trademarks of their respective holders.
Table of Contents
v
Table of Contents
Chapter 1: Introduction to Robcad ...............................................1-1
Lesson 1: Training Introduction.................................................................................1-3
Lesson 2: Basic Skills .................................................................................................1-7
Lesson 3: Basic Robcad operations ............................................................................1-1
Lesson 4: View Control in Robcad.......................................................................... 1-22
Lesson 5: Customizing user configuration .............................................................. 1-26
Lesson 6: Entity selection........................................................................................ 1-29
Lesson 7: Using Robcad Layers............................................................................... 1-34
Lesson 8:Additional commands .............................................................................. 1-40
Lesson 9: Robcad Help ........................................................................................... 1-44
Chapter 2: Workcell Layout..........................................................2-1

Lesson 1: Introduction to cell layout .........................................................................2-2
Lesson 2: Cell Construction .......................................................................................2-5
Lesson 3: Placement Commands................................................................................2-9
Lesson 4: Assembly Tree Intro ................................................................................ 2-33
Lesson 5: Final Layout ............................................................................................ 2-40
Chapter 3: Modeling and Kinematics ............................................3-1

Lesson 1: Modeling Basics .........................................................................................3-2
Lesson 2: Introduction to Representation Precision ............................................... 3-13
Lesson 3: Fundamentals of Kinematics ................................................................... 3-21
Lesson 4: More Modeling ....................................................................................... 3-25
Chapter 4: Processing ...................................................................4-1

Lesson 1: Inverse kinematics: Core technology of Robcad ........................................4-2
Lesson 2: Working with Paths................................................................................. 4-12
Lesson 3: Populating Libraries ................................................................................ 4-22
vi
Lesson 4: From Least Constraints to Most Constraints............................................ 4-29
Chapter 5: Basic Simulation Techniques .......................................5-1

Lesson 1: Introduction to Sequence of Operations................................................... 5-2
Lesson 2: Creating a Sequence.................................................................................. 5-8
Lesson 3: Using a Scenario ..................................................................................... 5-18
Lesson 4: Editing Operations .................................................................................. 5-23
Lesson 5: Types of SOP Events................................................................................ 5-26
Lesson 6: More SOP Tools ...................................................................................... 5-35
Lesson 7: Using Camera Views ............................................................................... 5-39
Lesson 8: Static Output........................................................................................... 5-43
Lesson 9: Storing Simulations ................................................................................. 5-53
Lesson 10: Creating Web Reports ........................................................................... 5-57
Chapter 6: Other Selected Topics .................................................6-1

Lesson 1: More on Robot Motion.............................................................................. 6-2
Lesson 2: Cables........................................................................................................ 6-7
Lesson 3: Introduction to CAD Integration with Robcad (Optional Topic) ............ 6-21
Lesson 4: Stand Alone GUI for CAD Interfaces (UNIX only) (Optional Topic) ...... 6-31
Lesson 5: Data Menu CAD Translating (Optional Topic)........................................ 6-32
Lesson 6: More Data Commands Windows (Optional Topic) ................................. 6-39
Appendix A: WKP100U Classroom Setup .................................... A-1
Appendix B: Customizing Your .robcad File .................................B-1

Introduction to Robcad
1-1
CHAPTER 1
Chapter 1
Introduction to
Robcad
About This Chapter
This chapter provides an introduction to Robcad and contains the

following lessons:
) Lesson 1: Training Introduction, page 1-3, describes how to
use the training manual.
) Lesson 2: Basic Skills, page 1-7, describes how to start Robcad
and how to navigate through windows in Robcad
) Lesson 3: Basic Robcad operations, page 1-11, describes how
to open project, load cells, and execute a sequence of
operations.
) Lesson 4: View Control in Robcad, page 1-20, describes how to
view controls using mouse or keyboard as well as using
multiple graphic windows
) Lesson 5: Customizing user configuration, page 1-26, describes
how to customize, save, and load configurations.
) Lesson 6: Entity selection, page 1-29, describes different
methods of entity selections
) Lesson 7: Using Robcad Layers, page 1-34, describes how to
set, create, and add/ remove components to active layers as
well as blanking/displaying and filtering components in layers
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) Lesson 8: Additional commands, page 1-40, describes how to

use some additional commands such as viewing panel.
) Lesson 9: Robcad Help, page 1-44, describes how to retrieve
online command help and documentation and also how to use
the undo and reset commands.
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1-3
CHAPTER 1
Lesson 1: Training
Introduction
Introduction to the Training
Manual Structure
The training manual is designed for a classroom containing
between three to seven students. Each student should sit at their
own workstation using their own copy of the data.
See Appendix A for a detailed description of the classroom setup.
Training Guide Typographical

Conventions
It is important for each trainee to understand this syntax before
starting the exercises. The following typographical conventions
will be followed in this training guide:
A training manual is broken down into logical units called
chapters.
The chapters are sub-divided into small lessons that have two
sections: the instructor lecture and the student exercise.
The exercise contains all button clicks required to produce the
result of the concept being taught in the lesson. The following
syntax will be found in the exercises:
¾ Bullet Conventions:
This bullet is used to show an important sub-grouping of a

lesson or exercise. Usually bullet points or steps to do
something follow it.
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This bullet is used to show bullet points in a lesson. It is not

usually found in an exercise.
This bullet is used to highlight the button clicks that need to
be carried out to complete a step of an exercise. Sometimes
they are used in a lesson to denote sub-bullets of the bullet
shown above.
¾ Informational Sidebar Conventions:
This icon is used to show notes of special importance. This

icon type is used most often.
This icon is used to show tips that may be helpful after class.
The manual may only have a sparingly few number of these.
This icon is used to show areas where students usually “fall
in a hole”. It is meant to warn them before, help them
avoid, or help them get out once they are stuck. Hopefully
the manual has sparingly few of these situations.
¾ Basic Exercise Conventions:

) Each exercise begins with a bold heading that begins with the
word Exercise. An exercise ends at the next bold heading.
) Each exercise is created in an outline windowat.
) The numbered steps give an overview of what is to be
accomplished.
) Detailed sub-steps enumerated by bullets follow each
numbered step.
Y For example: Here is a sub-step.
) It is suggested that the trainee read the overview step to
understand what is to be done. Then continue to the bulleted
sub-steps for each button click required to complete the step.
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CHAPTER 1
¾ Exercise Button Click Conventions:

) In the exercises the titles of windows, pop-ups, toolbars, or
viewers, are shown in italic.
) Items that should be clicked with the mouse (i.e. action items),
are shown in bold. For example: objects, buttons, icons, menu
selections.
) However, the [OK], [Cancel], [Yes], and [No] buttons are
shown in brackets.
) Special keys from the keyboard are shown in brackets. For
example: [Enter], [Alt], [Ctrl], [Delete], etc…
) When an action item from the top menu bar is found in an
exercise it is shown with an arrow between the top menu and
the action item. For example: File -> Exit.
) When an icon is referenced in an exercise of the training
manual, the name of the icon appears in bold in the step
followed by the icon. For example: Open Project .
1 There are two ways to refer to a top menu item
such as Save:
Y From the File menu, select Save. The current file is saved.
Or
Y File -> Save. The current file is saved.
2 There are two ways to refer to a top menu item
such as the Save as:
Y From the File menu, select Save as. The Save as window
appears.
Or
Y File -> Save as. The Save as window appears.
3 Here is how an icon from a toolbar is refered to in

an exercise:
Y Click Save from the Standard toolbar.
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4 Here is how a button on the keyboard

or a common button on a window is refered to in an exercise:
Y Select the [Enter] key.
Y Click the [OK] button.
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1-7
CHAPTER 1
Lesson 2: Basic Skills

Logging in and Logging out of the
System
¾ On UNIX:
1 Logging into the system:
Y Type the training username supplied by your instructor and
press [Enter] on the keyboard.
2 Logging out of the system (UNIX):
Y Click and hold the right mouse button on the background of
the screen, and select the Log Out button. The following
window will appear.
Y Confirm that you wish to logout by clicking on the Yes

button.
¾ On a PC:
1 Logging into the system:
Y Type the training password supplied by your instructor and
press [Enter] on the keyboard.
2 Logging out of the system (PC):
Y Select Start -> Shutdown.
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Y Select Logoff from the dropdown.

Y Click [OK].
UNIX Window Management

¾ Open a UNIX Shell
1 Select the Desktop button on the Toolchest menu.
Y Click Desktop.
2 Selecting Open UNIX Shell.
Y Click Desktop -> Open UNIX Shell.
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1-9
CHAPTER 1
NOTES:
A window similar to this one will appear.
PRINCIPLE:
You must have your mouse pointer inside the window to type text in the window. If
you move your mouse out of the window your text will be thrown away.
¾ Minimizing and Maximizing a UNIX Shell

1 Press the large square icon in the upper right corner of the shell
window to maximize it.
2 Press this same square icon again to return it to the regular size.
3 Press period icon in the upper right corner of the shell window
to minimize it.
NOTE
The window is changed to an icon on your desktop.
4 Click on the icon to return the window to its regular size.
Exercise: Starting Robcad

Objective: To start Robcad
¾ On PC:
1 Log into the computer system.
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1-10
2 To start Robcad:
Y Method 1: Double-click the Robcad (PC) icon on the
desktop.
Y Method 2: Select Start -> Programs -> Tecnomatix ->
Robcad (Robcad) -> Robcad.
3 Exit Robcad:
Y Using the left mouse button, click on the Robcadbutton in
the Top Menu window.
Y A pull down menu will appear.
Y Move the mouse cursor to the Exit button and click the left
mouse button.
NOTE
It is important to exit Robcad before logging out of the system, in order to ensure
changes are saved.
¾ On UNIX
Log into the computer system
1 To start Robcad:
Y Place the mouse cursor inside of shell window and type:
Y em_workplace
2 Exit Robcad:
Y Using the left mouse button, click on the Robcadbutton in
the Top Menu window.
Y A pull down menu will appear.
Y Move the mouse cursor to the Exit button and click the left
mouse button.
NOTE
It is important to exit Robcad before logging out of the system, in order to ensure
changes are saved.
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1-11
CHAPTER 1
Lesson 3: Basic Robcad

Operations
Introduction
In this lesson, we will briefly discuss the Layout and SOP windows.
The Robcad Windows

¾ Top Menu Window:
The window across the top is the Top Menu window. It is made up
of a row of buttons for the current menu. The menu’s name is
shown in the title bar of this window.
It displays the version of Robcad, the current menu name, the name
of the cell, the folder path containing the cell, pick intent, and pick
level.
PRINCIPLE
Each button in the Top Menu window (except the Robcadpull down menu) causes
its own Commands Window to be displayed at the right side of the screen.
The Robcadbutton on the Top Menu window is used to change the

current menu shown in Top Menu window and the icons in the
Toolbox Manager window.
¾ Graphics Window:
The large window just below it is the Graphics Window. This

window displays graphics information.
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¾ Commands Window:
The window to the right of the Graphics Window is the current

sub-menu window. Selecting buttons on the Top Menu window
(except the Robcadbutton) changes the current sub-menu shown
here. Pressing buttons here activates the actual commands.
¾ Messages Window:
This window is located under the Graphics Window. It displays up

to three lines of text, each having a distinct function:
) The message line usually contains a status message
(success/failure) for the last command completed.
) Previous messages are preserved and can be viewed by picking
the scroll arrows.
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1-13
CHAPTER 1
¾ Status (Data) Window:
The Status Window is located along the bottom of the display. It

lists the data returned by or required for the current command.
PRINCIPLE
You may use the information displayed in the Status Window as input to any
Robcad window. Use the right mouse button to copy the information.
¾ Toolbox Manager Window:
The window in the lower right corner is the Toolbox Manager

window. Buttons pressed here toggle the display of sub-menus that
appear over the Graphics Window. Pressing buttons on these sub-
menus activates the actual commands.
It contains various Toolbox Managers. Some of these toolboxes are

available at all times.
PRINCIPLE
The Toolbox Manager window is always there for you, regardless of the chosen
Commands Window.
Undo, View Center, Reset, Limits Check and Collisions are always
present.
Exercise 1: Minimizing and

Maximizing Robcad
Objective: To minimize and maximize Robcad.
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1-14
This behavior is the same on UNIX and PC.

1 In the upper right corner of the Top Menu window, click the
Minimize icon.
2 All Robcad windows are minimized to one Robcadicon that sits

on top of the desktop.
3 Double-click on this Robcadicon to restore all the Robcad

windows.
Mouse Conventions in Robcad

We will cover a move complete list of mouse conventions
throughout class.
) Left mouse button - Used for clicking buttons on menus and
picking entities in the Graphics Window.
) Middle mouse button (the mouse wheel can be pressed like a
button) - Has several important functions in Robcad. (To be
discussed throughout class)
) Right mouse button - Has several important functions in
Robcad. (To be discussed throughout class). The first use of
the right mouse button we will discuss involves the right click
menu in the Graphics Window.
Y With the introduction of right-click context sensitive menus,
users need fewer mouse clicks to carry out common
operations. The result is increased speed and easier access
to frequently used tools and commands.
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CHAPTER 1
) When asked to Select or Click on a button, move the mouse

cursor over the button then quickly depress and release the left
mouse button.
) When asked to Drag, move the mouse cursor while holding the
left mouse button down. Release the button to make your
selection.
Exercise 2: Graphics Window Right

Click Menu
Objective: To use the Graphics window right click menu.
Change the pick level to Component.
Y Press the [F12] until the pick level is changed to
Component. The current value is displayed in the upper
right corner of the Top Menu window.
Look at the right click menu for a robot.
Look at the right click menu for the E11 column.
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1-16
This menu can be used to start all sorts of the menus quickly and
easily.
Load Cell
Load cell is used to open cells (.CE) in Robcad.
The thumbnail and one-cell previews can save users valuable time
otherwise lost opening an incorrect cell from the list. The preview
functionality provides users with a quick graphic display of the
cells contained in a directory, allowing them to select exactly the
cell they need.
Exercise 3: Loading a Cell and

Changing Projects
Objective: To load an existing cell from the projects/intro project
folder.
1 Go to the Layout window.
Y In the Top Menu window select the Layout button. The
Layout window appears on the right side of the Graphics
Window.
2 Change to the projects/intro project folder.
Y In the Layout window, click the Load cell button.
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CHAPTER 1
Y In the Load Cell window, browse to the

/C=/Robcad/data/projects/intro folder.
NOTES:
A different drive can be accessed by typing /* in the Filter field and pressing [Enter].
You can then double-click the desired drive.
3 Load (Open) the desired cell from this project.

Y Select the first_cell.ce workcell.
Y Click [OK].
Y The workcell contents are displayed in the Graphics
Window.
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Exercise 4: Playing a Sequence of

Operations
Objective: To play a SOP in Robcad. We will learn how to layout
this cell and create the simulation later in this class.
1 Go to the SOP window.
Y In the Top Menu window select the SOP button. The
Sequence of Operations window appears on the right side
of the Graphics Window.
2 Open the SOP for this cell.
Y In the Sequence of Operations window, click the Sequence
button.
Y In the Sequences window, select Station11 in the
Sequences window.
Y Click the Select button.
3 Play the simulation.
Y In the Sequence of Operations window, click the Play

button.
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CHAPTER 1
4 Press Stop on the Sequence of Operations window to

stop the simulation
5 Press Rewind on the Sequence of Operations window to

reverse the simulation
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1-20
Lesson 4: View Control in

Robcad
Introduction
In this lesson, we will briefly discuss the Graphics and Display
windows.
View Control using the mouse

¾ With the mouse cursor in the Graphics Window
) Middle button:
Y Used for zooming in or out. Moving the mouse left or right
affects the direction of zoom.
Y Mouse movement left: zoom out
Y Mouse movement right: zoom in
Y Mouse distance moved: affects magnitude of zoom
Y For example: Click and hold middle button of mouse while
moving mouse slightly left then right.
) Right button:
Y Used for panning. Moving the mouse in any direction
affects the direction of panning.
Y Mouse distance moved: affects the speed of panning.
moving mouse slightly up, down, left, or right.
) Middle+Right buttons:
Y Used for moving the eye viewpoint. Moving the mouse in
any direction controls the movement of a sphere around the
model.
Y Mouse distance moved: affects the speed of rotation.
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CHAPTER 1

moving mouse slightly up, down, left, or right.
NOTE
Rotation is limited to + or - 180 degrees about the floor axes.
Y Zoom Window Control using the keyboard and mouse

) Ctrl + Alt & Left button:
Y Hold down Ctrl and Alt keys and then depress left mouse
button. A Zoom IN window can then be defined.
Y The first corner will be where the cursor was when left
button was depressed. The other corner will be defined
where left button is released.
) Shift + Ctrl + Alt & Left button:
Y Hold down Shift and Alt keys and then depress left mouse
button. You can then define a Zoom OUT window.
Y The first corner will be where the cursor was when left
button was depressed. The other corner will be defined
where left button is released.
View Control using the Keyboard

¾ With the mouse cursor in Graphics Window:
) [Home] key: Moves to the front view of the cell
) [Right arrow] key: Rotates cell 30 degrees counterclockwise
) [Left arrow] key: Rotates cell 30 degrees clockwise
) [Up arrow] key: Rotates cell 30 degrees up
) [Down arrow] key: Rotates cell 30 degrees down
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View Control using the Window

setup menu
¾ To bring up Window Setup menu:
Place mouse cursor inside the Graphics Window.
1 Press the [F5] key on the keyboard. The Window setup menu is
displayed.
2 Click on Cancel in the Window setup menu.
¾ To change View point of Cell:

Bring up the Window setup menu by pressing the [F5] key.
1 Click on View point -> Q1. View point of cell is updated
2 Bring up the Window setup menu.
3 Click on View point -> Back
4 Explore the workcell with the other view point options in the
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CHAPTER 1
Window setup menu

¾ Method 1:
1 Select Display from Top Menu window.
2 Select Display/All in the Commands window.
¾ Method 2:
1 Put mouse cursor in Graphics Window and press the [F5] key.
2 Click on Full view.
Using Multiple Graphic Windows

¾ To open multiple graphic windows:
1 From the Top Menu window, click the Display button.
2 On the Display window select Viewing->Open graphics
windows.
3 Click on any option from the Open graphics windows menu
4 Explore the other options
¾ To change view parameters in all graphic windows:

1 Move mouse cursor to any Graphic Window.
2 Press the [F6] key to get Global setup menu.
3 Move mouse cursor to Graphic windows and Graphic windows
submenu will appear.
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4 Click on the window setting that you wish to change.
¾ To close a graphic window:

1 Move mouse cursor to the window that you want to close
2 Press the [F5] key.
3 Select Close Window.
Changing the View Center

1 Rotate the cell in any direction and note center of rotation.
2 Click View Center from the Toolbox Manager window.

3 Click on an entity. Or select Values, Enter coordinates, and
select [OK].
4 Select [OK].
5 Rotate the cell in any direction and note center has changed.
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CHAPTER 1
Exercise: Trying Some View

Control Commands
Objective: To try some view control commands.
1 Open multiple windows.
Y From the Top Menu window, click the Display button.
Y On the Display window select Viewing->Open graphics
windows.
Y Select 3 windows.
2 Set same view parameters for all windows
Y Press the [F6] key in the one of the Graphics Windows.
Y Change some window settings
3 Set different view parameters for each window.
Y Press the [F5] key in the one of the Graphics Windows.
Y Change some window settings
4 Zoom, Pan and Rotate in each window.
Y In the Graphics window, hold down the middle mouse
button and move the mouse left to right (slowly).
Y Hold down the right mouse button and move the mouse in
a small slow circle.
Y Hold down the middle and right mouse button and move
the mouse in a small slow circle.
5 Close one of the windows:
Y In one of the Graphics windows, press the [F5] key and
select Close Window.
6 Set graphics window settings back to default.
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Lesson 5: Customizing User

Configuration
Introduction
In this lesson, we will briefly discuss the Setup window.
Customizing your Configuration

1 From the Top Menu window, click the Setup button.
2 On the Setup window, click the Colors button.
3 Click on Color editing. Color editing panel appears.
4 Change the color of the windows.
Y Click and hold on Choice button in Color editing panel.
Y Drag down window displayed and Select Windows.
Y Click and hold on a Color Bar. Drag cursor up and down to
adjust color. Release to move to another color bar.
Y The resulting color is dynamically updated on the display
and in the color sample.
5 Repeat step 3 and 4 to edit the colors of: cursor, graphics
background, headers and more.
6 To return to default color settings Click on Default in the
Color editing panel.
Saving the Customized

Configuration
2 On the Setup window, click the Configuration button. The
configuration buttons will appear in the Setup Window
3 Save the configuration by user id.
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Y Select Configuration -> Store.

Y Click on User on window displayed.
4 Note that you can also save by name or project.
Y Select Configuration -> Store.
Y Click on Name on window displayed.
Y Enter your name, such as scott.
Loading a Configuration
2 On the Setup window, click the Configuration button.
3 Load the default configuration.
Y Click on the Configuration Load button.
Y Click on Default.
4 Load a configuration by name.
Y Click on the Configuration Load button.
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Y Click on Name on window displayed select one from the

list.
Creating Your Own Menu of

Commands
1 Open the user menu.
Y In the Top Menu window, click Robcadand select User.
Y The User_menu is added to the far right of the Top Menu
window.
2 Look at the contents of the user menu.
Y In the Top Menu window, click User_menu.
3 To add often used buttons to your User menu:
Y Click on the Configure items button and switch to add.
Y Click on some command buttons from the Commands
Window next to the User menu. Selected buttons are
added to the User menu.
NOTE
Items in the Toolbox Manager window should not be selected, as they are always
present. It is good practice to not add buttons to the user menu that can be
affected by the Undo command, as Undo may not always be available.
4 Move to another Commands Window by selecting it from the
Top Menu window.
5 Repeat steps 3 and 4 until you have added all of the commands
you want in your User menu.
6 Try the rename option under the Configure items button. This
allows you to change the menu item names on your user menu.
7 To begin using the buttons in the User menu, select Use on the
Configure items button.
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CHAPTER 1
Lesson 6: Entity Selection

Introduction
In this lesson, we will briefly discuss the Display window.
PRINCIPLE
Click on what you want to do, then Click on what you want to do it on. (Reverse of
word processors)
Entity selection by clicking with

the mouse
2 On the Display window, click the Visibility/Modify color
button.
NOTE
A color pad appears at the bottom of the Commands Window
3 Click on a color. (Click on what you want to do)

4 Click on different entities in the cell. (Click on what you want
to do it on). For example: the parts of the robot, the base, the
column. Note that the Color of selected entities are updated.
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5 Click on another color, then click on some other entities.
Entity Blanking by Creating a List

2 On the Display window, click the Blank/Entity button. (Click
on what you want to do)
NOTE
The window below is displayed allowing you to pick one or more entities you want
blanked
3 Click on different entities of the cell. (Click on what you want

to do it on)
4 Click the Accept button.
NOTE
The entities in the list are blanked. Blanked entities are not seen but they still exist.
They will be ignored by all functions except Save and Load.
5 Click on Undo in the Toolbox Manager window. The blanked

entities are displayed again.
6 Try blanking. Entities can be blanked by type and color. The
entity list window allows the selection of more than one entity.
Selecting the entities with the mouse creates a list in the entities
list window.
7 To remove an entity from the list, click on name in the Entity
List Window, then press [Backspace] on the keyboard.
8 Entities can be displayed/blanked by entity, type, color, all or
only.
Entity Selection using Pick Level

1 Press the [F6] key and select Pick level.
2 Click on Component. The Pick Level is displayed on the right
hand side of the Top Menu window
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4 On the Display window, click the Blank/Entity button.
5 Click on different entities of the cell. Notice that when you
click on a part of the robot, the whole robot is selected and not
just a single entity.
7 Repeat for other pick level choices.
8 Try clicking the [F12] key to toggle between pick levels instead
of using the [F6] key.
Entity Selection by Creating a Pick

Window
2 On the Display window, click the Blank/Entity.
3 Set Pick Level back to entity by pressing the [F12] key.
4 Click and hold the Left button of mouse while dragging the
mouse to your right.
5 Pick and start drag, then end drag and release.
6 Everything inside or partially inside the box is selected and

added to the entity list to be blanked.
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Entity Selection After Altering the

Pick Window Mode / Type
) Pressing the [F6] key and selecting Pick-window Mode allows
one to change the pick window mode to one of the following:
Y Inside window - all entities inside or partially inside
window
Y Outside window - all entities completely outside the
window
Y Inside visible - only visible entities inside or partially inside
the window
¾ Try the different modes.

) Pressing the [F6] key and selecting Pick-window Type, Allows
the user to limit the pick window to select only one type of
entity.
Reusing a List of Entities

) If a command creates a list of entities, the contents of the entity
list can be recalled whenever using that command.
¾ To reuse list of entities by the same command

2 From the Top Menu window, click the Display button
3 On the Display window, click the Blank/entity button.
4 Click on some entities and Accept.
5 Click on the Undo button in the Toolbox Manager window to
undo the Blank/entity command. The blanked entities
reappear.
6 On the Display window, click the Blank/entity button.
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CHAPTER 1
NOTE
The previous list of selected entities appears in the entity list window. Selected
entities are also highlighted in the Graphics Window
8 To remove an entity from the list, Click on the entity in the list,
then press the [Backspace] key on the keyboard.
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Lesson 7: Using Robcad

Layers
Setting the Active Layer
1 From the Toolbox Manager window, open the Layers Toolbox
, if it is not already open and make sure the Layers tab is

selected.
2 Highlight the layer in the layer toolbox by picking on its name.
3 Select the Set/Reset active layer icon.
Creating a New Layer

¾ Create a new layer called "robot"
1 Select the Create Layer Icon

2 Enter the name robot for the layer in the displayed window
3 Click [OK].
Adding Components to a Layer

1 Select the robot layer in the layer toolbox by picking on its
name.
2 Set the pick level to Component by press the [F12] key until
Component is displayed in the Top menu window.
3 Select the Add to Layer icon.
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CHAPTER 1
4 Select Reset to clear the list, then start selecting components

from the graphics window. The names will appear in the
window.
5 Select [OK] when done.
Using Layer Filters

1 Select the Filter by pattern icon from the layers window
to bring up the filter selection window.
2 Select one of the filter name constraints and set a pattern
3 Click [OK].
4 Click the Reset filter icon to turn off filtering
Blanking and Displaying Layers

1 Highlight the layer name by picking on it.
2 Click the Blank Layer icon (blank from view).
3 Click the Display Layer icon (display in workcell).
Removing Components from a

Layer
1 Highlight the layer name by picking on it.
2 Select the Remove from layer icon. The following

window will appear.
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3 Select Reset to clear the list, then start selecting components

from the graphics window. The names will appear in the
window.
4 Click [OK] when done
Advanced Tab
¾ Rename Layer
1 Highlight the layer name by picking on it
2 Select the Rename layer icon

3 Enter the new name in the Rename window
4 Click [OK]
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CHAPTER 1
Color all members of a layer
1 Select the Color Layer icon from the Advanced tab.

2 Select the highlight color from the color window
3 Click Close
¾ Resetting Selected Layers

2 Select the Reset Selected layer icon to reset colors of

selected layer.
3 Select the Reset all layers icon to reset colors of all layers
Query Layers
2 Select the Query layer icon from the Advanced tab.

3 To query multiple layers at the same time.
Y Highlight the layer name by picking on it
Y Hold the [Ctrl] key down and select other layers, OR
Y Hold the [Shift] key down and select another layer. Then
select the Query icon
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Setup Tab
¾ Get component Behavior
) If this box is checked, then when you get a component and the
prototype contains layers, the layers will be added to the list of
layers in the cell.
) If this box is not checked, then when you get a component and
the prototype layers will not be added to the list of layers in the
cell.
¾ Update visibility status mode

) If this box is checked, then when you Blank or Display a layer,
the visibility will be updated in the Layers window.
) + Layer is displayed
) +/- Some elements of layer displayed
) - No elements displayed
Filter Sort Area

) If Show empty layers box is checked, then layers that contain
NO elements will be seen in list
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CHAPTER 1
) If Show component layers box is checked, then layers added

from prototypes during Get component will be seen in the list.
) You can sort the displayed layer names list by Full name or Last
name.
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Lesson 8: Additional
Commands
Viewing Panel
A panel allows the user to interactively modify elements. It will
redefine the mouse button functions, so View must always be
selected to regain view control of the mouse.
Using the Viewing Panel:

1 From the Top Menu window, click the Display button. On the
Display menu, select Viewing -> Viewing panel.
2 Click on Floor Size. If the floor is not currently displayed, press

the [F5] key and select Show Floor.
3 Change the floor size.
Y With mouse cursor in Graphics Window, depress and hold
middle button of mouse while moving mouse slightly left
and right.
4 To manually change floor size:
Y From the Top Menu window, click the Setup button. On
the Display menu, select Floor -> Floor/Floor size
Y Enter X and Y grid sizes
Y Click the Accept button.
5 Click on Floor Height.
6 Change the floor height.
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CHAPTER 1
Y With mouse cursor in Graphics Window, depress and hold

middle button of mouse while moving mouse slightly left
and right.
NOTE
To return to default floor height: From the Top Menu window, click the Setup
button. On the Setup menu, select Floor -> Floor/Adjust floor
7 Before selecting Angle, set the projection type to perspective by
press the [F5] key and selecting Projection -> Perspective.
8 Click on Angle and change the perspective angle in the same
way.
9 Click on View on the viewing panel to regain the original
mouse viewing controls. (I.e. the middle mouse button used for
zooming in and out).
Toggling the Displayed Entities

) From the Top Menu window, click the Display button. On the
Display menu, select Toggle display button. This puts you into
sort of an alternate universe. Entities that were blanked are
now displayed. Displayed entities are now blanked. The
display and blank menus also are reversed.
¾ Blank several entities in the workcell

1 Blank Entities
Y From the Top Menu window, click the Display button. On
the Display menu, select Blank / Entity.
Y Pick some entities
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2 Toggle the display
the Display menu, select Toggle display. Note that the
blanked entities are displayed, and the displayed entities are
now blanked.
3 Blank the blanked entities again
the Display menu, select Blank / Entity
Y Pick some entities
4 Toggle the display
the Display menu, select Toggle display.
Y Note that everything is displayed again now.
Data Structure
Definitions
) Project - Contains cells and prototypes. Projects can also
contain other projects. To use a prototype from another
project, you must copy the prototype to the current project.
) Library - A collection of prototypes. Prototypes in libraries can
be used by all cells in the System.
) Prototype - Components that reside in either the current project
or a library. When modeling a component, you are modeling a
prototype.
) Instance - Pointers to the prototype. Components in a cell are
instances of a prototype.
Characteristics of Instances
Name in cell
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CHAPTER 1
Colors in cell
Place in cell
For instances of mechanisms: Poses
For instances of robots: TCPF
For instances of robots: External Axis
Characteristics of Prototypes
Initial colors
Geometry
Internal Connections (Assemblies, Groups, Links)
Kinematics
TOOLFRAME, BASEFRAME
Display Precision
For mechanisms: Poses
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Lesson 9: Help
Introduction
For PCs - Context sensitive online help is only partially enabled in
this release.
To Browse all the Help from the

Top
1 Open the online help: Browse to Start -> Programs ->
Tecnomatix -> Robcad (Robcad) and select Robcad Reference
Guide .
NOTE
If step 1 does not work, use the api.htm document to browse through all the
available manuals. It located in this location by default:
C:\Robcad\online\manuals\wwhelp\wwhimpl\api.htm.
2 If you are using XP SP2 (or some other popup or some other
internet security tool, you will get a warning concerning that
the web page was blocked.
3 Right click on the information bar, Allow Blocked Content.
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CHAPTER 1
4 Click Yes.
5 Browse through all the online help.
To View Help for a Selected

Command
1 In Robcad, put your mouse point over command button you
desire in help for and press the [F1] key. For example, let your
mouse pointer hover on Load Cell and press the [F1] key.
2 Wait for the help window to open.
NOTE
A help window containing manual pages will be open and displayed.
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3 In the help window that opens, select the hyperlink next to load
cell and look at the tabs
4 Click the Show Navigation button.

5 Browse and look at the other online reference manus.
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To View the Release Notes

1 Open the release notes: Browse to Start -> Programs ->
Tecnomatix -> Robcad (Robcad) and select Release Notes .
NOTE
If step 1 does not work, use the api.htm document to browse through all the
available manuals. It located in this location by default:
C:\Robcad\online\relnotes\RobcadRelNotes.pdf.
2 Use the Bookmarks to navigate the document.
Using the Messages Window

) Look at this window to read comments and error messages.
) Click on the arrow buttons to scroll through messages and
errors.
Using the Undo command

1 From the Top Menu window, click the Layout button. On the
Layout menu, select Delete.
2 Select some entities and click Accept.
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3 Click on Confirm.
4 Click on Undo Icon in the Toolbox Manager window.

Note that the deleted entities are restored.
5 Click on Undo again. Note that the selected entities are
deleted again.
NOTE
The Undo command only "undoes" the last change. Some commands do not have
an undo, and Undo will be dimmed.
Using the Reset Command

1 Click, hold and drag the Top Menu window down.
2 Click, hold and drag the Status Window anywhere.
3 Click on the Reset button in the Toolbox Manager

window.
NOTE
The Reset command only resets the position of all Robcad windows
Keyboard Summary
[F1] - Help
[F4] - Output Operations (Print graphics or text windows)

[F5] - Window Setup (Full view, View points, etc...)
[F6] - Global Setup (LOD, Pick window type, etc...)
[F7] - Store global entity list (to shared between commands)

[Shift]+ [F7] - Recall stored global entity list
[F8] - Recall last entity list for the same command
[F9] - Accept (Presses accept for popup windows)
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CHAPTER 1
[F10] - Toggles between Wire and Gouraud Display Mode

[F11] - Toggles between Pick Intents (Snap, Where picked, Self
origin)
[F12] - Toggles between Pick Levels (Component, Entity)
NOTE
The Abbreviation MB stands for Mouse Button. MB1 is the left mouse button.
MB2 is the middle mouse button, and MB3 is the right mouse button.
MB 1 - Picking
MB 2 - Zoom In/Out (move mouse left and right)
MB 3 - Pan (move in any direction)
MB 2 + MB 3 - Dynamic Rotation
Alt + MB 1 - Draw a box to zoom in to Alt+Ctrl+MB 1

Alt + Shift + MB 1 - Draw a box to zoom out of
Alt+Ctrl+Shift+MB1
Shift + MB - Pick a component to see its self origin
Ctrl + MB2 + MB3: Used for rotating about yourself

Home- Jump graphics window to front view
Rotate about the world frame perpendicular to the
screen (Z-axis by default) 30 degrees
Rotate about the axis perpendicular to the screen (Y-axis
by default) 30 degrees
Hot Key Combinations

All possible user hot key combinations are now organized and
displayed in convenient tables. This makes it easy for users to
configure hot keys combinations to match the ones they use
commonly in their favorite CAD systems (e.g., display all =
[Ctrl]+[A]).
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1 Open the Hot keys viewer.

Y From the Top Menu window, click the Setup button.
Y From the Setup window, click the Hot keys viewer button.
2 Close the Hot keys viewer window.
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CHAPTER 1
Y Double-click in the upper-left corner of the window.
Chapter Summary
In this chapter the following was learned:
) How to start Robcad and how to navigate through windows in
Robcad.
) How to customize, save, and load configurations.
) How to set, create, and add/ remove components to active
layers as well as blanking/displaying and filtering components
in layers
) How to retrieve online command help and documentation
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Workcell Layout
2-1
CHAPTER 2
Chapter 2
Workcell Layout
About This Chapter
This chapter provides a description of workcell layout and contains

the following lessons:
) Lesson 1: Introduction to cell layout, page 2-2, gives an
example that shows the different aspects that creates a cell
) Lesson 2: Cell Construction, page 2-5, describes how to
construct or load cells.
) Lesson 3: Placement Commands, page 2-9, describes different
tools and methodologies used to place, mount, and attach
components
) Lesson 4: Assembly Tree Intro, page 2-33, describes how to
display/blank and colliding entities, looking up tree nodes and
nodes grouping.
) Lesson 5: Final Layout, page 2-40, gives one exercise that
summarizes and uses most of the commands learned in
previous lessons.
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Lesson 1: Introduction to Cell

Layout
Introduction
This chapter of the training manual describes the basic definitions
of what a Robcad cell is, what components are, and how to create
a layout of a cell using the tools provided by Robcad. By Layout
we refer to correctly positioning the components within the cell.
When laying out a workcell you always have two options. You can
place everything where it belongs when you get it. Or you can put
everything at one location and move it to its proper position later.
Here is a short story to help explain Robcad data organization:
Welcome to the city of Robcad, Michigan.
Your Subdivision (Project)

A good way to visualize the Robcad data organization is to
visualize a typical neighborhood. It is just one of many
subdivisions. You may want to move to a different subdivision from
time to time. But, they all have a similar set up in Robcad,
Michigan.
Welcome to the subdivision. Your subdivision is filled with houses
(workcells). Each house has a unique name. These houses have
only one room, however. And each of these houses may contain
some furniture (instances of components).
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CHAPTER 2
Your Home (Workcell)

NOTE: The user’s home is defined using the HOME environment
variable. This folder should contain a sub-folder named Robcad
used to store your personal settings (otherwise you will not be
able to store a configuration file by name.).
Each subdivision (project) contains a model home. This is a special
house (workcell). It is always clean and empty. It has the special
name "noname." If you would like to live in this subdivision, you
start out by entering the model home. You can't live in the model
house, so you'll need to decide where in the subdivision you
would like to live.
You can choose to build a new home, or use an existing one. So
you can go to a house that already exists (load cell with an existing
name). Or you can build a new house (load cell with a new name).
Getting Furniture (Components)

from a Store
If you are moving into a new house, you want to add some
furniture (instances of components) to your house. Some
furnishings you will have built and some you will get ready made.
Lets start with the ready-made. Furniture comes from a store. There
are many stores from which to choose. However, all the stores
work like "Service Merchandise." There are products (prototypes of
components) displayed on the shelves. When you buy a piece of
furniture (Get component) you get an exact copy (instance) of the
one on display. You never get the one that is on the shelf (the
prototype).
So in Robcad, prototypes exist in the stores and instances exist in
the houses (workcells). You can get as many instances of as many
components as your heart desires.
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Getting Furniture from the

Neighborhood Store
Unique to each subdivision is the neighborhood store where only
residents of that subdivision are allowed to shop. There is no way
to access this store (current project library) from another
neighborhood.
Getting Furniture from a Store in

the Mall
At the mall, accessible to all neighborhoods, are many specialized
stores (global libraries). Anyone from any sub-division can shop at
these stores.
You must decide if you wish to shop at the neighborhood store
(Get component from the Current project) or a store in the mall
(Get component from the global library.)
Off to the store you go to select the furniture you want from the
items (prototypes) on display. Then you order as many copies
(instances) you need delivered to your house.
Putting Furniture in Your House

Once the furniture is delivered, you must decide where to put it
(perform Layout of the cell). If you already have a location picked
out, you can have it taken directly from the truck and placed there
(get component, use window to locate).
The alternative is to pile everything on one spot (the working
frame) on the floor and move it to its proper location later.
Regardless of where you initially place objects, you can rearrange
or adjust them at a later time using the placement commands.
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CHAPTER 2
Lesson 2: Cell Construction

Definitions
) Cell - The TOP unit in a Robcad project. A CELL consists of
COMPONENTS and ELEMENTS.
) Components - The objects in the Robcad CELL (tables,
workpieces, products, robots ).
) Elements - These are stand alone constructs such locations,
paths, frames, etc…
) Entities -The building blocks of the prototypes (points, lines,
surfaces and solids). Every entity is created with its own self
origin. The user has no capability to affect the creation of this
self-origin.
Components Are Either Prototypes

or Instances
Component What is it? Where’s used ? Where’s it
Stored?
Prototype Master In Modeling In the Project or

Component a Library
Instance Copy of the In the Workcell In a workcell in

Prototype the Project
EXERCISE 1: Loading a Cell and

Change Projects
Y Select the Layout button from Top Menu window.
2 Create a new workcell in the layout project.
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Y Select Load Cell from the Layout Window.

3 In the Load Cell window, double-click on layout to enter the
projects/layout project
4 Type in mycell at the end of the line in the Selection box

5 Click [OK].
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CHAPTER 2
EXERCISE 2: Getting Components

(instances) into a Cell
Y In the Top Menu window, select the Layout button. The
Window.
2 Insert all the components into the cell.
Y In the Layout window, click the Get component button.
Y In the Get component window, Pick the cell_base.co

prototype from the Files list.
Y Scroll to the bottom of the list.
Y Hold down the [Shift] key and pick the last prototype in the
list (wire_part.co).
Y Click on [OK] on the Get Component window.
NOTE
An instance of all the selected prototypes are added to the current workcell
3 Congratulations! You've just created your first cell in Robcad.

4 Store your workcell
Y In the Top Menu window, select the Layout button.
Y In the Layout window, click the Store button.
¾ Saving a Cell
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Y In the Layout window, click the Store button.
¾ Saving a Cell as Another Name

Y In the Layout window, click the Store as button.
Y Type in the new name and click on Accept
NOTE
The current cell displayed in the Graphics Window is still named mycell. The cell
name is displayed in the Top Menu Bar. This is because, unlike any word
processor, Robcad does not load the cell that was "saved as". The cell must be
loaded.
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Workcell Layout
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CHAPTER 2
Lesson 3: Placement
Commands
Introduction
Now we will cover in detail various tools required to position
instances within a cell. The following is a list of placement
commands you will learn in this section:
Place Editor
1 Xyz Shift
2 Shift
3 Rotate
4 Transfer panel
5 Place
6 Put
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Placement Methodology
1 Load a cell
2 Get a component instance
3 Use the Placement commands to move it into position
4 Store the cell
Techniques to Open the Placement

Editor
¾ Method 1:
1 Open the Placement Editor and select the objects to be moved.
Y Right click the object to be moved and select Placement
. The right clicked object is automatically selected to be
moved.
¾ Method 2:
1 Open the Placement Editor.
Y Pick the Placement Editor from the Toolbox Manager

window.
2 Pick the object you wish to move.
Y On the Placement Editor window, select Objects.
Y Select the object to be moved.
EXERCISE 1: Attempting a Cell

Layout
Objective: To introduce the basic concepts of laying out a cell's
components
1 Change project to projects/LAYOUT2 and load a new cell
called mycell.ce.
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Y Select the Layout button from the Top Menu window.

Y In the Layout window, click Load cell.
Y Select layout2 project directory and enter mycell
2 Get same components into the cell, but from this new project.
NOTE
This project has a different local library than the Layout project
Y In the Layout window, click Get component

Y Pick the first prototype, cell_base, in the list
Y Scroll to the bottom of the list
Y Hold down the [Shift] key.
Y Pick the last prototype, wire_part, in the list
3 Click on [OK] on the get component window.
NOTE
Unlike the previous exercise, the instances are not retrieved in their proper
positions/locations
We will now learn how to use Robcad's placement commands

(shift, XYZ shift, and rotate) to move the instances to their proper
positions.
Placement Editor window

Definitions
The key to understanding and effectively working with Robcad lies
in thoroughly understanding the following definitions.
Understanding these definitions will allow you to grasp the concept
behind the placement commands.
) Point/Position: Location defined by X,Y and Z values relative to
reference frame. Position does not posses orientation. For
example: (X,Y,Z) is a point/position
) Frame: Location having both position and orientation, an
axis system. (The origin point of a frame is a position). For
example: (X,Y,Z,R,P,Y).
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) World frame: The permanent origin of the graphics space. This

is the default location for the working frame.
) Working frame: The default position of every component in
Robcad is relative to this. A movable reference frame having a
red, green, yellow axes. Its axes are referred to by the fields X,
Y, Z in the Robcad command windows.
) Self Origin: A unique frame assigned to each prototype. Its
position and orientation is assigned to that of the World frame
at the time of modeling the prototype.
Referred to by Lx, Ly, Lz in the Robcad command windows. This is
the "local" origin of a prototype or instance. This is not the center
of gravity.
EXERCISE 2: 3 ways to position an

instance
Objective: Learn multiple ways to position objects in the cell.
1 Load a new cell from the projects/Layout2 project
Y In the Layout window, click Load cell
Y Type in a name other than one in list.
Y Click [OK]
Y If a Warning message appears, select NO
NOTE
Remember to look above the Top Bar Menu for the cell name to confirm the new
cell has been added
2 Get instances of components: cell_base and column.

3 Find 3 ways to move the column to its correct position of -4000
in the X direction and -5000 in the Y direction.
¾ Using the Shift command

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Y Right click the column and select Placement . The

column is automatically selected to be moved.
5 Shift the object -4000 in the X.
Y Select Shift from the Placement Editor window.
Y Click the X button in the Shift window.

Y Enter -4000 for distance.
Y Click the Accept button. The column should shift by –4000
in the X-direction.
6 Shift it –5000 in the Y.
Y Select shift from the toolbox again
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Y Click the Y button in the Shift window.

Y Enter -5000 for distance.
Y Click on Accept. The column is now in the correct
position of -4000 along the X-axis and -5000 along the Y-
axis.
7 Use the Shift command to return the column to the original X,
Y position.
8 Close the Placement Editor window.
¾ Using the Xyz shift command

Y Right click the column and select Placement . The

column is automatically selected to be moved.
10 Shift it –4000 in the X and –5000 in the Y.
Y Click on X in the Xyz shift window.
Y Enter -4000 for X distance
Y Press the [Enter] key.
Y Enter -5000 for Y distance
Q: What is the difference between the Shift command and the Xyz
shift command?
A: The Shift command can only move an object in one direction at
a time, whereas the Xyz shift command can move an object in all
directions (X, Y, Z).
11 Delete the column
Y In the Graphics Window, right click the Column and select
Delete.
¾ Using the Rotate command

12 Get an instance of component gmfs420 (Get Component)
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Y Right click the gmfs420 and select Placement . The

robot is automatically selected to be moved.
14 Click on Z in the Rotate command window.
15 Enter 180 for Rotation angle
16 Click Accept. The robot is now facing correctly.
17 Use one of the shift commands to move it to the proper
location of X shift = -2100 and Y shift = -715
Using the Placement Editor

Transfer Panel
This panel enables one to interactively move an instance relative to
the world, self or another selected frame. The default is the
working frame
.
1 Select an object to manipulate
2 Choose an axis to move along (with left mouse button)
3 Move the mouse pointer into the graphics window
4 Hold down the middle mouse button
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5 Moving the mouse left and right in the graphics window will
cause the object to mouse either positive, or negative, along the
selected axis. If you want to undo the placement of the object
select the Reset button
NOTE
You must select view on the panel to retrieve original mouse controls.
EXERCISE 3: Using the Transfer

Panel
Objective: To learn the basics of the transfer panel.
1 Get an instance of column.co component from the
projects/layout2 project)
2 Open the Placement Editor window for the column.
Y Right click the column and select Placement.
3 Explore moving and rotating the column using this panel.
Y Choose an axis to move along (with left mouse button)

Y Move the mouse pointer into the graphics window
Y Hold down the middle mouse button.
Y Moving the mouse left and right in the graphics window
will cause the object to mouse either positive, or negative,
along the selected axis .
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CHAPTER 2
NOTE
The step size is in the current units. The current units can be verified or changed
using the Setup -> Units menu option.
EXERCISE 4: Using Get Component

Position Prompt
Objective: To use the Get component window to practice and
understand the window because it is used in many other
commands in Robcad.
1 Load the frame_forms.ce cell from the projects/placement
project
Y Select frame_ forms.ce.
Y Click [OK]
Y If a Warning message appears, select NO.
2 Display all entities in the workcell
Y Select the Display button from Top Menu window.
Y In the Display window, click Display/All.
3 Get the column into the cell (taking all the defaults)
Y Select the column component.
Y Verify that the Locate At prompt is empty. If it is not,
backspace out what is there.
Y Click [OK]. Note that the Self-origin of this column
instance is superimposed on the Working frame.
4 Get the column into the cell again. This time, though, locate
the column on frame fr7.
Y Select the Layout button from Top Menu window.
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Y Select the column component.
Y Pick in the box to the right of the Locate At prompt. Then

either pick fr7 from the Graphics Window, or type it in.
Y Click [OK].
Demo: Creating and Manipulating

Frames
1 Look at the Create frame window.
Y In the Layout window, click Create Frame.
Y Observe the Create frame window. Now, select the

following commands and notice that all of their windows
are very similar to the Create frame window.
2 Put command.
Y Right click an object and select Placement .
Y From the Placement Editor window, select Put.
3 Place working frame command.
Y From the Layout window, select Working frame -> Frame
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4 Place TCPF command
Y Select Motion from the Toolbox Manager window.
Y From the Motion window, select the Settings tab.

Y Select Robot Settings / Tcpf.
Because this window is dispersed throughout the Robcad software,
a detailed description of its parameters is necessary. We will use
the Create Frame window to describe all of the parameters. Offsets
are always in reference to the current position of the Working
Frame Locate at, which specifies a frame at which to superimpose
the self-origin of the object. The offsets are in reference to the
Locate at frame.
NOTE
When the word Values appears in the Locate at field, and the offsets are all zero,
then the object will be placed directly on the current location of the Working Frame.
¾ To use the window:

1 Position the input marker at the field you wish to enter by
picking on the text of the desired field.
2 Pick the frame at which to locate the object, OR
3 Click on the Locate at arrow (<-) to open the Locate at window
to specify initial position and orientation of object relative to
the Working frame.
4 Enter the position and orientation then click the Locate at
window Accept button.
(Working Frame Offset Window) (Locate at arrow)
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5 Set the offsets relative to the frame selected for Locate at

6 Click the Create frame window Accept button.
NOTE
If you pick a Locate at point in the graphics window and LOCATOR is filled into the
prompt on the popup window, this means that you have picked a point in space.
When you pick a point in space (not on an object) Robcad projects your pick point
onto the XY plane of the working frame (the plane windowed by the red axis and
green axis of the working frame).
EXERCISE 5: Creating Frames

Objective: The following steps will enable you to create frames in
Robcad.
1 Load the cell frame_forms.ce from the placement project.
Y Select frame_ forms.ce.
Y Click [OK]
Y If a Warning message appears, select NO.
2 Display all the entities in the workcell.
Y Select the Display button from the Top Menu window.
3 Create a new frame.
Y In the Layout window, click Create frame.
Y Click on Reset on Create frame window.
Y 0 offset in the X direction.
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Y 1500 offset in the Y direction.

Y 2000 offset in the Z direction.
Y 90 offset in the Ry (rotate around the Y 90 degrees).
Y Click the Accept button. A frame is created at the specified
coordinates. See the Message window for the name of
frame.
4 Creating another frame.
Y In the Layout window, click Create frame.
Y Click on Reset on create frame window.
Y For Locate at: pick the frame created above.
Y 1500 offset in X direction.
Y 1500 offset in Y direction.
Y 1500 offset in Z direction.
Y 45 offset in the Rx
NOTE
These offsets are in reference to the frame just picked.
5 Experiment with the Create frame window by creating frames

located at various other frames and specifying offsets. Try
entering in the parameters to the window, and then calculating
where you think the frame will be created.
EXERCISE 6: Manipulating the

Working Frame
Objective: To move the working frame around the cell.
1 Put the Working frame on another frame in the cell.
Y In the Layout window, click Working frame -> Frame
Y Click on a frame in the cell.
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Y Select Accept
NOTE
The working frame is superimposed on the selected frame.
2 Get a column into the workcell

Y Select the Column component in the Graphics Window
Y Verify that the Locate At prompt is empty. If it is not,
backspace out what is there.
Y Click [OK].
3 Return the working frame to its default position.
Y In the Layout window, click Working frame -> World.
NOTE
The working frame is placed in its original position on the invisible World frame
Using the Place Command

This is a relative positioning command. Place moves the selected
objects along a vector defined by two points. This command only
affects the position of the selected objects. Object orientation is
not affected.
1 Open the Placement Editor window.
2 Select the objects you want to operate on
Pick to type in Coordinates Pick Points in workcell
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¾ Place definition:
If a single axis (X, Y, or Z) is selected, movement will be restricted

to only that axis. The distance will be limited to the length of the
vector along that axis.
¾ Placing Along a Singular Axis
The way that Robcad figures out how far to move your component
is by figuring the distance in X,Y,Z between the From and To
points.
) In the example above the object is being moved using the
place command from the From point to the To point.
) If you select All axes, it will move to the To point (as above).
For example if you choose to move from point (1, 1) to point
(10, 5), then the object will be moved 9 in the X and 4 in the Y
direction.
) If you select X-axis only, it will move only the distance
specified in X (as below). For example if you choose to move
from point (1, 1) to point (10, 5), then the object will be moved
9 in the X and 0 in the Y direction.
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Setting Pick Intent

Move the mouse pointer into the Graphics Window and press the
[F6] or [F11] keys and choose pick intent. (Recall that the [F6] key
opens a menu, while the [F11] key toggles the current setting).
) Snap: location picked will be snapped to the closest mid point
of edge, end point of edge or center of face.
) Self-Origin: location picked will be snapped to Self-origin of
entity selected.
) On Edge: location picked will be snapped to closest point along
closest edge.
) Where Picked: location picked will be interpreted from eye
position and mouse pointer position.
) The [F11] key toggles between the Pick intent options as
specified in your .robcad file. (See Appendix B for more
information on how to configure what is toggled with this
button).
NOTES:
By default, the [F11] key only toggles between Snap and Entity. In this class, we
have configured it to toggle between Snap, Entity, and Self Origin using the
.robcad file. Another place that you can go to set the pick intent is the [F6] ley Pick
intent menu.
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CHAPTER 2
EXERCISE 7: Using the Place

Command
Objective: To learn how to use the place command
1 Set the Pick Level and Pick Intent as follows:
Y Press the [F11] key and select Snap OR press the [F6] key
and select Pick Intent -> Snap.
Y Press the [F12] key and select Entity OR press the [F6] key
and select Pick Level -> Entity.
2 Display all the entities in the workcell
In the Display window, click Display/All.
3 Get an instance of the column into the workcell, if none exists.
Y In the Layout window, click Get component.
Y Select column.
Y Click [OK].
4 Select the instance of the column in the workcell that was just
created. Remember that an instance is read only component
used in workcells.
Y Right click the column and select Placement.
5 Use the place command on the Placement Editor window to
move the column
Y In the Placement Editor window, click the Place button.
Y For Point from select the corner of the base plate of column
just loaded.
Y For Point to select fr1 (magenta/purple frame).
Y Notice the corner of base plate of column is placed at the
origin of the frame selected and orientation of the
component is maintained.
6 Get an instance of component direct1
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7 Place tip of green cone of direct1 at the self-origin of column.

NOTE
To see the self-origin of an object in Robcad press the [Shift] key and pick on the
object. (A large frame appears). To get rid of the large frame, pick the object again
with the [Shift] key pressed.
Y Right click on the direct1 component and select Placement.

Y On the Placement Editor window, select Place.
Y Press the [F11] key and select Snap (or press the [F6] key
and select Pick Intent -> Snap)
Y Press [F12] key and select Entity (or press the [F6] key and
select Pick Level -> Entity)
Y For Point from, select the tip of the green cone (zoom in on
it first).
Y Press the [F11] key and select Self Origin (or press the [F6]
key and select Pick Intent -> Self origin)
Y Select [F12] key and select Component (or press the [F6]
key and select Pick Level -> Component)
Y For Point to, select anywhere on the column to select the
self-origin.
8 Get another instance of component direct1 into the cell.
9 Place tip of green cone of direct1_1 at fr1 in the Z direction
only
10 Make the direct1_1 component the active object for placement
Y Right click on the direct1_1 component and select
Placement.
Y On the Placement Editor window, select Place.
Y Select Z to place only in the Z direction of the working
frame
Y Press the [F11] key and select Snap (or press the [F6] key
and select Pick Intent -> Snap)
Y Press the [F12] key and select Entity (or press the [F6] key
and select Pick Level -> Entity)
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Y For Point from, select the tip of the green cone (zoom in on
it first).
Y For Point to, select the fr1 frame.
11 Use the existing components and repeat steps 4 –11 using fr2
in place of fr1.
Using the Put Command

This is an absolute positioning command. Put moves the Self-origin
(or selected frame) of an entity to a selected frame. The entity can
maintain its own orientation or take the orientation of the target.
Like in the Place command, the motion of the entity can be
restricted to only one axis direction.
) Select the From the Placement Editor window select Put
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¾ Put definition:
Put moves an element such that its Self-origin is superimposed on the

frame selected. You may select a frame to use in place of the Self-
origin. If more than one element is selected, each element's Self-
origin will be superimposed. The window allows for setting additional
offsets and limiting the movement along an axis. If Source orientation
is selected, the element will be placed at the frame selected with its
original orientation.
EXERCISE 8: Using the Put Command

Objective: To learn how to Put with both source and target
orientation
1 Display all the entities in the workcell
2 Get an instance of component column.
3 Pick column as active object for placement
Y Right click on the column component and select
Placement.
4 Put the column from its self-origin to fr1 with target orientation.
Y Select Put from the Placement Editor window.
Y Move the input mouse pointer to the Locate At field. This
will keep the default From frame of self origin.
Y Select fr1 (magenta frame) for the Locate at field.
Y Leave All and Target orientation selected.
Y The orientation of the column is changed to the orientation
of the object that was set in the Locate At field.
5 Get another instance of component column.
6 Pick the next column as the object you'd like to manipulate.
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Y Right click on then new column component and select

Placement.
7 Put the column from its self-origin to fr1 with source
orientation.
Y Select Put from the Placement Editor window.
Y Move the input mouse pointer to the Locate At field. This
will keep the default From frame of self origin.
Y Select fr1 (magenta frame) for Locate at field
Y Leave All selected and select Source orientation
Y Select Accept. Note that the current orientation of column
is maintained.
8 Get another instance of component column.
9 Put this column at fr1 only in the Z-axis this time using either
source or target orientation.
10 Get additional instances of the column and repeat 3 –14 using
fr2 in place of fr1.
Attaching One Way and Two Way

in Robcad
This chart assumes object A is attached to object B:
Move A Move B
One-Way Attached Only A moves A and B moves
Two-Way Attached A and B moves A and B moves
One-way attaching is a special principle of Robcad that offers the

user additional flexibility.
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What is the Mount Command?

The Mount command is a shortcut for doing two commands. If the
mount command did not exist, you would have to put the gun onto
the TOOLFRAME of the robot. Then you would have to one-way
attach the gun to the TOOLFRAME.
Mount = (Put on TOOLFRAME) + (One-way attach)
EXERCISE 9: Using the Attach

Command
Objective: To see the difference between one-way and two-way
attachments in Robcad.
1 Load the cell chair_man from the projects/layout2 project
Y In the Layout window, click Load cell.
Y Select chair_man.ce.
Y Click [OK].
2 One-way attach the man with the One Way Attached sign
above his head to the chair under him.
Y In the Layout window, click Attach.
Y Select One way.
Y For Cell elements, select m50
Y For Attach to, select big_chair
3 Two-way attach the man with the Two Way Attached sign
above his head to the chair under him.
Y In the Layout window, click Attach.
Y Select Two way.
Y For Cell elements, select m50_1
Y For Attach to, select big_chair1
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4 Move the One-Way Attached man using the Placement Editor

window Transfer panel. Only he moves.
5 Move his chair using the Placement Editor window Transfer
panel. Both the man and his chair move.
6 Move the Two-Way Attached man. Both the man and his chair
move.
7 Move his chair. Both the man and his chair move.
EXERCISE 10: Using the Mount

Command
Objective: To see how to use the mount command
1 Create a new cell called mount_test in the layout2 project
Y Enter mount_test in the Selection field.
2 Get the robot and the gun into the cell. Place the gun off to the
side so that it will be easier to pick.
Y Select gmfs420
Y Pick somewhere on the floor
Y Select gun1
3 Select the robot as the Active mechanism
Y In the Toolbox Manager window, click on the Motion

Icon.
Y In the Motion window, click on the Active Mechanism
button.
Y Click on gmfs420 in the list.
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Y Click the Select button.

4 Mount the Gun to the robot
Y In the Motion window, select the Settings tab.

Y Click the Mount button.
Y Just pick the gun and click Accept.
5 Rotate the gun about its Lz so that the tips are up
Y Right click on the gun and select Placement.
Y In the Placement Editor window, click Rotate.
Y Click Lz.
Y Enter –90.
6 Move the robot and notice how the gun is attached to the
robot.
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Lesson 4: Assembly Tree Intro

Introduction
This set of commands allows hierarchical inspection of the
currently loaded workcell. It also allows viewing collisions,
grouping and querying of instances in the cell.
To open the tree window select the Tree icon from the
Toolbox Manager window. A window is opened displaying the
component-level hierarchy of the currently loaded assembly. To
close the tree window, pick its icon from the toolbox panel.
Getting an Overview of the Cell

using Tree functions
The tree tool is very handy to get an overview of a complex cell
structure with many levels of related entities. Use the tree tool to
get an impression of how the cell is structured, which entities are in
the cell, etc.
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Updating the Window

Changes made in the cell are not automatically updated in the Tree
window.
) In the Tree window, select Tree -> Update to force the tree to
be updated to show the changes in the cell.
) In the Tree window, set Tree -> Auto Update to off to cause the
tree to be updated when any change in the cell is performed.
Example
1 Delete several components in the cell by right clicking them
and selecting Delete.
2 The nodes representing the components in the tree do not
disappear. (If Auto Update is turned off).
3 In the Tree window, select Tree -> Update. The tree is updated
to the current cell.
4 In the Tree window, set Tree -> Auto update to on
5 Delete several components in the cell by right clicking them
and selecting Delete.
6 The node in the tree does disappear.
Displaying Blanked Entities

In the Tree window, successively picking View -> Show blanked
causes the tree alternately to display and to hide nodes that
represent entities that are blanked in the Graphics window.
Example
1 Select a node in the tree. Then select Edit -> Blank. Notice that
the node will disappear when the entity is blanked on the
screen and Auto update is on
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2 Select View -> show blanked

NOTE
The blanked components are shown in the tree hierarchy, but notice the difference
in the name of a blanked object and a displayed object. (The text is dimmed for the
blanked objects)
Hiding Sub-trees
To close the sub-tree under any node, pick the minus sign at the
left of a node.
To restore the display of the sub-tree, again pick the plus sign now
displayed.
In the Tree window, use View -> Expand all to open all the sub-
trees.
Selecting Nodes
Any node can be selected by picking on the tree; previously
selected nodes are then deselected. To pick multiple nodes
simultaneously, press [Ctrl] and pick the additional nodes. Nodes
can also be selected from the Graphics window. For this, enable
the Auto-Update option from the Tree menu by selecting Tree ->
Auto update and make sure pick level is set to Component using
the [F12] key. If an entity is picked in the Graphics window and its
node is located in a closed sub-tree, the tree display will not
change.
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Example
1 Confirm Auto Update Option is selected
Y In the Tree window, click Tree -> Auto Update.
2 Select nodes in the tree window and see the corresponding
parts in the Graphics window become highlighted.
3 Select parts in the Graphics window and see the corresponding
nodes become selected in the tree window
Showing Colliding Nodes

In the Tree window, View -> Show collision. To color red all
nodes that represent entities colliding with other entities, and color
yellow all entities in a near miss condition. Collision checking is
based upon the setting of the Icon Toolbox window collision
mode.
Example
Set Collisions in the Icon Toolbox window to ANear
1 In the Tree window, select View -> Show collision

2 In the Tree window, select Tree -> Update to update the tree
window to the new state of the cell
NOTE
The red nodes indicate the parts that are involved in a collision. The yellow nodes
indicate parts that are in a near miss condition.
Querying
In the Tree window, select Tree -> Node information.
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) Node information displays a window listing various items of

information about the selected nodes. The information includes
the instance name of the entity in the workcell, the name of the
prototype, the name of the library directory in which the
prototype component is located, and the coordinate location of
the instance in the workcell.
Fast Operations
To open a window that displays various tree node operations,
place the mouse pointer on the text of a node and hold down the
right mouse button. This will bring up the window and make this
the acted upon node. This menu contains nine commands that
duplicate commands that are located in various submenus of the
tree window.
) Node information: displays text window containing
information
) Delete: deletes the node
) Blank: blanks the node
) Display: displays the node
) Attach: allows you to attach this node to another
) Detach: allows you to detach this node
) Ungroup: extracts all group members and deletes the group
) Add to group: allows the node to be added to a group
) Extract from group: extracts the node from its current group
To open a window of global tree commands, place the mouse
pointer close to the right-hand border of the tree window and hold
down the right mouse button. This menu contains 4 commands:
) Undo: undoes the last command executed
) Update: forces a redraw of the updated tree window
) View all: makes all nodes visible
) Expand all: expands all of the compressed nodes
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Fast Grouping of Nodes

Components can be grouped, ungrouped, added or extracted from
existing groups using the Edit pull-down menu in the Tree window.
Additionally, complete groups can be moved by selecting the
desired component in the tree window (Left mouse button), then
using the middle mouse button to drag the selected node and drop
it on the node of the group you wish to move it to.
Edit
) In the Tree window, select Edit -> Select CAD
This function selects all of the nodes in the tree that cad linked
parts from the specified cad system. The other Edit commands will
operate on the entities that this command selects.
) In the Tree window, select Edit - > Select all
This function selects all of the nodes throughout the tree. This
command facilitates blanking most of the nodes of a large tree, in
order to conveniently perwindow operations on a few of the nodes.
¾ To blank all but a few nodes:

1 In the Tree window, select Edit -> Select all
2 Hold down [Ctrl] key and pick the nodes intended not to be
blanked
3 Select the Blank command to blank the selected nodes.
View
) In the Tree window, select View - > Show CAD
This function adds a column into the tree containing the name of
the originating CAD system. This is for CAD-linked parts only.
) In the Tree window, select View -> Show prototype
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CHAPTER 2
This function adds a column into the tree containing the name of
the prototype for each part. The @ symbol represents the library
root.
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Lesson 5: Final Cell Layout

Introduction
The exercise on the following page should be laid out using several
of the techniques learned in this chapter.
EXERCISE: Layout of a Cell

Objective: To review the placement commands we learned. In this
exercise we will get instances of the components and use the
placement commands to create a cell layout identical to first_cell
in the projects/intro project. A picture of the layout is on the last
page of this section.
1 Load a new workcell called my_cell_layout in the
projects/layout2 project.
2 Get cell_base component with no offsets.
3 Turn on some reference frames that are currently blanked.
Y In the Display window, click Display / Entity.
Y Press the [F12] key and select Component.
Y Pick the cell_base.
Y Click Accept.
Y Press the [F11] key and select Entity.
Y Two frames should be displayed around the cell_base.
4 Get column: offset -4000 in X and -5000 in Y.
5 Get the gmfs420 robot and put it on the frame behind
cell_base.
6 Get coll_box and place its bottom surface level with top surface
of cell_base, then rotate it 90 degrees about Z.
7 Get the wire_part, surf_part, and all clamps and put all of these
on the car_ref frame near the front of cell_base.
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CHAPTER 2
8 Get instance of the gun1 component. Locate it at any random

point in your cell (preferably away from the robot).
Y In the Display window, click Display / Entity.
Y Press the [F12] key and select Component.
Y Pick gun1
Y Press the [F11] key and select Entity.
10 Mount the gun to the robot.
Y From the Toolbox Manager window, select the Motion
Icon.
Y Make the robot the active mechanism.
Y In the Motion window, click the Settings tab.
Y Click the Mount button.
Y Click on the gun.
Y Click Accept.
NOTE
If the active mechanism is not currently set, Robcad will prompt you for it in the
message window (simply click anywhere on the robot you want as the active one).
11 Gun may need to be rotated so that tips are facing up.
12 Get the overhead and place its bottom surface level with the
top surface of the cell_base
13 Rotate it 90 degrees about Z.
14 Make the cell look cleaner by blanking all the frames.
Y In the Display window, click Blank / By Type -> Frames
15 Store the cell.
Y In the Layout window, click Store (Confirm).
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CHAPTER 2
Chapter Summary
) How to construct and load cells from projects.
) How to get components and place them using the Placement
Editor Toolbox.
) How to mount and attach components
) How to look up nodes in trees, sub trees, and display/blank
entities and components.
) How to use Collision command to show colliding nodes and
editing and grouping of nodes.
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Modeling and Kinematics
3-1
CHAPTER 3
Chapter 3
Modeling and
Kinematics
About This Chapter
This chapter provides a description how to model solids, change

entity precision, and create kinematic definitions in Robcad. It
contains the following lessons:
) Lesson 1: Modeling Basics, page 3-2, describes how to do some
basic modeling in Robcad.
) Lesson 2: Introduction to Representation Precision, page 3-13,
describes how to change the entity representation precision.
) Lesson 4: More Modeling, page 3-21, describes how to model a
gun shank.
) Lesson 3: Fundamentals of Kinematics, page 3-25, describes
how to add kinematics to a component and move it around.
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Lesson 1: Modeling Basics

Introduction
Robcad/Modeling allows you to create geometry that can be used
in Robcad. You can also import data from other supported CAD
systems such as CATIA, UG and AutoCAD.
This chapter will cover the concepts of Robcad/Modeling. In
addition to creating geometry, Robcad/Modeling provides tools to
create kinematics, or joint motion, to the geometry so that CMMs,
heads, probe assemblies, and so on can have realistic motion.
Modeling Methodology
1 Open a component prototype in cell or independently
2 Design prototype geometry
3 Edit geometry
4 Define kinematics
5 Store prototype
6 Close the component prototype
Let's return to our city of Robcad, Michigan to explain our
modeling methodology:
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CHAPTER 3
Designing Furniture for the

Neighborhood Store
The stores don't have everything you need. So you will have to
have some furniture (component prototypes) built (modeled). You
call in a carpenter to create some furniture (open model). The
carpenter is only allowed to work on a prototype superimposed on
an existing copy (instance) in the house. When he is done, he will
give the prototype to the neighborhood store (store model). When
the carpenter goes away (close model) he leaves a copy (instance)
where he was working on the prototype.
The carpenter gives the prototype to the neighborhood store
because this is a very friendly subdivision. You want other residents
to be able to get copies for their homes. Plus, everything you get
from a store has a lifetime guarantee. If the design is ever modified
in any way, they will instantly replace all copies (instances) of the
old model with a copy of the new model.
Before you call in the carpenter, you must decide if the
carpenter is going to modify an existing prototype or create an
entirely new one. If the plan is to modify an existing prototype then
you just have to tell the carpenter which piece of furniture to
modify. If a new prototype is to be created it must be decided if it
will be based upon an existing prototype or created entirely from
scratch. If the decision is to base the new one on an existing one,
then an instance of the existing one should be brought into the
house before starting to build. This way the carpenter can duplicate
the pieces he needs.
Next you need to decide whether the carpenter should work
(model) in an empty house (model independent) or a full house
(model in cell). If you have him work in a full house, then he can
use existing furniture for reference or duplication. If he is to base
the new prototype on an existing prototype, he should model in a
full house.
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If he works (models) in an empty house, he must create the new

furniture parts from scratch. If he is to work in an empty house he
must go to the model home (noname). Remember, the model
home is always clean and empty.
Designing Furniture for a Store at

the Mall
Modeling an existing prototype from a mall store is much more
complicated so your carpenter will have to go through some extra
steps before modifications can begin, and your carpenter must be
trusted by all (have the password). There are very restrictive
agreements between subdivisions when it comes to modifying mall
store prototypes.
You pick a local store prototype to have modified and your
carpenter starts to work. He immediately gets a fresh copy of the
prototype to work on. The store prototype will not actually be
modified until the carpenter is happy with his work (save). This
way, if you change your mind before your carpenter is completely
done, nothing currently in the house or the subdivision will be
affected. Your carpenter is experienced and a professional so he is
sure he is finished (end modeling) before he starts another job or
gives (save) the prototype to the store for display. He learned a long
time ago that if he does other things in the middle of
building/modifying a prototype that he could lose pieces, move
them to the wrong place or just plain make a mess of the prototype
and the house.
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CHAPTER 3
Having made all the changes to this copy of the prototype, he

can now send it to the store (save) for display. If this is a new
prototype, then the only copy will be in your house. If it is to
replace an existing prototype, you must make sure that everyone in
the subdivision likes the new design. As soon as you deliver the
replacement prototype to the store, they will send out an army of
carpenters to remake all of the existing copies in the image of this
reworked prototype. You don't want to have all of your neighbors
complaining about how you destroyed their decor. Remember, you
live and work in a very friendly neighborhood.
If you select a mall store (global library) prototype to modify,
you have to be sure that everyone in the world wants your new
improved version before replacing the existing one. Remember the
store makes a lifetime guarantee to go modify all existing copies to
be like the new one.
If the finished prototype is to be a new choice for display in a
mall store you should still make sure that a majority of the world's
residents want to order copies sometime in the future. The store
does not want its customers to have to browse through a lot of
products that they will never use when looking for what they do
want.
Moving To A New Neighborhood

And so it goes in your neighborhood. But what if you move to
another neighborhood? Well, you can't take any of your houses or
furniture with you. You still have access to the same malls as the
other neighborhood, but you don't have access to the other
neighborhood's stores.
What if you liked the set up of your old house or some of its
custom furniture? You can have exact duplicates made in your
new neighborhood. In fact you can have just one small piece,
many pieces or the whole subdivision duplicated. These duplicates
become part of your new neighborhood.
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No matter where you go in Robcad, the organization and rules

for working remain the same.
Object Hierarchy in Robcad

) Project - A directory that contains cells. Components can also
be placed in a project.
) Cell - The highest level of the Robcad world is a cell. It consists
of component instances, frames, locations, and paths.
NOTES:
We will discuss locations and paths in the next chapter.
) Component - An object made up of entities.

) Entities - The lowest element in the Robcad world. Examples
found in a component are solids, surfaces, points, lines, and
frames. In a workcell, locations and paths are also considered
entities.
NOTES:
Components found in a workcell are component instances. Components found in a
project, library, or that are being modeled are component prototypes.
Modeling Definitions
) Primitives - Robcad works with 8 basic solid primitives: Cube,
Box, Cylinder, Sphere, Wedge, Torus, Ring and Cone. Out of
these primitives, a designer can create many required shapes.
) Solid creation - Robcad supports several operations to convert
surface data into solids: Sweep, Sweep Curve, Thickness
(extrude), and Revolution.
) Boolean Operations - These are key operations for the solid
modeler. Robcad supports the following operations:
Y Intersect - Creates a solid out of the common volume of
two solids.
Y Subtract - Creates a solid by using the volume of one solid
to remove volume from another solid.
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CHAPTER 3
Y Unite - Creates a solid out of all the volume occupied by

two or more solids.
The Modeling Process

¾ Begin Modeling
1 Change to the MODELING menu.
Y Select Robcad-> Modeling
2 On the Top Menu window, click the Files button. On the Files
window, click the Open button.
¾ Editing an Existing Prototype:

1 Click on a prototype in the prototype list
2 Click Select.
NOTES:
Select Files -> Display/Cell display -> Dim to Dim all entities not part of prototype
being modeled.
¾ Modeling a New Component:

1 Type in a name for the prototype where it says Component.
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2 Click Accept.
PRINCIPLE:
You always model a prototype. A component in a cell is a copy of a prototype with a
pointer to the prototype.
¾ Storing the Prototype

window, click the Save button.
2 Click Confirm.
PRINCIPLE:
When a prototype is saved, the Self-origin is placed at the World frame. The
location of each entity in the prototype is relative to the Self-origin. When the
instance is created in a workcell, the Self-origin will be placed at the Working frame
unless a different position is specified.
NOTE:
When an existing prototype is saved, all instances in all cells using it will be
updated. To update all instances in current cell before saving. Select Files ->
Update cell.
¾ End Modeling
window, click Close.
NOTE:
When you are done modeling a prototype, you must Close (end modeling). Failure
to do so will result in entities being added to the prototype instead of the cell.
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CHAPTER 3
¾ Indications that Close has not been selected:

Y On the Top Menu window, click the Robcad-> Workcell
button. On the Files window, click Layout button.
Y Try to click Load, Save and Save as. They are disabled.
Y Modeling Prototype is written on the Top Menu window.
Storing the Prototype with

another name
1 On the Top Menu window, click the Robcad-> Modeling
button. On the Top Menu window, click the Files button. On
the Files window, click Save as.
2 Type name in the form, then press [Enter]. Click the Confirm
button.
EXERCISE: Modeling a Table

Objective: To learn the basic functions in modeling.
NOTE:
The examples are in the model_kinematics project. If you would like to look at
them:
Robcad-> Projects -> Browse project tree -> Project/Modeling
1 Change your top menu bar to Modeling
Y On the Top Menu window, click the Robcad-> Modeling
button.
NOTE:
If Open is grayed out, select Close then Discard.
2 Start modeling your own table.

Y On the Top Menu window, click the Files button. On the
Files window, click the Open button.
Y For Component enter: mytable
Y Select Independent
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NOTE:
Above your top menu bar, should be the words MODELING PROTTYPE: mytable.
If not, ask your instructor for assistance.
3 Create a cube
Y From the Toolbox Manager window, click the 3D Sketcher
button.
Y From the 3D Sketcher window, select the cube button.

Y For Edge length enter: 1000.
Y Click Accept.
4 Create two boxes to cut out the table legs
Y From the 3D Sketcher window, select the Box button.

Y For Box1 enter: 800 x 2000 x 800.
Y Click Accept.
Y For Box 2 enter: 2000 x 800 x 800.
Y Click Accept.
5 Subtract the two smaller boxes from the big box
Y From the 3D Sketcher window, select the Subtract

button.
NOTE:
A table with sharp corners is modeled. And the Self-origin of the last solid picked
becomes the Self-origin of the result.
6 Modify color of your table

Y On the Top Menu window, click the Display button.
Y On the Display window, click Modify color
Y Pick a color.
Y Pick your table.
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CHAPTER 3
7 Create a cylinder.
Y From the 3D Sketcher window, select the Cylinder icon.

Y Enter Diameter 200 and height 200.
(Top View)
8 Scale the cylinder in all directions using the scale panel in the
General Tools toolbox such that only the corners of the table
are visible.
Y From the Toolbox Manager window, click on General Tools
button.
Y From the General Tools window, click Edit / Scale Panel
Y Select Objects.
Y Pick the cylinder and click the Accept button.
Y Select ALL.
Y With the cursor on graphics screen, press the middle mouse
button. Moving the mouse pointer LEFT and RIGHT will
scale the object interactively.
9 Intersect the table and the cylinder. It doesn't matter the order
that you pick them for this command.
Y From the 3D Sketcher window, select the Intersect
button.
Y Select the table and the cylinder.

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NOTE:
A table with rounded (filleted) corners is modeled.
10 Save the table and Close modeling.

Y On the Top Menu window, click the Files button.
Y On the Files window, click Save.
Y On the Files window, click Close.
11 Extra credit modeling:
Y Model and place a donut or bagel onto your table:
Y Model a wedge of cheese and place on your table:
Y Model and place a drinking glass for your table:

Y Make the glass translucent: On the Top Menu window,
click the Display button. On the Display window Visibility
/ Low
Y Model a coffee mug: 1 2 3 4 5
Y Model two chairs for your table: 1 2 3 4
Y Put a sun umbrella over your table on a pole: 1 2
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CHAPTER 3
Lesson 2: Introduction to
Entity Precision &
Representation
Solid Entity Representation in
Robcad
There are two types of solids that can be created within Robcad:
polyhedral solids and exact solids.
¾ Polyhedral solids
) Can have up to 40 facets
) The math model is the same as the display model.
) The display accuracy is determined when they're created
) Default number of facets is 12
¾ Exact solids
) Do not have facets
) The display model can be either the same as the math model,
or a simplified version to speed up simulation
) The display accuracy can be changed at any time.
) Default display precision is a 3 on a scale from 0 to 9
Surface and Wireframe Entity

Representation in Robcad
¾ Surfaces and Wireframe representation:
) Do not have facets
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) The display model can be either the same as the math model,
or a simplified version to speed up simulation
) The display accuracy can be changed at any time.
) Default display precision is a 3 on a scale from 0 to 9
Changing Display Precision

¾ Change the display precision
1 On the Top Menu window, click the Display button.
2 On the Display window Precision & direction -> Modify
display precision
3 Select entities to change
4 Enter a value 0 to 9
5 Click the Accept button
A good display precision is 6. Display precisions of 9 should be
avoided, since it will greatly slow visualization performance
A good number of facets for polyhedral solids is 20. Creating solids
with 40 facets should be avoided, since it will greatly slow
visualization performance and negatively affect translation from
Robcad.
EXERCISE 1: Basic Surface Creation

Objective: To learn some of the curve and surface creation
commands
1 Open a new prototype called mysurface
Y In the Top Menu window select Robcad-> Modeling.
Y On the Top Menu window, click the Files button.
Y On the Files window, click Open.
2 Create a “curve by points” that does not cross the x-axis of the
working frame.
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CHAPTER 3
Y From the Toolbox Manager window, click on 2D Sketcher
button
Y From the 3D Sketcher window, click the Curve by Points
button.
Y Pick several points on the floor defining a curve.
Y Click the Accept button to create the curve.
3 Create a surface of revolution
Y From the Toolbox Manager window, click on Surface

button.
Y From the Surface window, click on Revolution

Y For Curves pick the curve created
Y For Axis pick the x-axis of the working frame
Y For Start angle enter: 0
Y For End angle enter: 270
Y Click the Accept button
4 Turn the floor off
Y Press the press the [F6] key and select key and select Show
floor.
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5 Change the display precision

Y On the Display window, click Precision & direction ->
Modify Display precision.
Y Click the Select All button.
Y For Value 0 to 9 enter: 9
6 Turn on a single light source so that the inside of the surface is

not shaded.
Y Press the [F6] key and select Face Lighting -> Single.
Y Rotate it around and look at the inside and outside of the
object.
7 Turn on a double light source so that the inside of the surface is
shaded too.
Y Press the [F6] key and select Face Lighting -> Double.
Y Rotate it around and look at the inside and outside of the
object.
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CHAPTER 3
EXERCISE 2: Manipulating Entity

Display Precision
Objective: To be introduced the concepts of entity representation
and display approximation
1 This exercise will use the part from the previous exercise.
Close and Save the component, if you have not already done
so.
Y On the Top Menu window, click the File button.
Y On the File window, click Save.
Y On the File window, click Close.
2 Let's go to the workcell menu for this exercise.
Y On the Top Menu window, click Robcad-> Workcell
3 Toggle from shaded display to wireframe display.
Y Press the [F10] key.
4 Notice how many lines are needed to represent the surface that
we have created at the current display precision (currently set
to 9, the highest).
5 Now set the display precision to 3.
Y On the Display window Precision & direction -> Modify
Display precision.
Y Click the Select All button.
6 Look at how many lines make up your surface with your part at
a display precision of 3.
7 Now set the display precision to 6.
NOTES:
A good display precision is 6. Display precisions of 9 should be avoided, since it
will greatly slow visualization performance without giving high benefit to the
representation of the surface.
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What is Level of Detail

Level of details (LOD) has been known to give a 100% to 200%
speed improvement in visualization and simulation performance
since 3.5.1. All new components created, translated into, or CAD
integrated into Robcad 3.8 (or above) will have level of details
information (except for kinematic components).
PRINCIPLE:
At the heart of this technology is the fact that an object that is far from the viewer's
eye, does not have to be displayed in the same level of detail as an object that is
close to the viewer.
In order for Robcad to use level-of-details (LOD), preprocessing is

required to add the LOD information for a component.
Preprocessing can occur in one of four ways:
) After CAD-linking, the generated components automatically
include the LOD information.
) After CAD translating, the generated components also include
automatically the LOD information.
) After modeling a component in Robcad, the LOD information is
built for the prototype component when it is stored.
) For components from previous versions of Robcad (before 3.8),
it is recommended to issue the genlod command to add LOD
information to them.
Improving Visualization
Performance
These abilities can be accessed by pressing the [F6] while the
mouse pointer is in the Graphics Window.
) Level of details - Is an LOD tool to lower the highest level of
detail slightly to improve the speed of simulations. It is turned
off by default. To turn it on, press the [F6] key and select Level
of Details.
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CHAPTER 3
Y Deviation Mode – Select Deviation for the Mode, type a

deviation, and press [Enter].
Y Level Mode - Select Level for the Mode and move the slider
to the desired level.
) Wire Viewing - Allows users to instantly jump to wire frame

while rotating, panning, and zooming, to improve performance.
It is turned on by default. To turn it off press the [F6] key and
select Wire viewing. (Can decrease performance in some
cases).
) Simplified Viewing - Allows users to instantly jump to a lower
level of detail while rotating, panning, and zooming, to
improve performance. It is turned on by default. To turn it off
press the [F6] key and select Simplified Viewing. (Can decrease
performance in some cases).
EXERCISE 3: Using Level of Details

Objective: To be introduced the concept of level of details
1 Let's go to the workcell menu for this exercise.
Y From the Top Menu window, click Robcad-> Workcell
2 Load the final_cell.ce from the projects/intro project.
Y From the Top Menu window, click Layout.
Y From the Layout window, click Load cell
3 Center it in the workcell
Y Press the [F6] key and select Full view.
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4 Zoom out with the middle mouse button

5 Zoom in with the middle mouse button.
NOTES:
The display of the surface_part keeps changing. This is because simplified
viewing is turned on
6 Turn it off and turn rotating some more.

Y Press the [F6] key and select Simplified viewing to turn it
off.
Y Zoom in and out some more to see the difference.

7 Set the highest displayed level of details to a couple levels
lower.
Y Press the [F6] key and select Level of details.
Y For the Mode select Level.
Y Move the slider to 2.
Y Zoom in and out some more to see the difference.

NOTES:
Read the previous page for more information on LOD
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CHAPTER 3
Lesson 3: More Modeling

Introduction
We will now begin modeling some more complex geometry.
However, we have another agenda here besides learning how to
model better. We will use the next two exercises to explain and
use the working fame and the placement editor while building a
detailed project. These same techniques that we will learn can be
used to place components into a workcell, or manipulate other
objects in the cell.
We will add kinematics to a simple Robot. If you would like to
model this component, see Appendix G.
Using the Working Frame to Build

The working frame is a special frame in Robcad. It can be placed
anywhere on the screen. Many of the menus in Robcad place
objects on the working frame (wherever it is in the cell) by default.
This can be a very powerful tool.
->
) The Frame/Working Frame option is used to place the working
frame where ever you want it
) The World option will place the working frame back on the
world origin (the default location for the working frame)
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EXERCISE 1: Gun Shank Design

Objective: To create the shank for a welding gun by placing the
working frame, and then creating the next solid.
1 Create the following in order and place accordingly.

NOTES:
After each step, shift your working frame up in the z-direction by the appropriate
height
Y From the Toolbox Manager window, click the General Tool
button.
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CHAPTER 3
Y In the General Tool window, click Working frame -> Frame

Y For Z offset: (give offset)
2 Create a cylinder with 25 mm diameter, 125 mm height.
Y From the Toolbox Manager window, click the 3D Sketcher
Y From the 3D Sketcher window, click the Cylinder icon.

4 Create a prism with 6 edges, 14 mm edge length, 10 mm height
Y First, create polygon surface.
Y From the Toolbox Manager window, click the Surface

button
Y From the Surface window, click the Polygon button.

Y For Number of edges enter: 6
Y For Center pick the top of the last created shape
Y For Edge length enter: 14
Y Turn the shading off to see the last created shape by
pressing the [F10] button. The polygon created is a flat
surface
5 Sweep the polygon.
Y From the 3D Sketcher window, click the Sweep By Points
Y Pick the Polygon tab.

Y For Polygon pick the polygon just created
Y For Direction pick the Z axis of the working frame
Y For Length enter: 10
6 Create a cylinder with 23mm diameter, 60mm height.
Y From the 3D Sketcher window, click the Cylinder icon
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8 Create a cone with 8 mm top diameter, 16 mm base diameter,
12 mm height.
Y From the 3D Sketcher window, click the Cone .

Y Create the specified cone.
Review of Ways of Creating &

Placing Objects in Modeling
¾ Method 1:
Create it at the working frame then move with Placement Editor

window.
¾ Method 2:
Move the Working Frame then create it
¾ Method 3:
Use the optional Frame prompt in most entity creation pop-ups to

locate it when you create it. (This works best when not picking the
tops of cylinders for the optional frame).
These skills will be practiced in the next exercise.
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CHAPTER 3
Lesson 4: Fundamentals of
Kinematics
Definitions
) Kinematic chain - collection of links and joints
) Link - minimum non moving segment of a kinematic chain
) Joint - minimum moving part of chain. A joint consists of 2
links and an axis. There are 2 types of joints.
Y Revolute joint - rotates around axis
Y Prismatic joint - linear movement along axis
L => link J => joint

NOTES:
Must be in Modeling mode to define kinematics.
Kinematics chain has an order established by the relationship of the links. The
parent link precedes a child link in the sequence order. When the parent link moves
the child link will follow. The parent takes the child with it.
In a kinematic chain, the number of links is equal to 1 more than the number of
joints. For example: if there are 6 joints, there will be 7 links.
Methodology to Define a
Kinematic Device
1 Envision the kinematic chain
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Y What are the links, what type of joints, and so on)

2 Create the links
3 Verify that all entities have been selected as part of a link
4 Create the axis for each joint

Y An axis is defined by its two end points. The positive
direction is from the first point to the second. (right hand
rule)
5 Define each joint (parent link, child link, axis and joint type)
Y Joints are defined between one object/assembly to a
second object/assembly. The father is the stationary object.
Axis (right hand rule)
Child link
Parent link
6 Define the device.

7 Store component prototype
8 Test joints on mechanism using joint jog
9 Define a range for each joint
10 Define the device
11 Test joints in the device again
12 Store component prototype
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CHAPTER 3
EXERCISE 1: Add Joints to a Simple

Component
Objective: To add joints to the door
The completed example is called room_door_demo that your
instructor showed you. You will open the component called
room_door and add the joints to it.
1 Verify that you are in the projects/model_kinematics project. If
you are not, then change your project.
Y Open a new workcell in the projects/model_kinematics
folder.
2 Verify the menu you are on should be MENU: Modeling. This
is printed above the top Menu bar. If it is not then, change it to
modeling.
Y On the Top Menu window, select Robcad -> Modeling.
3 We must open the room_door to add the joints to it.
Y On the Top Menu window, select Files.
Y On the Files window, select Open.
Y For Component select room_door
Y Click the Independent button.
Y Click Accept.
4 Envision the kinematic chain. There are only two joints in this
case. One for the door at the hinges and another for the
handle.
Y First Joint: The doorframe is fixed and does not move when
the door opens. So, this link will be the parent to the door
hinge joint. The door will be the child link to the door
hinge joint.
Y Second Joint: The next joint goes through the center of the
door handle. Relative to the door handle joint, the door is
the parent link and the handle is the child link.
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NOTES:
The links and axis have already been created for you. All you have to do is define
the joints and the mechanism.
5 Define the first joint:

Y On the Top Menu window, select Kinematics.
Y On the Kinematics window, select Joint / Create.
Y For Parent Link select door frame
Y For Child link select the door
Y For Axis select the line though the hinges
Y For Joint Type click the Revolute button.
Y Click Accept.
6 Define the second joint:
Y On the Kinematics window, select Joint / Create
Y For Parent Link select the door
Y For Child Link select door handle
Y For Axis select the line though the handle
Y For Joint Type click the Revolute button.
Y Click Accept.
7 Define mechanism:
Y On the Kinematics window, select Robots / Define
NOTES:
A message should be printed below the Graphics Window that says Device has
been defined
PRINCIPLE:
You must define the mechanism every time you modify the kinematics.
Current joint values are saved for home position when define is selected.
NOTES:
Kinematics -> Query/Mechanism displays kinematic details of the mechanism in the
Status Window.
8 Save mechanism
Y On the Top Menu window, select Files
Y On the Files window, select Save
9 Test the joint in mechanism
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CHAPTER 3
Y From the Toolbox Manager window, click Device Jog
.
Y For Active mechanism pick CURRENT_MECHANISM
Y For Joint select J1
Y Move the mouse into the Graphics Window; hold down the
middle mouse button; move the mouse left and right to see
the selected joint move.
Y For Joint select J2
Y Move the mouse into the Graphics Window; hold down the
middle mouse button; move the mouse left and right to see
the selected joint move.
IMPORTANT:
Select Reset Mechanism on panel before saving the component or defining it again.
¾ IF YOUR KINEMATICS DON'T WORK, THESE STEPS MAY

HELP YOU FIND THE PROBLEM
1 Verify that all entities have been selected as part of one of the
links:
Y On the Kinematics window, select Query / Link list
NOTE:
The list of defined links is displayed in the Status Window.
2 Blank by entity one link at a time

Y On the Top Menu window, select Display.
Y On the Display window, select Blank / Entity
Y For Type enter: k1
Y On the Display window, select Blank / Entity
Y For Type enter: k2
Y On the Display window, select Display / All
3 If there is an entity remaining, add it to the correct link.
Y On the Top Menu window, select Kinematics.
Y On the Kinematics window, Links / Add
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Methodology for Defining Device

States
1 Open a gun prototype
2 Make the gun the active mechanism
3 Edit the gun states to define the OPEN, SEMIOPEN, CLOSE
states
4 Jog the joint(s) of the gun.
5 Enter the joint value(s) for the OPEN state.
6 Define the CLOSE and SEMIOPEN states for the gun using the
same technique.
7 Save the gun.
EXERCISE 2: Defining OPEN and

CLOSED States
Objective: Create OPEN and CLOSE states for the door
The kinematics must already be defined from the last exercise.

Verify that the project is set to projects/model_kinematics.
1 Open the room_door prototype, if it is not already open
Y On the Top Menu window, select Robcad-> Modeling.
Y On the Top Menu window, select Files.
Y On the Files window, select Open.
Y Select room_door.
2 Jog the door to an OPEN state.
Y For active mechanism select CURRENT_MECHANISM.
Y For Joint select J1.
Y Jog the door open.
3 Edit the states to create an OPEN state
Y On the Top Menu window, select States
Y On the States window, select States / Edit
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CHAPTER 3
Y On the States window, select Define state / State

Y Type OPEN at the prompt
NOTES:
The current joint value is shown
Y Press the Accept button at the bottom of the states menu.

4 Now, define another state called CLOSED.
Y On the States window, select Define state / State
Y Type CLOSED at the prompt
5 This state will have a joint value of 0.
Y Click in the J1 box and enter 0
6 Move the door to the OPEN and CLOSED states
.
Y On the Device Jog window, click Move.
Y Select OPEN.
Y Select CLOSE.
7 Reset the mechanism
Y On the Device Jog window, click Reset mechanism
8 Save and close
Y On the Top menu window, click Files
Y On the Files window, click Save
Y On the Files window, click Close
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EXERCISE 3: Adding Kinematics to

a Robot Model
Objective: To add kinematics to the robot created in an earlier
exercise in order to learn the kinematic tools provided in Robcad.
The example is in the projects/model_kinematics project.
1 Go to the Modeling Menu
Y On the Top Menu window, click Robcad-> Modeling
2 Open the my_robot for modeling from the model_kinematics
project
Y On the Top Menu window, click File
Y On the Files window, click Open
Y Select my_robot.
NOTES:
Steps to create this simple robot are in Appendix C. We will not cover these steps
in class.
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CHAPTER 3
3 Envision the kinematic chain

Y What are the links, what are the joints, and so on
4 Create the first link:
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Y On the Files window, click Kinematics

Y On the Kinematics window, click Link/Create
Y Select the bottom three solids for the first link. Notice that
these first three solids are all the same color to help you.
NOTE
The default name k1 is assigned to this link.
5 Create the second link:

Y On the Kinematics window, click Link/Create
Y Select the next three solids from the bottom. Notice that
these next three solids are all the same color to help you.
NOTE
The default name k2 is assigned to this link.
6 Define the next 5 links the same way, for a total of 7 links.
7 Create the axis for the first joint:
Y On the Kinematics window, click Joint/Axis
Y Click on the first point arrow of the axis form
Y Type zero for X and press the [Enter] key

Y Type zero for Y and press the [Enter] key
Y Type zero for Z and press the [Enter] key
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CHAPTER 3
NOTE
This will enter 0 as the X, Y, and Z values for the first point of the axis.
Y Click on the second point arrow of the axis form

Y Type zero for X and press the [Enter] key
Y Type zero for Y and press the [Enter] key
Y Type 1000 for Z and press the [Enter] key
NOTE
This will enter 0 as the X and Y and 1000 for Z values for the second point of the
axis.
Y Click the Accept button. to create the axis line
NOTE
The length of the axis is arbitrary. But the vector direction is very important. It will
determine which way is positive when rotating the joint around the axis.
8 Create the second axis by picking on the screen.

HINT
Make sure that your pick level and pick intent are set to Snap and Entity
respectfully. Also make sure that you are in shaded mode [F10].
Y On the Kinematics window, click Joint/Axis
Y For first point, select the center of one end of this cylinder.
Y For the second point, select the center of the other end of
this cylinder.
HINT
Make sure that your pick level and pick intent are set to Snap and Entity To reach
the second point correctly, you will have to rotate your view 180 degrees.
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9 Follow the same process as described in step 8 to create the

other three axes. (We will use the same axis for joint 4 and
joint 6).
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CHAPTER 3
10 Define the first joint:

Y On the Kinematics window, click Joint/Create.
Y For Parent link, select the first link we created (the bottom
three solids).
Y For Child link, select the second link we created.
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Y For Axis, select the first axis we created. You will have to
go to wire frame mode [F10] to pick it because it is inside
the other solids.
Y Click the Revolute button.
Parent Link
Child Link
11 Define the second joint:

Y On the Kinematics window, click Joint/Create.
Y For Parent link, select the area pointed to in the graph
above.
Y For Child link, select the area pointed to in the graph above.
Y For Axis, select the first axis we created. You will have to
go to wire frame mode [F10] to pick it because it is inside
the other solids.
Y Click the Revolute button.
12 Select the other 4 joints in the same way.
13 Define mechanism:
Y On the Kinematics window, click Robots/Define
Y A comment appears in the Message Window.
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CHAPTER 3
NOTE
You must define the mechanism every time you modify the kinematics.
NOTE
Current joint values are saved as home position when define is selected.
NOTE
Kinematics -> Query/Mechanism displays kinematic details of the mechanism in the
Status Window.
14 Save mechanism
Y On the Top Menu window, click Files.
15 Test the 6 joints in mechanism.
.
Y Click on Active Mechanism on the device jog panel.
Y Click on robot to make it the active mechanism.
Y Select a joint (J1, J2, etc.)
Y Select the Jog button and test the joint utilizing the
middle mouse button in the Graphics Window.
Y Determine and record the desired range of each joint from
the Status Window.
Y Click on Move -> Home pose before leaving this window.
NOTE
The current value of the joint being jogged is displayed in the Status Window.
Values are relative to home pose.
NOTE
The range is specified based upon all joint values being 0 at the home pose. Home
pose is defined by the position of the links when you click Robots/Define from the
Kinematics window
IMPORTANT
Select Reset Mechanism on panel before leaving panel.
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EXERCISE 4: Adding Ranges to the

Joints of the Robot Model
Objective: To add ranges to the joints.
1 Define range of each joint: (See below for values)
Y On the Top Menu window, click Kinematics.
Y On the Kinematics window, click Edit joint/Current
Y Enter first joint name and press the [Enter] key.
Y On the Kinematics window, click Edit joint/Range
Y Select the Constant button on the Range window.
Y Enter the values for the joint limits.
2 Repeat for all 6 joints.
3 Define mechanism
4 Test joints in mechanism using Joint Jog.
NOTE
Select Home pose on panel each time before leaving panel.
5 Save mechanism
NOTE
Reference joint range values for the purposes of this exercise only:
Joint Low Limit High Limit
J1 -180 180
J2 -70 70
J3 -25 25
J4 -190 90
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CHAPTER 3
J5 -110 110
J6 -340 240
EXERCISE 5: Making a Mechanism

into a Robot
Objective: To create a simple Robcad robot.
The example is in the projects/model_kinematics project
PRINCIPLE
If a component has kinematics, then it is a mechanism. If it also has a tool frame,
then it is a robot.
1 Make a mechanism into a Robcad robot

Y To make newly created mechanism a robot, add a tool
frame at the end of its kinematic chain.
Y On the Top Menu window, click Kinematics.
Y On the Kinematics window, click Robots/Toolframe.
2 Define mechanism
3 Try setting and moving the robot to various locations using
Joint jog. Return to the home pose when done.
4 Save mechanism
5 End modeling.
Y On the Files window, click Close.
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Chapter Summary
) Described how to do some basic modeling in Robcad
) Described how to change the entity representation precision
) Described how to model a gun shank
) Described how to add kinematics to a component and move it
around
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Processing
4-1
CHAPTER 4
Chapter 4
Processing
About This Chapter
In this chapter, we will use the knowledge gained in the first three
chapters to setup our own paths and work with the Robcad library
structure. It contains the following lessons:
) Lesson 1: Inverse kinematics: Core technology of Robcad, page
4-2, describes how to use inverse kinematics to make the robot
in Robcad move.
) Lesson 2: Working with Paths, page 4-12, describes how to
work with robotic paths in Robcad and rename instances..
) Lesson 3: Populating Libraries, page 4-22, describes how to use
the library utilities.
) Lesson 4: From Least Constraints to Most Constraints, page 4-
29, describes how to follow a simple process from beginning to
end in Robcad.
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4-2
Lesson 1: Inverse kinematics:

Core technology of Robcad
Principles of Inverse Kinematics
Definitions
) Mechanism/Device - A component with kinematics
) Robcad Robot - Creating a TOOLFRAME at the end of a
kinematic chain and compiling (defining) mechanism will
transform a simple kinematic device into a Robcad robot (or
CMM).
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CHAPTER 4
Placement Editor Put Command

¾ Put with source orientation:
Putting an object from the source frame to the target frame will:
) Move the object from the source frame to the target frame
) Orientation of the object is not affected (orientation of the
source frame is maintained)
¾ Put with target orientation:
Putting an object from the source frame to the target frame will:
) Move the object from the source frame to the target frame.
) Orientation of the object is changed to the target frame
Direct Kinematics
) Easy for Robcad to do because Robcad already knows the joint
values
) Direct kinematics can be used for any kinematic device such as
guns, clamps, robots, etc . . .
¾ How direct kinematics work:

1 You give Robcad a state/pose. The state/pose contains the
exact values for each joint of the mechanism.
Current Position Target Pose
J1=0 J1=10
J2=10 J2=120
J3=0 Move to PoseÆ J3=100
J4=15 J4=45
J5=40 J5=32
J6=20 J6=46
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4-4
2 Robcad moves the mechanism from the current position to the

destination pose
Inverse Kinematics
) Takes more effort from Robcad, because the destination pose
must be calculated on the fly. However, this gives more
flexibility to the user.
) Only available for robots (and CMM's).
¾ How inverse kinematics work:

1 You give Robcad a location. The location contains the target
position and orientation of the TCPF of the robot.
Current Target Calculated

Position Location Pose
J1=0 X=10 J1=10
J2=10 Y=2547 J2=120

Move to
Æ
J3=0 LocationÆ Z=301 J3=100
J4=15 Rx=35 J4=45
J5=40 Ry=145 J5=32
J6=20 Rz=76 J6=46

2 Internally, Robcad tries to put the TCPF of the robot onto the
location
3 Once Robcad puts the TCPF on the location, Robcad then looks
at the joint values required to reach this location
4 Robcad moves the mechanism from the current pose to the
calculated pose which places the TCPF of the robot on the
target location.
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Processing
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CHAPTER 4
Level of Kinematic Inverse

The goal is to put, with target orientation, the TCPF of the robot
onto the target location (both the position and orientation of the
target location are used). This is referred to as a Full Inverse.
Sometimes it is not possible for the robot to perfectly place its TCPF
onto a location. However, it may be able to put with source
orientation onto the location (only the position of the target
location is used). This is referred to as a Partial Inverse. A partial
inverse can be used to get a full inverse using special tools in
Robcad.
In some cases, the robot may not be able to reach the location's
position or orientation. This is referred to as No Inverse. There are
some tools in Robcad to fix this situation also.
EXERCISE 1: Move a Component to

a Library
Objective: To move the robot we modeled to the robot library
1 Open the move to library window.
Y From the Top Menu window, click Data.
Y From the Data window, click Library Utilities.
Y From the Library utilities window, click Component.
Y From the Library utilities window, click Move to Library.
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2 Move the robot to library

Y Verify that you are in the source project that contains the
robot that you modeled. If this is not right, then browse to
the correct directory.
Y When you get into the right source project, pick the robot
myrobot once.
Y Pick the robots library once
Y Pick the move button to move myrobot to the robots
library.
EXERCISE 2: Get Component from

a Library
Objective: To get a component from a library.
1 Load a new cell
Y From the Layout window, click Load cell
Y Enter new1.ce and click [OK].
2 Go to the Get component window.
Y From the Layout window, click Get component
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CHAPTER 4
3 Change to the robots library: Pick Libraries
Y Double click on robots.

Y Get your robot into the cell: Pick my_robot (or my_cmm
from the list of components)
Y Click [OK].
4 Also get the gmfs420.co robot into the cell.
EXERCISE 3: Intro to the

Mechanism Status Window
Objective: To see inverse kinematics in action with your robot (or
cmm)
1 Open the Mechanism Status window.
Y From the Toolbox Manager window, click the Mechanism
Status button.
2 View the mechanism status for the robot.

Y From the Status window, click the Mechanism Status
button.
Y From the Mechanisms window, select the robot (gmfs420).
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4-8
Y Click [OK].
3 Follow the same process to open a mechanism status window
for one of the clamps.
Motion Window
These tools can be accessed in several places in Robcad including
the Motion window.
) Move commands
Y Target – Used to select the locations for the active
mechanism (i.e. robot) to move to.
Y Play - A full Inverse command, it moves the robot’s TCPF to
a location’s position and orientation.
Y Move XYZ – A partial Inverse command, it moves the
robot’s TCPF to a location’s position, but not orientation of
X, Y, and Z.
Y Move Align Z – A partial Inverse command, it moves the
robot’s TCPF to a location’s position, and aligns the Z axis
of the TCPF with the Z axis of the location (but ignores the
location’s orientation of the X and Y axes).
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CHAPTER 4
) Robot Jog – Allows the movement of all the joints of the

active mechanism by repositioning the TCPF.
) Joint Jog – Allows the movement of one joint of the

active mechanism at once.
EXERCISE 4: Intro to the Motion

Window
Objective: To see inverse kinematics in action with your robot (or
CMM)
1 Bring up the Motion window.
Y From the Toolbox Manager window, pick Motion

once.
2 Make the robot the active mechanism. There are two ways to
do this:
Y Method 1: Right click the gmfs420.co robot and select
Active Mechanism.
Y Method 2: In the Motion window, pick the Active
Mechanism button; pick the robot, and press Accept.
3 Let's look at Robot Jog tab:
Y In the Motion window, pick the Robot jog menu.

Y In the Graphics Window, pull the TCPF (which is currently
sitting on the TOOLFRAME) of a robot around--like the
leash of a dog--and the robot will follow. Several joints of
the robot will move at the same time. Press the Tcpf button
first to move relative the TCPF.
4 Let's look at Joint Jog tab:
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Y In the Motion window, pick the Joint jog tab.

Y Choose one joint of the robot from the list.
Y Move the mouse left and right in the Graphics window with
the middle mouse button depressed.
Y Select the next joint of the robot and move it in the same
way.
5 Jump to the HOME pose.
Y On either the Joint Jog or Robot Jog tabs of
the Motion window, click the Home button to

return the robot to its home pose/state.
6 Use the Joint Jog or Robot Jog tabs to move the

robot around.
7 Create a location to mark the current position of the TCPF
(which is currently sitting on the TOOLFRAME).
Y Press the Mark loc button at the bottom of the Motion
window.
8 Repeat steps 6 and 7 three or four times to create several
locations in the workcell.
9 Go to the Move commands tab of the Motion window.
Y In the Motion window, click the Move commands

button.
10 Turn the Automatic mode to Move.
Y In the Motion window, for Automatic mode, select Move.
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CHAPTER 4
11 Move to each location (Notice a full inverse is used). There

are two ways to do this:
Y Method 1: Double click on the location (very fast double-
click)
Y Method 2: Pick the Target button; select the location; and
click the Accept button.
12 Turn Automatic mode to off on the motion toolbox
Y In the Motion window, for Automatic mode, select Off.
13 Now if you pick the Target button; select location, and click
the Accept button, you would notice that the joint does not
move. In order to make it move to the location desired with
Automatic Mode set to Off you need to press the Play button.
(This will try to move the location using a full inverse).
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4-12
Lesson 2: Working with Paths

Introduction
In this lesson, we will work with paths. Let’s note the similarities
and differences between a real robot and a Robcad program.
) Robot program
Y Created by the teach pendant of the real robot
Y Consists of a sequence of poses (robot joint angles) with
associated instructions
) Robcad program (path)
Y Robcad uses inverse kinematics to determine the joint
values needed to reach a given target location
Y Consists of sequence of target locations (TCP position and
orientation) with associated attributes
Y Can use Robcad OLP to convert the Robcad program to a
real robot program
Robcad Path Editing Tools

) Robcad Basic tools:
Y Path Editor
) Robcad OLP tools (covered in WKP211U):
Y Location Attributes
Y Program Editor
Y Various teach pendants
) Robcad Spot (WKP202U), Robcad Paint (WKP203U), Robcad
Arc (WKP204U):
Y Other application specific tools are available in these
applications for editing paths
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CHAPTER 4
EXERCISE 1: Intro to the Path

Editor
Objective: To create a path from the locations we created in the
previous exercise and move along it.
1 Continue using the same workcell.
2 Use what you have learned to insert a second gmfs420.co robot

offset 3000 in the Y direction (a.k.a. at working frame absolute
coordinates 0,3000,0).
3 Bring up the Path Editor.
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Y From the Toolbox Manager window, click the Path Editor
button.
4 Create a path to determine the order of locations for simulation.
Y From the Path Editor window, click Create Path .

Y Select the locations in the order that you want them in the
path.
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Y Click [OK].
5 Rename the path and its locations.

Y Pick the pa1 path.
Y In the Path Editor window, click Rename .

Y In the Rename window, enter robot1_path1 for the To field.
Y Click Path and locations.
Y For the Prefix, enter r1p1_.
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Y Click [OK].
6 Make a copy of the first robot’s path for the second robot.
Y Select the robot1_path1 path.
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Y In the Path Editor window, click Copy .

Y In the Copy window, enter robot2_path1 for the New
name.
Y Click the Offset button.

Y In the Offset window, enter 3000 for Y.
Y Click [OK].
Y Click [OK].
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7 Delete location from the workcell.

Y Select a location from the secon path.
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Y In the Path Editor window, click Delete .
Y Click [OK].
8 Extract a location from the path.
Y Select a location from the first path (robot1_path1).
Y In the Path Editor window, click Extract .

Y Look at the effect in the Graphics Window and the Path
Editor window.
9 Insert a location into a path.
Y In the Path Editor window, click Insert .

Y In the Add window, pick in the Destination path field.
Y Select the first path (robot1_path1).
Y Pick the After checkbox.
Y Pick in the Reference location field.
Y Select the first location in this path.
Y Pick in the Locations to add field.
Y Select the extracted location.
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Y Click [OK].
10 Rename the second robot to robot2.co
Y From the Layout window, pick the Rename button.
Y In the Rename window, click the Add button.
Y In the Object drop down, select gmfs420_1
Y For the New name type robot2.
Y Click Add and Close.
Y Click [OK].
Y Click Confirm.
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Y Click Yes.
11 Move along the path. There are two ways to do this:

Y Method 1: In the Motion window, turn the automatic mode
to Move; and double-click on the path (the dotted line, do
not pick on a location in the path)
Y Method 2: In the Motion window, pick the Target button;
pick the path (dotted line); and select Accept. Then press
the Play button
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Lesson 3: Populating
Libraries
Process To Manipulate Libraries
) From the Toolbox Manager window, click Data
) From the Data window, click Library Utilities
) From the Library Utilities window, click Library
Here are some library commands:

) Create - create a new library
) Rename - rename existing library
) Remove - remove library and contents
) Query - list prototypes being edited in selected library
) Copy - copy library and contents
Process To Manipulate
Components in Libraries
) From the Toolbox Manager window, click Data
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CHAPTER 4
) From the Data window, click Library Utilities

) From the Library Utilities window, click Component
) Get for edit - puts a copy of selected prototype in current

project. No one else can get a copy for edit until this one is
returned.
) Cancel for edit - removes copy that was created for editing and
allows others to get for edit.
) Rename - allows renaming of prototype file. Will modify
connections of workcells that use this prototype.
) Return from edit - makes a backup of the existing prototype in
the library and then moves edited prototype back from current
project.
) Move to library - moves project prototype to library selected.
Fixes all cells in project to reference library prototype.
) Remove - removes a component from library.
) Recover from edit - used to fix prototype usage if prototype is
gotten for edit and never returned.
Using the Data Forms

NOTES:
You must be in Workcell to access Data commands
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) Double click on ../(Up) to move up one level.

) Double click on directory name to move into project. The
project path name is updated.
) Select to enter from keyboard
EXERCISE 1: Creating Libraries

Objective: To create some libraries to place some components
into them.
1 Go to the Libraries tab of the Library Utilities window.
Y From the Data window, click Library Utilities.
Y From the Library Utilities window, click Library.
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2 Create the parts library.

Y From the Library Utilities window, click Create.
Y From the Create Library window, click Create.
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Y Type in parts

3 Create the clamps library
Y Type in clamps
4 Create the misc library
Y Type in misc
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CHAPTER 4
EXERCISE 2: Populating the

Libraries
Objective: To move some components into the libraries that were
created in the last exercise.
1 Go to the Libraries tab of the Library Utilities window.
Y From the Data window, select Library Utilities.
Y From the Library Utilities window, click Component.
2 Prepare to move components to library.
Y From the Library Utilities window, click Move to Library.
Y Verify that the source project is projects/intro. If it is not,
then change it.
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3 Move the following components to the robot library

Y Move the gmfs420 to the robot library
Y Click on gmfs420 in the Source Component window, then
click on robot in the Target Library.
Y Click Move.
4 Move the following components to the guns library using same
procedure of step 5.
Y Move the gun1 to the guns library.
5 Move the following components to the clamps library.
Y Move r1_clamps, r2_clamps, and r3_clamps to the clamps
library.
6 Move the following components to the parts library.
Y Move surf_part and wire_part to the parts library.
7 Move all the components that are left in the project to the misc
library.
Y Move the remaining components to the misc library.
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CHAPTER 4
Lesson 4: From Least

Constraints to Most
Constraints
The Process
1 Place workpiece in cell.
2 Create target locations on the work piece (Method depends on
the Robcad application being used).
3 Create the path (Method depends on the Robcad application
being used).
4 Bring in the gun and perform a first run along the path.
5 Bring in the robot.
6 Test the reachability of robot.
7 Check for collisions.
8 Refine the path.
9 Optimize path cycle time (method depends on the Robcad
application being used).
Setting Up Projects
¾ Create, Rename, Remove, Copy and Move Projects
) From the Toolbox Manager window, click Data.
) From the Data window, click Project Utilities.
) From the Project utilities window, click Project.
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¾ To Explode, Resume or Replace Connections

) From the Toolbox Manager window, click Data.
) From the Data window, click Project Utilities.
) From the Project utilities window, click Connection.
Here are some commands on this menu:

) Explode - Allows user transfer a reference to a library prototype
to a project prototype for selected workcell.
) Resume - allows for the restoration of connections to
prototypes.
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CHAPTER 4
) Replace - allows the user to replace the connection from a

workcell to a prototype with a connection to a different
prototype.
EXERCISE 1: Creating a New

Project
Objective: To create a new project under the projects directory.
1 Prepare to create a new project.
Y From the Toolbox Manager window, click Data.
Y From the Data window, click Project Utilities.
Y From the Project utilities window, click Project.
2 Prepare to create your own project.

Y From the Project window, click Create.
Y Reset the Source project area of the Project window so that
we are looking at what is currently in the Projects directory.
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3 Create the myproject project

Y Select the Create button
Y Type in myproject

NOTES:
You should now see this project listed in the window along with the rest
EXERCISE 2: Create a Cell from

Library Components
Objective: To review the placement commands we learned.
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CHAPTER 4
1 Create a new workcell called my_cell_layout.ce in the

myproject project using the Load Cell.
2 Get instances of the following components and use the
placement commands to create a cell layout identical to
first_cell.ce in the projects/intro project. A picture of the layout
follows this exercise.
REFERENCES:
3 Get cell_base: no offsets.
Y From the Display window, click Display / Entity.
Y Press the [F12] key and select Component
Y Pick the cell_base
Y Press the [F12] key and select Entity
5 Get column: offset -4000 in X and -5000 in Y.
Y Use Get Component, Shift, or XYZ-Shift to place it
6 Get robot (gmfs420): Put robot on the white frame behind
cell_base.
Y Use Get Component or Put to place it
7 Get coll_box: It will be placed okay (no need to move it)
Y Use Get Component
8 Get wire_part, surf_part & all clamps: Put all of these on the
green frame near the front of cell_base.
Y Use Get Component or Put to place them.
9 Get instance of component gun1 (from the guns library). Locate
it at any random point in your cell (preferably away from the
robot, otherwise it will be under the base).
Y Use Get Component
Y From the Display window, click Display / Entity
Y Pick the gun1
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Y Press the [F12] key and select Entity

11 Mount the gun to the robot.
Y From the Toolbox Manager, click the Motion button.

Y Right click the robot and select Active Mechanism.
Y From the Toolbox Manager, click Settings .

Y Click Mount.
Y Pick the gun that you just got into the workcell.
Y In the Mount window, click the Accept button.
NOTE
If the active mechanism is not currently set, Robcad will prompt you for it in the
message window (simply click anywhere on the robot you want as the active one).
12 Gun may need to be rotated so that tips are facing up.

13 Define the TCPF (Tool Center Point Frame)
Y Right click the robot and select Active Mechanism.
Y In the Motion window Settings menu, select TCPF.

Y Pick the frame between the gun tips.
14 Get overhead (misc library): It will be placed okay (no need to
move it)
15 Make the cell look cleaner by blanking all the frames.
Y From the Display window, select Blank / By Type -> Frames
16 Get the fencing (4 instances from the Misc. library). Put them
together in a U shape beyond the robots envelope.
Y Put two fences end-to-end, parallel to the rail. Move these
fences to a distance behind the robot so that when you
swing the robot around J1 with the gun mounted, the fence
will not be hit.
Y Connect another fence to these two, but at 90 degrees from
them, enclosing the robot.
Y Connect another fence to the other side of the first two (but
90 degrees from them, enclosing the robot.
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Y See the picture at the end of this exercise

17 Get the cable_hook, man (m50), and controller (controller) and
place in the cell.
Y controller (misc library): put behind the fence in line with
the robot. May have to rotate
Y cable hook (misc library): put it next to the controller
Y m50 (HUMAN_MODELS library): put in front of the
controller, may have to rotate
18 Store the cell.
Y From the Layout window, click Store.
Y Click Confirm.
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Creating an Envelope Around the

Robot and Gun
To create an envelope around both the robot and the gun (TCPF),
use:
) From the Top Menu window, click Robcad-> Workcell.
) From the Top Menu window, click Layout.
) From the Layout window, click Robot envelope.
This takes a few minutes to generate.
NOTES:
The old way of creating a quick envelope around just the robot is still available in
the modeling menu
- From the Top Menu window, click Robcad-> Modeling.
- From the Top Menu window, click Kinematics.
- From the Kinematics window, click Envelope.
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CHAPTER 4
EXERCISE 3: Create and Use a

Robot Envelope
Objective: To create and use a robot envelope
1 We will use the workcell from the last exercise as a starting
point.
NOTES:
From the last exercise, you should have a gun mount to the robot and a TCPF
defined at the gun tips.
2 Create the envelope

Y From the Layout window, click Robot envelope.
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Y For Robot pick the robot in the workcell

Y For Tolerance enter: 100
Y For Clearance enter: 10
Y Select Confirm to continue
NOTES:
The computer will now sit for about 5 minutes to generate the envelope.
3 Turn the shading on

Y Press the [F5] key and select Shaded
4 Change the display of the envelope
Y From the Top Menu window, click Display.
Y From the Display window, click Visibility / Wire
Y Pick the envelope
5 Look from the top view
Y Method 1:
Y Press the [F5] key and select View points -> Top
Y Press the right and left arrow keys (on keyboard)
Y Method 2:
Y Press the [Home] key.
Y Press the up arrow key three times (on keyboard)
Y Press the right and left arrow keys
6 Notice that everything behind the back fence can be hit by the
robot. Let's fix this problem by moving the fence (and the stuff
behind it) back past the robot's reach.
Y From the Toolbox Manager window, click Placement Editor
.
Y From the Placement Editor window, click Objects.
Y Select all four fences, the controller, cabe_hook, and the
man.
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CHAPTER 4
Y Press Accept
Y Select the X button on the transfer panel of the Placement
Editor.
Y Hold down the middle mouse button in the Graphics
window and move the mouse left and right to move the
selected objects back past the envelope.
7 Store the cell.
Y From the Layout window, click Store
Y Click Confirm.
File Utilities - Copy, Remove,

Move, Rename files
) From the Top Menu window, click Data.
) From the Data window, click File utilities
) Type of file on which to operate: component, cell, simulation,

or other.
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) Select name of file or files by highlighting.

) Project in which source file resides.
) Some functions are not enabled until the Source file is selected.
EXERCISE 4: Copying Files

Between Projects
Objective: Copy the weldpath.path from the projects/intro project
to projects/myproject
1 Go to the File Utilities menu.
Y From the Data window, click File utilities.
2 Choose to operate on text files.
Y For Operate on select Other.
3 Set the source file.

Y In the Source file area of the File Utilities window, verify
that you're in the intro project.t
Y The source project name is shown in the lower left hand
corner.
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CHAPTER 4
4 Set the target file.

Y In the Target file area of the File Utilities window, verify
that you're in the myproject project
Y The target project name is shown in the lower right hand
corner
5 Select the pa1.no_robot in the Source file window.
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6 Click on the Copy button.

NOTES:
This copies these components from the source project to the target project
EXERCISE 5: Read Path Into Cell

Objective: To read a path into a cell. This exercise builds on the
results of the last three exercises.
1 From the Toolbox Manager window, click the Path Editor icon,
if it is not already up. (If it is already up, this will close it, so
click it again).
2 From the Path Editor window, click the Load path icon.
3 Load the robot path just copied.
Y In the Load Path window, select pa1.no_robot from the list
of paths.
Y Pick in the box next to the Robot: prompt.

Y Then pick the robot in the cell. (The name of the robot will
now be displayed in the box next to the robot).
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CHAPTER 4
NOTES:
The name of your robot may be different than the one in the training manual.
4 The robot path should now be shown in the cell in front of the
robot, and in the Path Editor window.
5 Move the robot along the path.
Y Right click the robot and select active mechanism.
Y In the Motion window, set the Automatic mode to Move
Y Move along the path (double-click the path)
6 Store the workcell
Y From the Layout window, click Store
Y Click the Confirm button.
Collision Detection
¾ Define a collision list:
Collision detection is accomplished by looking for a collision

between each component in one list and each component in
another list. We must create a pair of lists to use for collision
detection.
) From the Toolbox Manager window, click Collision setup
.
) From the Collision Setup window, click Define pair.
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EXERCISE 6: Using Collision

Detection
Objective: To setup collision lists and see collisions detected
1 Get the clamps
Y Bring the clamps into the cell (r1, r2, r3 clamps), if you
have not already, and locate them at the green car reference
frame.
2 Open up the Collision Setup window
Y From the Toolbox Manager window, click Collision setup
.
3 Define a new collision list
Y From the Collision Setup window, click Define pair.
Y The Pair Definition window will appear.
4 Add components to the first list

Y In the Pair Definition window, click Add under First list
box.
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CHAPTER 4
Y Pick the r1_clamps, r2_clamps, r3_clamps, wire_part, and

surf_part
Y Select Accept on the Add window.

NOTES:
Do not press the Accept on the Pair definition window yet.
5 Add components to the second list

Y In the Pair Definition window, click Add under Second list
Y Pick the gun and the robot
Y Select the Accept button on the grey window in the upper-
right corner of Graphics Window
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6 Create the collision list

Y Now select the Accept button on the Pair definition
window.
7 Make a bell ring, when collisions occur. This button is on the
Collision Setup window.
Y For Collision parameters / Bell select On
8 Start checking for collisions
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Y In the Toolbox Manager window, change collision checking
from Off to Lists.
9 Store the cell.

Y In the Top Menu window, click Layout.
Y In the Layout window, click Store.
10 Use the Motion window to move the robot kinematically
Y From the Toolbox Manager window, click the Motion icon.
Y From the Motion window, click Joint jog.
Y From the Motion window, click Robot jog.
Y From the Motion window, click Move along path.
11 Move the robot into the part using the Placement Editor
window.
More on Detecting Collisions

¾ Collisions can be missed if:
The collision lists are only processed at the graphics update time
interval. This means that a collision will only be detected if it
occurs at a time interval boundary. It is possible that the interval is
such that a collision occurs between updates and will not be
detected. The smaller the interval, the less likely this will occur.
The speed and acceleration of the object can affect the detection of
collisions. If they are very high, it may be advisable to reduce the
update time interval.
From the Motion window, click Settings and then click Time
interval to set the interval. The default value is 0.2 seconds. It is
suggested to use lower values only after all collisions have been
removed at the default value. It is not suggested to stay at the
lower value because of the decrease in performance.
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¾ Additional Collisions may be found or missed if:
Collisions are determined by the distance between surface facets of

the objects. Hence, if objects to be checked for collisions have
curved surfaces, higher display precision should be used.
From the Display window, click Visibility / Precision & direction
to adjust precision. The default value for surfaces, exact solids and
wire-frame is 3 (on a scale from 0 to 9). It is best to not increase
the precision higher than 6 because of decreases in performance.
¾ Near Miss (a.k.a. Clearance):
Robcad can not only detect collisions (i.e. when the robot hits an
object they are highlighted red), it can also detect when it gets
within a specified distance to the object (objects are highlighted in
yellow). This is called a near miss. A near miss value can be
entered for each specific collision list or a global value can be
entered for all collision lists.
EXERCISE 7: Using Collision

Detection Wisely
Objective: To understand how collision detection works and to

use it more effectively.
1 Read the previous page first. Collision detection should be set
to Lists and collision lists defined for this exercise.
2 Set the Display precision to 2. To see the difference better, turn
the shading off first.
Y From the Display window, click Precision & direction ->
Modify display precision
Y For List pick the Surf_part
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3 Set the time interval to 1 and simulate

Y From the Motion window, click Settings
Y Click Time interval.
Y For Time Interval enter: 1
4 Move the Robot along its path by double-clicking on it
automatic mode should be set to Move in the Motion window.
5 Set the Display precision to 6. To see the difference better, turn
the shading off first.
Y From the Display window, click Precision & direction ->
Modify display precision
Y For List pick the Surf_part
6 Set the time interval to .05 and simulate
Y From the Motion window, click Settings
Y Click Time interval.
Y For Time interval enter: .05
7 Move the Robot along its path by double-clicking on it.
View Manager
In general the View Manager is used to create custom view points.
When a custom view is applied to the Graphics Window, the
stored object display (Object vis), pose/states (kin poses), etc… can
also be applied.
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EXERCISE 8: Using the View

Manager
Objective: To use the View Manager toolbox to setup views for
our workcell.
1 Bring up the View Manager window.
Y From the Toolbox Manager window, click View Manager
2 Rotate, Pan, Zoom the Graphics windows a little.

3 Create a view.
Y From the View Manager window, click the Create button.
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4 Repeat steps 2 though 3 about three times.
5 From the View Manager window, click VIEW_1 once. What

happens?
6 From the View Manager window, click VIEW_2 once.
7 Jump to View.
8 Move to View.
Y In the View Manager window, set the Apply mode to Move.
Y Pick Steps, type 70, and press [Enter].
Y Double-click on VIEW_1. What happens?

Y Double-click on VIEW_2.
9 Select Open to open another graphics window.
Y From the View Manager window, click a view.
Y Click Open.
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10 To resize a window:
Y Move the move pointer over the grey border of the graphics
window to be resized. (The mouse pointer will change from
pointing down to pointing up).
Y Pressing the right mouse button will now display a menu.
Y Select Size from the menu. (The border of the window will
become highlighted with red lines and the mouse pointer
will be jumped to the middle of the graphics window).
Y Now move the mouse point past one of the window borders
and you will see the window stretching or shrinking in that
direction.
11 To close a Graphics window (if you have more than one):
Y Move the mouse into the window to be closed
Y Press the [F5] key and select Close window.
Note Editor
This toolbox enables adding notes to entities in the workcell.
To select a note, pick its name in the note-editor list.
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To select multiple, consecutive notes, drag the mouse through the

list, or press the [Shift] key and pick a second note. To select
multiple, individual notes, press the [Ctrl] or the [Ctrl] key and pick
the desired notes.
To toggle between see the notes as flags or text in the Graphics
window use: Press the [F6] key and select Text notes
The font and font size can be changed for all notes in the graphics
window by adding two .robcad parameters.
See the online documentation for the note editor for more details.
EXERCISE 9: Flagging Problem

Areas
Objective: To create some notes in the Graphics Window
1 Bring up the Note Editor window.
Y From the Toolbox Manager window, click Note Editor
.
2 Create some notes by pick.
Y In the Note Editor window, select CreateByPick.
Y Change pick intent to Where picked : Press the [F11] key

and select Where picked.
Y Pick a couple of places on your part to put flags.
Y Click the Cancel button when done picking places.
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3 Enter some text for a note.

Y Pick note1
Y Pick in the empty box at the bottom of the Note Editor
window and start typing some text for this note flag. (It's
the box near the bottom of the Note editor window).
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CHAPTER 4
Y Select Apply.
4 Repeat step 3 for note2.
5 Toggle between see text on the note flags or just a flag
Y Press the [F6] key and select Text notes.
Y The notes are turned into flags in the Graphics Window.
Y Press the [F6] key and select Text notes.
Y The notes are turned back into text in the Graphics
Window.
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EXERCISE 10: Labeling Objects in

the Graphics Window
Objective: To add labels to objects in our workcell.
1 Continue using the Note Editor window.
2 Setup the Multi Note.
Y In the Note Editor window, pick the Settings tab.
Y For Default text, select Name.
3 Create Multi Notes.

Y In the Note Editor window, pick the Notes tab.
Y Pick the Create button.
Y In the Create Note window, pick the Multi-notes tab.
Y Change the Filter type to Components.
Y In the Graphics Window, window all the compenents.

Y Click [OK].
4 Reposition Notes.
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CHAPTER 4
Y In the Note Editor window, click Reposition.

Y In the Graphics Window, pick a note and pick where to
move it to.
Y Click the Cancel button in the Reposition window when
finished.
Introduction to Cell Previews

This area of the Layout window is used to add a preview image and
description to our workcell.
NOTE
To mamke preview images of components, run the macROSE

create_lib_icons or create_proj_icons scripts.
EXERCISE 11: Creating a Cell

Preview Image and Description
Objective: To add a cell description to our workcell.
1 Turn off the floor.
2 Change the background color.
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3 Set the view point

4 Enter a description for your workcell.
Y From the Layout window, enter a description in the Cell
description textbox.
Y Click Apply.
5 Create the preview image.
Y Click the Generate cell preview button.
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CHAPTER 4
Chapter Summary
) Described how to use inverse kinematics to make the robot in
Robcad move
) Described how to work with robotic paths in Robcad
) Described how to use the library utilities
) Described how to follow a simple process from beginning to
end in Robcad
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Basic Simulation Techniques
5-1
CHAPTER 5
Chapter 5
Basic Simulation
Techniques
About This Chapter
This chapter provides various techniques for creating and viewing

simulations in Robcad and contains the following lessons:
) Lesson 1: Introduction to Sequence of Operations, page 5-3,
describes the basics of SOP in Robcad.
) Lesson 2: Creating a Sequence, page 5-8, describes how to
create a sequence.
) Lesson 3: Using a Scenario, page 5-18, describes how to create
a scenario.
) Lesson 4: Editing Operations, page 5-23, describes how to edit
operations.
) Lesson 5: Types of SOP Events, page 5-26, describes how to
add events to an SOP.
) Lesson 6: More SOP Tools, page 5-35, describes how to use
sub-sequences, copying sequences, and driven operations.
) Lesson 7: Using Camera Views, page 5-39, describes how to
create and use camera views.
) Lesson 8: Static Output, page 5-43, describes how to output
pictures.
) Lesson 9: Storing Simulations, page 5-53, describes how to
output simulations to various formats.
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) Lesson 10: Creating Web Reports, page 5-57, describes how to

create web reports of the workcell.
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CHAPTER 5
Lesson 1: Introduction to
Sequence of Operations
Introduction
¾ To access the SOP menu:
) From the Top Menu window, click Robcad-> Workcell.
) From the Top Menu window, click Sop.
Until now, we have simulated individual parts of an assembly

process.
Sequence of Operations combines separate operations to an entire
assembly process.
This set of commands determines operations for the currently
displayed assembly, combines them into a sequence of operations,
and simulates a selected sequence. The purpose of these
commands is to demonstrate and verify the feasibility of a complete
assembly procedure in the dynamic mock-up environment, and to
produce a detailed assembly report.
¾ Demo
1 Load the first_cell.ce cell from the projects/intro project.
2 Open the SOP for the station.
Y From the Top Menu window, click Robcad-> Workcell.
Y From the Top Menu window, click Sop.
Y From the Sequence of Operations window, click Sequence.
Y Pick Station11 and click Select.
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3 Play the simulation.
Y From the Sequence of Operations window, click Play

to play the simulation.
SOP Organization
Sequences are made up of operations; and operations are made up
of procedures:
) Sequence - Operations performed in a certain order make up a
sequence. A sequence is associated with a workcell and is
saved as a file under the workcell directory. The sequence is
stored separately from the cell.
) Operation - One or more procedures of the same type and
starting time. It is included in a sequence, starting at a specific
time after the start of the sequence, and is stored as part of the
sequence file.
) Procedure - Basically, a procedure associates a part with a
path, and assigns the amount of time it takes to complete the
procedure.
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Types of SOP Operations

There are 6 types of operations:
1 Flow: Consists of the movement of the part along its parts-
assembly path, created with Path menu. Flow operations are
green on the Gantt chart. (Created with eM-Assembler)
2 Robot: Consists of any type of robot, gun or tool function, such
as painting, gluing and welding. Robot operations are orange
on the Gantt chart. (Created with eM-Arc, eM-Spot, eM-Paint,
and eM-Laser)
3 Manual: A procedure consisting of any type of human
operation. Manual operations are pink on the Gantt chart.
(Created with eM-Human)
4 Mechanical: A procedure consisting of any mechanical device
moving to different poses. Mechanical operations are cyan on
the Gantt chart. (Abbreviated mechanic or mech).
5 Non-Simulation: Any activity that you would like to include in
the sop, that requires time, but is not being simulated. Non-
simulation operations are brown on the Gantt chart.
(Abbreviated non-sim)
6 Sub-sequence: A way of adding all the operations from a
previously created SOP sequence to the current sequence.
(Abbreviated sub-seq)
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Overview of an Operation
) Operation - Operation name

) Type - Type of Operation
) Start Time - Time the operation begins relative to the previous
operation
) Procedures that are part of this operation. In this case robots are
moving along their paths
) Add (Previous Operations) - Operation previous to this one is
defined here and listed in the text window.
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) Add (Events) - Events, such as blanking/displaying and

attaching/detaching are defined here
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Lesson 2: Creating a
Sequence
Introduction
Operations performed in a certain order make up a sequence.
There are several types of operations that were briefly discussed in
the previous lesson. Within each operation, multiple events can be
performed.
¾ Open a Sequence
1 Open a sequence
Y From the Sequence of Operations window, click Sequence.
Y Select from the list, type in a name, or select NEW for a

default name for the sequence.
NOTE
A cell can have more than one sequence. This command lists all existing
sequences for the loaded cell. If you want to edit an existing sequence, select the
sequence name in the list.
¾ Define an Operation
These are the steps involved in creating an operation that is part of

the current sequence. These steps will be used in the exercise that
follows.
2 Create or open an existing operation to put in the sequence
Y From the Sequence of Operations window, click Operation
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Y Type in a name for the operation or select NEW for a

default name
NOTE
A sequence can have more than one operation. This command lists all existing
operations for the current sequence. If you want to edit an existing operation, select
that operation name from the list.
3 Determine the type of operation this will be. This step must be
done before anything else.
Y Select Operation -> Type.
4 Enter the procedure, or procedures. (i.e. matching a robot and

path)
5 Determine when this operation will occur by adding

previous operations. Use the Sequence window to select the
previous operation.
6 Determine if any events need to take place during this

operation.
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8 Repeat these steps until all desired operations for this sequence
have been defined.
¾ Store the Sequence of Operations
It is very important to note that a sequence is NOT stored when

performing the Store cell command. A sequence can only be stored
using the command (can store or store as)
9 Store the sequence
Y From the Sequence of Operations window, click store or
store as.
¾ Simulate the Sequence of Operations
Simulating a sequence is similar to simulating a path for a part.

10 Simulate the sequence
Y From the Sequence of Operations window, click Play .
EXERCISE 1: Planning a Workcell

Sequence of Operations
Objective: To plan the sequence for the training cell
The first steps are to figure out what the sequence is for this cell.
Then we need to figure out what type of Robcad operation that we
should use to perform each step in our sequence.
Here is the sequence of operations for this cell:
1 Part enters the cell on a rail
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2 Part is loaded into fixture

3 Part loader is retracted
4 Clamps are closed
5 Welding of parts
6 Open clamps
7 Lower loader
8 Unload part from clamps
9 Part exits the cell on rail
Match each of the above operations with one of the operation types
below:
A Robot (A Robot does the work)
B Manual (A Human does the work)
C Mechanical (Move from one state to another)
EXERCISE 2: Add a Robot

Operation to the SOP
Objective: To add a spot-welding operation to the Sequence
1 Go to the workcell menu, if you are not already there
Y From the Top Menu window, click Robcad-> Workcell.
2 Create a New Sequence
Y From the Sequence of Operations window, click Sequence
Y Type in: mysop
3 Setup the SOP defaults.
Y From the Sequence of Operations window, click Settings.
Y Click Operation Duration.
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Y Enter 0.1 and press [Enter]. (This will allow the joint speed
and acceleration determine the time for the operation).
4 Create a new operation by pressing the operation button on the
operation menu
Y (May have to click Operation on the Operation window)
Y At the operation name prompt enter: Welding

5 Change the type to a Robot operation
Y From the Operations window, click Type -> Robot.
Y Pick in the first box in the Robot column
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Y Select the gmfs420 robot.
Y In the Robots window, click the Select button.

Y Pick in the first box for the Path/Program column and select
the path.
Y Select the pa1 path.
Y In the Programs& paths window, click the Select button.

NOTE
Robcad will figure out the duration for you later when the simulation runs
6 Pick in this box and enter a description of this operation.
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7 Click the Accept button on the Operation window (You may

have to click Confirm also).
8 Simulate it.
Y From the Sequence of Operations window, click Play .

9 After the simulation is finished, reset the sequence.
Y From the Sequence of Operations window, click Reset
.
10 The SOP file must be stored to save changes. The Cell is not
stored with this button, however.
Y From the Sequence of Operations window, click Store.
EXERCISE 3: Make the Clamps

Open and Close
Objective: To Add a mechanical type operation to our Sequence
1 Create a new operation by pressing the operation button on the
operation menu
Y (May have to click Operation on the Operation window)
Y At the operation name prompt enter: Open_clamps.
Y Click the [Enter] key.

2 Change the type to a Robot operation
Y On the Operation window, select Type -> Mechanic
(Mechanical).
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Y Pick in the first box of the Device column and select

r1_clamps.
Y Pick in the first box of the From column and select

CLOSED.
Y Pick in the first box of the To column and select OPEN.
NOTE
Robcad will figure out the duration for you later when the simulation runs
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3 Now, pick in the box below r1_clamps and select r2_clamps.

Move the r2_clamps from the CLOSED state to the OPEN state.
4 Now, pick in the box below r2_clamps and select r3_clamps.
Move the r3_clamps from the CLOSED state to the OPEN state.
5 Select the Welding operation as the previous operation

Y On the Operation window, select Previous operations /
Add
Y Pick the big orange bar in the Gantt chart

Y (You may have to press Confirm also)
6 Pick in the description box and enter a description of this

operation.
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7 Click the Accept button on the bottom of the Operation

window. (You may have to press Confirm also).
8 Now, create another operation to close the clamps before the
welding operation begins. Using the steps above.
9 After creating the Close_clamps operation, Edit the Welding
operation and add Close_clamps as the previous operation.
10 Reorder the operations by time
Y From the Sequence of Operations window, click Reorder ->
By time.
11 Simulate it
Y From the Sequence of Operations window, click the Play
button.
12 After the simulation is finished, reset sequence

Y From the Sequence of Operations window, click the Reset
button.
13 The SOP file must be stored to save changes. The Cell is not
stored with this button, however.
Y From the Sequence of Operations window, click Store.
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Lesson 3: Using a Scenario

Introduction
Scenarios allow you to turn off the simulation of part of an SOP.
This can be helpful when building very complex simulations.
EXERCISE: Making the Overhead

Move
Objective: To add three operations into the SOP to make the part
loader move into the cell, lower, and then rise.
1 Create a new scenario so that we cannot simulate spot welding
and clamps opening and closing. We only want to see the part
loader move into the cell, raise and lower.
Y From the Sequence of Operations window, click Scenario.

Y Select the New button.
Y In the Scenarios window, click Select.
2 Edit the new scenario.

Y From the Sequence of Operations window, click Edit
scenarios.
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Y Move the operations for welding, and closing and opening

the clamps to the Inactive side by highlighting them and
press the >> button.
Y The inactive operations are shown hallow in the Gantt chart

and will not be simulated (for now).
3 Create three more operations in our sequence as described

here:
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4 Simulate the sequence. Notice only the active operations are

simulated
Y From the Sequence of Operations window, click the Run
button.
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Y From the Sequence of Operations window, click the Reset
button.
5 Edit the new scenario.
Y From the Sequence of Operations window, click Edit
scenarios.
Y Move all the active operations to the inactive list using the
>> button.
6 Create three more operations in our sequence as described
here.
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7 To prepare for the next exercise select the all active scenario
Y From the Sequence of Operations window, click Scenario -
> All Active.
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CHAPTER 5
Lesson 4: Editing Operations

Introduction
Previous operations:
) An operation can have more than one previous operation.
) Two operations can both have the same previous operation.
In this exercise, we will edit the operations and add additional
previous operations. There are two ways to open an operation for
editing:
) Method 1: Just pick the operation on the Gantt chart. The
operation is opened for editing.
) Method 2: From the Sequence of Operations window, click the
Operation button. Select the Operation button, select the
desire operation from the list, and click Select. The operation is
opened for editing.
EXERCISE: Creating More Complex

SOPs
Objective: To add all the operations in our sequence for your cell
in your project that is similar to the sequence station11 from the
projects/intro project.
1 This exercise builds on what was done in the previous exercises
2 The previous operation for Welding (operation 5) will be both
Close_clamps (operation 4) and Retract_loader (operation 3).
Y In the Gantt chart window, pick the Welding operation.
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Y The operation is opened for editing.
Y In the Operation window, click the Add button.
Y Pick the Retract_loader from the Gantt chart.
Y In the Operation window, click the Accept button. (You

may also have to click Confirm).
3 The previous operation for Unload_part (operation 8) will be
both Open_Clamps (operation 6) and Lower_loader (operation
7).
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CHAPTER 5
Y In the Gantt chart window, pick the Unload_part operation.

The operation is opened for editing.
Y In the Operation window, click the Add button.
Y Pick the Open_Clamps from the Gantt chart.
Y In the Operation window, click the Accept button. (You

4 Two operations can both have the same previous operation.
Add these relationships in the same way:
Y The previous operation for both Retract_loader (operation
3) and Close_clamps (operation 4) is Load_part (operation
2).
Y The previous operation for both Lower_loader (operation 7)
and Open_clamps (operation 8) is Weld (operation 6).
5 Play the simulation and then reset it afterwards.
6 Store the SOP and store the workcell.
NOTE
We will add the events in the next exercise to complete our SOP.
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Lesson 5: Types of SOP Events

Introduction
An event is an activity that requires zero time, such as attach or
detach.
Events happen relative to the start or the end of an operation. Each
of the different types of operations can contain multiple events.
Events can happen before, after, or at a specific time offset within
an operation. Here is a brief description of SOP events.
¾ There are 15 SOP events:
(Listed here as shown in the Gantt Settings button / window)

) Blank - Hide an entity during simulation
) Display - Unhide an entity during simulation
) Change View – Change the viewpoint during simulation, using
a view created in the View Manager.
) Change Color – Change the color of an object during
simulation.
) Attach - Attach two components during simulation
) Detach - Detach two components during simulation
) Group - Group several components during simulation
) Ungroup - Ungroup several components during simulation
) Change TCPF - Change the TCPF of a ROBOT during
simulation
) Change CP frame - Change the CP frame of a HUMAN during
simulation
) Put - Put an component at a specific location during simulation
) Collision Pair - Activate or deactivate a collision pair during
simulation
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) Set Time Interval – Change the time interval during simulation

) Drive Device – Change the pose for a device during simulation.
) Send Signal – Send a signal (i.e. stop or go) between two robots
during a simulation.
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EXERCISE 1: Adding Attach and

Detach Events
Objective: To finish the sequence of operations by adding the
events.
1 This exercise builds on what was done in the previous exercises
2 Position the part before the attach event.
Y Change the Pick Level to Component.
Y From the Display menu, click Display/Entity.
Y Pick the Overhead, and click Accept.
Y In the Graphics Window, right click the wireframe part and
select Placement .
Y From the Placement Editor window, click Put.
Y Change the Pick Level to Entity.
Y From the Put window, for the Target Frame, select the
frame floating in space (named overhead.carriage).
Y Click Accept.
3 Edit the Enter_cell operation.

Y In the Gantt chart window, pick the Enter_cell operation.
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4 Create an attach event.

Y In the Operation window (for the Enter_cell operation).
click the Events/Add button.
Y Select the event type such as Attach.

Y In the Attach window, for Cell elements, pick the wireframe
part. (It doesn’t matter whether your Pick Level is Entity or
Component for this pick).
Y Change the Pick Level to Entity.
Y In the Attach window, for Attach to, pick one of the suction
cups (black objects) on the overhead.
Y In the Attach window, click Rel to start. (Our time offset
will be zero so we do not have to enter it).
Y In the Attach window, click the Accept button.
Y In the Operations window, click the Accept button. (You
Y In the Gantt chart window, a white diamond is shown at the
beginning of the Enter_cell operation.
5 Look at the events color legend.
Y In the Gantt chart window, click Events & signals ->
Legend.
Y If the events show in black (not with the colors from the
legend): In the Gantt chart window, click Events & signals -
> Colored.
6 Initialize the start position for the wireframe part.
Y From the Sequence of Operations window, click
Simulation.
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Y From the Sequence of Operations window, click Reset and

Initialize before running the simulation (after changing the
positions of objects).
7 Create a detach event:
Y Edit the Load_part operation by picking it on the Gantt
chart (its contents should be shown in the Operation
window).
Y In the Operation window, click the Add button and select
detach.
Y Add a detach event for the wireframe part at the end of the
Load_part operation.
Y In the Detach window, click Accept.

Y In the Operation window, click Accept.
Y In the Confirm window, click Confirm.

8 Create an attach event:
Y Edit the Welding operation by picking it on the Gantt chart
(its contents should be shown in the Operation window).
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attach.
Y Add an attach event for the wireframe part (component) to
the surface part (entity) at the end of the Welding operation.

9 Create another attach event:
Y Edit the Unload_Part operation by picking it on the Gantt
chart (its contents should be shown in the Operation
window).
attach.
Y Add an attach event for the wireframe part (component) to a
suction cup (entity) of the overhead at the beginning of the
Unload_Part operation.

10 Play the simulation and reset it afterwards.
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EXERCISE 2: Adding “Change to

View” Events
Objective: To finish the sequence of operations by adding the
events. Putting It All together: Recall what you have learned to
perform this exercise.
1 Using the View Manager create a view at the Full View

position. Name it Full_View.
2 Using the View Manager create a view zoomed in on

the clamps (i.e. where the parts will be welded). Name it
Zoomed_In.
3 Add a Change to View event at the beginning of the SOP which

references the Full_View.
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4 Add a Change to View event at the beginning of the

Retract_Loader operation which references the Full_View.
Apply the view in 50 steps.
5 Play the simulation and reset it afterwards.
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CHAPTER 5
Lesson 6: More SOP Tools

Introduction
We now have the ability to create a basic SOP. However, we can
do many more things with SOP. Let's look at some of them.
Sub-Sequences
Sub-sequence enables putting an existing sequence into the current
sequence. The Gantt chart displays the subsequence as a white bar
showing the duration of the subsequence. Subsequences must be
for the same workcell as the current sequence.
Copying Operations
Operation/operation COPY option enables copying the current
operation.
1 You must have the operation you want to copy in the operation
window .
2 Then the operation button COPY will be available.
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Showing Driven Operations

The sequence chart can show driven operations. The motion of a
robot or human may cause other mechanisms to move, e.g., guns,
conveyors and index tables. These devices produce their own bars
on the chart as the simulation proceeds and their motions are
created. The bars correspond to operations that have the names of
the devices to which they pertain.
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The bars are displayed as hollow and are colored according to the
type of the motion. Such a device operation may contain several
procedures, i.e., several motions for the same device.
One example is a spot-welding gun that is operated at each
welding location. All of the procedures of the same device are
included in the same operation. Every such driven operation lasts
from the time it is created until the end of the simulation. When the
simulation is run, the bars are shortened to correspond to the actual
time that the device moved.
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CHAPTER 5
Lesson 7: Using Camera Views

(Optional)
Introduction
We can create cameras (viewpoints) in the cell, and camera views
known as viewfinders. The viewfinder windows display the views
as seen by their respective cameras; these windows have a red
border.
The position of every camera is specified. If the attach command in
the layout menu subsequently attaches a camera to a moving
entity, the camera moves together with the entity.
Types of Camera Views

The view of a camera can be specified as one of three modes:
) If the view follows a moving entity and the camera is not
attached to a moving entity, the camera pivots as necessary to
maintain the specified view, i.e., it maintains the same position
but its orientation changes. Viewpoint mode is Follow entity.
) If the view is a fixed point or follows a moving entity and the
camera is attached to a moving entity, the camera pivots as
necessary to maintain the specified view, i.e., it maintains the
same position relative to the entity to which it is attached but its
orientation changes. Viewpoint mode is Fixed on point.
) If the camera view is free and the camera is attached to a
moving entity, the camera does not pivot but remains stationary
relative to the entity; neither its relative position nor its relative
orientation changes. Viewpoint mode is Free.
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Generating a new camera with an unspecified (free) viewing mode

causes it to point initially toward the viewing center of the
Graphics Window: either the reference frame or as determined by
the view center command in the Utilities Window. In this mode the
camera view is controlled either by the movement of the entity to
which the camera is attached if any, or manually by means of the
transfer panel.
Viewing Through the Eye of the

Robot
The view mode of an existing camera can be changed. This feature
permits generating a camera located at the TCP of a robot with a
view along its approach vector, attaching the camera to the TCP,
and then freeing the view of the camera from any external entity.
As the robot moves during a simulation, the viewfinder window
corresponding to the camera displays the changing view along the
approach vector. This use constitutes the camera as an eye of the
robot.
Manipulating Viewfinders
Any graphics window either can be activated as the viewfinder of a
selected camera, or it can be used for the usual Robcad display:
) If the graphics window acts as a camera viewfinder and if the

projection is parallel, the camera itself appears in the
viewfinder window as a small rectangle surrounding a circle.
Zooming the view does not affect its size. If the projection is
perspective, the camera appears in the viewfinder window as a
box surrounding a circle. Zooming the view moves the
observer closer both to the view and to the camera and
therefore affects the size of the camera, until the camera
disappears behind the viewing plane, i.e., the observer.
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) - If the graphics window is used for the usual Robcad display, it

shows the cameras in their specified locations; if a camera
pivots and/or moves during a simulation, the display is updated
accordingly. The cameras are always displayed in the
wireframe mode regardless of current selection of the display
mode command in the Window Setup and Global Setup
menus, and they remain the same size of zoom operations.
However, the Query window’s Current Cell Lists/components
command lists the cameras; they are named vp1, vp2, etc. The
Query window’s Information commands return pertinent
information on specified cameras.
Instructor Demo: Creating a Free

Camera Viewpoint
1 From the Display window, click Viewing / View Points.
2 Select View points -> Create view point
3 Pick where to locate it
Y Select Free (view mode).
4 Attach the camera to something that moves along a path. (the
camera viewpoint moves with the part).
Y From the Layout window, click Attach.
Y Create a 2-way attachment.
Y Click Accept.
Instructor Demo: Changing the

Camera Viewpoint
1 From the Display window, click Viewing / View Points
2 Change the viewpoint mode.
Y Select View points -> View point mode.
Y Select the new mode Fixed at a Point.
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Y Pick the point.

Y Click Accept.
Instructor Demo Closing a Camera

Viewpoint
1 Place your mouse pointer into the camera view point.
2 Press the [F5] key and select Close Window.
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CHAPTER 5
Lesson 8: Static Output

Outputting the Workcell
A static image of the workcell can be created by placing the mouse
pointer in the graphics window and pressing the [F4] key or using
the View Manager toolbox.
) Screen to a File - Can create an RGB, JPG, or TIFF file (it's best
to specify the full path of where you want the file
) Screen to Printer - Sends the RGB file to a Robcad defined
printer. Robcad printers can convert the RGB to Postscript or
PCL printer languages.
) VRML-2 to file - Creates a VRML file. The VR stands for Virtual
Reality. This is the format allows users with Netscape or
Internet Explorer to view the Robcad cell in 3D. They can pan,
zoom, and rotate the workcell.
Outputing a Robcad Text Window

A text file can be created by placing the mouse pointer in the text
window and pressing the [F4] key.
) Screen to a File - Creates a text file (it's best to specify the full
path of where you want the file)
) Screen to Printer - Sends the text file to a Robcad defined
printer.
EXERCISE 1: Generating Output

from the Graphics Window
Objective: To create a picture of the graphics window
1 To save ink in the printer, change the graphics background
color to white.
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Y From the Setup window, click Colors.

Y From the Setup window, click Color Editing.
Y On the Color Editing window, select Choice -> Graphics

Bgd.
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Y Make it white by dragging the red, green, and blue bars to

the top.
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2 Turn the Floor top to white.

Y On the Color Editing window, select Choice -> Floor top.
Y Make it white by dragging the red, green, and blue bars to
the top.
3 Turn the Floor grid to black.
Y On the Color Editing window, select Choice -> Floor grid.
Y Make it black.
4 Save this as a configuration named for_printing
Y From the Setup window, click Configuration.
Y From the Setup window, click Store -> Name.
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Y Name it for_printing.

5 Move cursor to the Graphics Window.
6 Make a picture of the Graphics Window.
Y Press the [F4] key.
Y In the Output operations window, select Screen to JPEG
file.
Y For File name enter: mypicture.jpg.
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Y Click the [OK] button.

7 Return to the default configuration
Y From the Setup window, click Load -> Defaults.
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EXERCISE 2: Generating Output

from a Text Window
NOTE
The printer must be defined by the system manager before sending output to the
printer with the option.
1 Move cursor to a text window. (Status Window)

NOTE
An Output operations window appears with option to output the text to a printer or to
a file.
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3 Click the Cancel button to close the Output operations

window. We will not output a text file at this time.
EXERCISE 3: Using the View

Manager to Output Pictures
Objective: To create a picture of the graphics window a second
way
1 Load the configuration you stored in a previous exercise called
for_printing.
Y From the Setup window, click Load -> Name.
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Y Select for_printing.
Y Click Select.
2 You should already have created at least one view in the
previous exercises. We will now send one them to a picture
file.
3 From the Toolbox Manager, click View Manager .

4 Select one of the view you created.
5 Create the picture.
Y In the View Manager, pick either JPEG or TIFF.
Y Click the Export button.
Y In the Store image window, for Name, enter
AnotherPicture.jpg
6 Load the default configuration again
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Y From the Setup window, click Load -> Default
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Lesson 9: Storing Simulations

Outputting the Simulation
A movie of the workcell can be created in two ways
) VRML-2 - Creates a 3D simulation of the workcell that can be
played in a web browser (with a VRML2 plug-in) without the
need of Robcad. Or static 3D workcell can be viewed in a web
browser.
NOTE
A (3D) VRML-2 simulation can be recorded on UNIX using Robcad-> Utilities ->
RecordVRML2. On a PC only static (3D) VRML-2 files can be created.
NOTE
The web browser (using a plug-in) must support VRML-2 format in order to run the
simulations. (For example: on SGI and PC this is the Cosmo Player).
NOTE
It is suggested to get the Cosmo VRML-2 plug-in and the TCL plug-in. They are
available on the web for downloading
) MPEG Simulation - Creates a 2D movie that can be played on

any computer with a MPEG player without the need for
Robcad.
NOTE
The Robcad CDROM contains a freeware MPEG player for UNIX and another for
PC
¾ You can open VRML files in two ways:

) Locally using file -> open file in a web browser.
) Remotely by placing it in a website and accessing it using a
web browser (with a VRML2 plug-in).
EXERICSE 1: Creating a VRML-2

File for Web Browsers
Objective: To create and view our cell in a web browser (using a
plug-in such as the Cosmo VRML2Player)
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1 Create a VRML-2 file

Y In the Graphics Window, press the [F4] button.
Y Select VRML 2 to file.
Y Enter cell1.wrl for the file name.
Y Click [OK].
2 Minimize Robcad by pressing this button in the upper right
corner.
3 On UNIX: In a shell window with a prompt, type Netscape and

press the [Enter] key. On a PC, double-click on the Internet
Explorer desktop icon (or other web browser with a VRML-2
plug-in installed).
4 Open the VRML file using a web browser.
Y Select File -> Open
Y Browse into your project directory (projects/myproject)
Y Browse into your cell directory
(projects/myproject/mycell.ce)
Y Select the VRML file (such as cell1.wrl )
Y Click [OK].
NOTE
If the plug-in is installed, your 3D workcell will be shown. It can be panned,
zoomed, or rotated. If the plug-in is not installed, it will just show the contents of the
WRL text file.
EXERCISE 2: Recording Robcad

Simulations (for Creating an
MPEG movie)
NOTE
Ensure that the current condition of the contents of the graphics space is easily
reproducible. It is usually preferable to begin recording a command file immediately
after loading the desired contents of the graphics space.
1 From the Top Menu window, click Robcad-> Utilities. From
the Utilities window, click logger to display the logger window.
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2 Select record. A window appears listing the names of the

existing command files.
3 To overwrite an existing command file, pick its name; the
window disappears and the name of the selected command file
appears in the file value field. To produce a new command file,
pick close. The list of names disappears; type the name of the
new command file in the file value field, and press the [Enter]
button. Entering the command-file name causes the logger to
begin the process of recording subsequent Robcad commands.
4 Issue Robcad commands as desired. Each command is recorded
in the named command file as it is issued, and accordingly
increments the counter.
5 To exclude commands from the command file, select pause.
Stop is then deactivated, leaving only pause active; subsequent
Robcad commands are then not recorded in the command file.
To resume recording commands, again select pause; the stop
function is again activated.
6 To close the command file, select stop. The name of the
command file disappears from the file value field, the count
value field is reset to 0, the play, record and erase functions are
activated, and the pause and stop functions are deactivated.
The command file is preserved in the database and its name is
included in the window list that appears when the play, record,
and erase functions are selected.
NOTE
Exiting the logger before terminating the command file, or exiting the Robcad
operating session even without preserving changes, nevertheless preserves the
command file in the database. Use the erase function to delete a command file.
EXERCISE 3: Creating a MPEG file

from a Recorded Session
NOTE
Ensure that the contents of the graphics space are suitable for the sequence of
commands contained in the command file. Commands that cannot be performed
exit with an error message; some errors terminate the playing of the entire
command file.
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1 Open the logger window.

Y From the Top Menu window, click Robcad-> Utilities.
Y From the Utilities window, click logger to display the logger
window.
2 Select play & create movie. A window appears listing the
names of the existing command files.
3 Pick the name of the desired command file; the window
disappears, the name of the selected command file appears in
the file value field, and the command file begins issuing the
Robcad commands as they were recorded. The count value
field increments accordingly.
NOTE
To interrupt the command file, select the pause function. Stop is then deactivated,
leaving only pause active; Robcad commands can then be issued as desired. To
resume playing the command file, again select pause; the stop function is again
activated.
NOTE
To cancel the command file before it finishes, select stop. The logger panel reverts
to its condition when it was invoked. The same occurs if the command file finishes
normally, with the addition of a corresponding message in the messages window.
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CHAPTER 5
Lesson 10: Creating Web

Reports
Introduction
The Report Creator window is a tool for the automatic creation of
reports from the current workcell for viewing on standard browsers.
The Report Creator window contains options for creating views
manually or automatically for inclusion in the report. Add an
optional description that displays on the title page of the report in
the browser.
1 Select target dir and define the path and location of the Web
directory where the browser opens and the report is stored.
2 Press prepare images to create images in JPEG format of the
components that will display in the report. Choose from the
matrix of options to include exactly the images needed for the
report:
Y Automatic — prepares images of cell components using
view parameters determined by the system
Y Set Viewpoint — prepares images of components with view
parameters set by the user
Y Create new — prepares a new image of a component, even
if one already exists
Y Use existing — uses component images that were already
prepared
Y All — prepares an image for every component in the cell
Y Selected list — user picks the components in the graphics
window for which to prepare images or types the selected
component names in the Selected list window
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3 It is possible to select a combination of prepare image options.

For example, by choosing Automatic/Create new/Selected list,
the system prepares new images of components selected by the
user (even if images for these items already exist) with view
parameters that are automatically determined.
4 Press Generate to create the report and open the browser
automatically (Netscape by default, or configure the .robcad file
to determine which browser is used by adding the flag:
WEB_BROWSER <full_path>). The command creates a cell
view with default view parameters.
The browser opens a page in the Web directory which contains
links to Cell reports and other reports. Click on the Cell report link
to display the image of the cell and links to various cell sub-reports.
The report page contains the name of the project, date, name of the
report’s creator, and the optional description that was added when
generating the report. Choose the all in one page option to view the
report as one continuous document, or choose to display the report
by topic: Robot, Gun, Device, Man, Non-kinematic components,
Path, Weld points, Views.
Press Show report to open a new browser window and display
reports that were generated for the current cell, and for other cells
and other reports.
EXERCISE: Creating and Viewing a

Web Report
Objective: To create a picture of the graphics window a second
way
1 To complete this exercise, you must have workcell open.
2 Open the Report Creator window.
Y From the Toolbox Manager, select Report Generator .
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3 Create the web report

Y From the Report Creator window, click Target dir.
Y In the Save report to directory window, click Current
project.
Y Click Accept.
Y From the Report Creator window, click Prepare Images.
Y Click Accept.
Y From the Report Creator window, click Generate.
Y (If you are on a PC or the browser does not open
automatically, See the next steps for information).
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4 Minimize Robcad by pressing this button in the upper right

corner
5 On UNIX: In a shell window with a prompt, type Netscape and
press Enter (If it is not already running). On a PC start Internet
Explorer, by double clicking on the desktop icon (if it is not
already running).
6 On UNIX: Open the Web Report using menus in Netscape.
Y Select File -> Open page -> Choose file
Y Select Browse into your project directory
(projects/myproject)
Y Browse into your WEB_REPORT directory
(projects/myproject/myproject_WEB_REPORT)
Y Select the HTML index file (index.html)

Y Click [OK].
Y Select Open in Navigator
7 On PC: Browse to the file and open it in Internet Explorer.
Y Select File -> Open.
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Y Select Browse.
Y Browse to your project directory (projects/myproject)
Y Browse into your WEB_REPORT directory
(projects/myproject/myproject_WEB_REPORT).
Y Select the HTML index file (index.html)

Y Click Open.
Y Click [OK].
8 Pick CELL (or the name of your sop shown on the web report)
to see the report for this sequence of operations.
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Chapter Summary
) The basics of SOP in Robcad.
) How to create a sequence.
) How to create a scenario.
) How to edit operations.
) How to add events to an SOP.
) How to use sub-sequences, copying sequences, and driven
operations.
) How to create and use camera views.
) How to output pictures and static VRML files.
) How to output simulations to various formats.
) How to create web reports of the workcell.
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Other Selected Topics
6-1
CHAPTER 6
Chapter 6
Other Selected
Topics
About This Chapter
This chapter provides a description of other important topics in

Robcad such as CAD Integration. It contains the following lessons:
) Lesson 1: More on Robot Motion, page 6-2, describes more on
robot motion.
) Lesson 2: Cables, page 6-7, describes how to use and create
cables.
) Lesson 3: Introduction to CAD Integration with Robcad
(Optional Topic), page 6-21, describes how to create and use
CAD-linked components.
) Lesson 4: Stand Alone GUI for CAD Interfaces (UNIX only)
(Optional Topic), page 6-31, describes how to import and
export data via some UNIX tools.
) Lesson 5: Data Menu CAD Translating (Optional Topic), page
6-32, describes how to import and export components from
other file formats.
) Lesson 6: More Data Commands Windows (Optional Topic),
page 6-39, describes how to use some of the other Robcad data
commands.
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Lesson 1: More on Robot

Motion
Introduction
This lesson provides some transitional information between the
Robcad base class (WKP100U) and the eM-OLP class (WKP211U).
More with the Motion window

) Solution and turns – Can be accessed in several places in
Robcad including the Motion window (i.e. using the

Solution and turns button). In cases where multiple solutions
are available to reach a location, allows the viewing and
selection of different inverse kinematics solutions.
) Location types
Y Global Locations – Can be created using several buttons
with Robcad including the Path Editor window and
the Motion window (i.e. using the Mark Loc button).

They are locations whose origin is tied to the origin of the
workcell. Can be used with any robot. Can to be
converted to Local Locations before downloading. Not
specific to one inverse solution.
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Y Compound Locations – Can be accessed in several places
in Robcad including the Motion window (i.e. using

the Update button). It is a global location with a value
th
stored for an external axis (i.e. 7 axis). An external axis
must first be defined for the robot. Topic not covered in
class.
Y Local Locations – Can be accessed in several places in eM-
Workplace including the Motion window (i.e. using

the Auto teach -> On button). They are locations whose
origin is tied to base frame of a specific robot. Can only be
used with one robot. Inverse solution specific. See the eM-
OLP class (WKP211U).
) Robot Controller – Can be accessed in several places in eM-
Workplace including the Motion window (i.e. using the

Controller button). It is used to assign an Robcad controller to
a robot, which sets the teach pendant (containing robot specific
motion parameters) and motion planner for a robot.
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Default Controller Location

Attributes
) Motion Type – Describes how a robot will move in between
locations.
Y Joint – typically causes the robot to move in an arc between
locations
Y Linear – causes the robot to move straight between the
locations.
) Zone – Describes how the robot will approach/arrive at a
location.
Y Fine – causes the robot to slow and “arrive” at the location
Y No Decel – cause the robot to not slow and “approach” the
location (However, arrival is not a requirement).
) Speed –
Y Joint Speed measured in degrees.
Y Linear Speed measured in mm/sec.
) Wait Time – measured in seconds.
These attributes can be assigned in several ways in eM- Workplace:
) Temporarily assignment – including the Motion window

(i.e. using the Set motion params button).
) Permanent assignment – Default attributes can be set on
locations using the Location Attributes window. For

example, it can be used to set the motion type, zone, speed,
and wait time. Topic not covered in class.
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¾ Instructor Demo
The instructor will create a small path with 3 locations. He will

use the Set tcpf track and Set motion params abilities in the
Settings tab of the Motion window to show how the robot

really moves.
Instructor: run the path once with joint motion type, then run it
again (with a different track color) with linear motion type. Use a
similar process to explain
External Axis
th
7 Axis - Topic not covered in class.
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Accurate Robot Motion Simulation

RRS versus MOP versus .e – Topic not covered in class. See the
eM-OLP class (WKP211U).
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CHAPTER 6
Lesson 2: Cables
Introduction
The eM-Cables product provides a convenient means of simulating
the use of the various cables used with robotic applications. These
include electrical power and control cables, liquid-conducting
coolant and materials cables, and air-pressure control and cleaning
cables. Although many designs enable ignoring these cables,
critical component placement for optimizing space requirements
can require taking cable runs into account.
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Overview
The eM-Cables product enables generating cables in the workcell,
routed where and as desired. In the Robcad system, a cable is a
special component that obeys the natural rules of physical motion.
It looks like a long, narrow pipe attached at both ends to other
objects in the workcell. When these objects move, the cable
remains attached and changes its shape accordingly. Other forces,
such as gravity and contact with objects in the environment, also
affect the shape of the cable.
User-determined properties of cables that affect their behavior are
length, radius, and stiffness. The length and radius determine the
size of the cable; the stiffness affects the gravity and internal forces
that act on the cable to determine its final shape. In addition, as
many hooks as desired can be placed along the length of the
cables, attached where desired either with fixed force or with
linearly variable spring-like force, or attached directly to the
hooked point either at a fixed point or with the ability to slide
through the attachment.
Both the cables can be modified, deleted, colored and queried like
any other component; when the workcell is copied or deleted, the
cables accompany it. But they cannot be actively placed, shifted or
rotated. If cables touch other items in the workcell, a contact
feature can be actuated to cause the system automatically to route
the cables over and around obstacles; highlighting can also be
enabled to show in a distinctive color both the cables and the
contacted obstacles.
Usage
To use the eM-Cables product, load the desired workcell, and
proceed as shown below.
1 Create start and end point frames.
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Y From within the Workcell Layout menu, Create frames

where it is desired to attach the endpoints of each cable.
The cables protrude from the X-Y plane of each frame on
the +Z-axis side of that plane.
2 Create the cable.
Y From within the Cables menu, use the Create cable
command to generate a cable between the two frames
created in Step 1. The cable is displayed with the diameter
and length specified for the command; the bend of the
cable is determined by the stiffness.
NOTES:
The stiffness value is expressed in an arbitrary unit from 1 (flexible) to 5 (stiff). If the
assigned value results in a cable that appears different from the actual cable, use
the modify cable command to assign a different value to produce a displayed cable
that more closely approximates the actual cable.
The fulcrum value establishes the distance of the cable from the connection point
until bending, measured as a ratio to the cable radius.
3 Fine tune the cable parameters.
Y If the cable can to be modified, the Modify cable command
can be used to change any or all of its parameters. The
delete command can similarly be issued to delete a cable
together with its hooks.
NOTES:
Modify cable modifies all of the parameters of an existing cable, except its name.
4 Regenerate cables (as needed).

Y Cables may not appear in the actual resting place in
accordance with the pose of the robot. Use the Regenerate
cables command to view a cable in its final, correct position
for the current pose.
5 Add cable hooks (if desired).
Y If hooks need to be added to the cable, the Create hook
command can be issued to produce as many hooks as
desired. Hooks can be modified and deleted independently
of the cable itself.
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NOTES:
The system assumes a cable shape in accordance with the user’s intention.
Nevertheless, users can influence the creation, modification and regeneration of the
cable by letting the cable shape pass through a selected frame.
Exercise 1: Simulating Robots with

Cables
Objective: To load an existing cell and simulate a robot with
flexible cables.
1 Load the cable_servo.ce workcell.
Y From the Top Menu, select Layout.
Y From the Layout window, Load cell.
Y In the Load Cell window, browse into the
projects/other_selected project.
Y Select the cable_servo.ce workcell.
Y Click [OK].
2 Load the eM-Cables window.
Y From the Top Menu, select Robcad -> Applications.
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Y From the Applications window, select eM-Cables.
3 Simulate robot r120_3 and path pa3.

Y From the Toolbox Manager, click the Motion button.
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Y From the Motion window, set the Active mech to be the

r120_3 robot.
Y Set the Target to be path pa3 (blue path).
Y Click the Play button.

4 Watch the cable flex as the robot moves. If a cable is moved
too fast or otherwise stressed, its display will change to a row of
diamonds.
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CHAPTER 6
Exercise 2: Creating a Cable on a

Robot
Objective: To create a cable to enhance the existing dress package
of a robot.
1 Continue with the loaded cell from the previous exercise.
2 Create a frame to represent the cable start point.
Y From the Layout window, click the Create frame button.
Y From the Create frame window, click the By Circle tab.
Y In the Graphics Window, zoom in on the first cable bracket

of the r120_1 robot (the robot following the red path).
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Y Pick three points, counter clockwise around the inside edge

of the eye of the hook.
Y In the Create frame window, pick the Attach to prompt and

pick the hook where we just pick the three points.
Y Click Accept.
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CHAPTER 6
3 Create a frame to represent the cable end point.

Y In the Graphics Window, zoom in on the second cable
bracket of the r120_1 robot (the robot following the red
path).
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Y Follow the same procedure to create a frame here (don’t

forget to attach it).
NOTES:
Keep in mind that the cable will follow the Z-axis out of each frame.
4 View the eM-Cables window.

Y From the Workcell Top Menu window, select eM-Cables.
NOTES:
When loading an window from the Applications menu, it will become the last menu
on the Workcell menu by default (until you exist Robcad).
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CHAPTER 6
5 Create the cable.

Y From the eM-Cables window, click the Create cable button.
Y In the Create cable window, pick your first frame for the
Start location.
Y Pick the second frame you created as the End location.
Y Enter a Length of 1200 (current units=mm).
NOTE
A length of 1600 may be okay as well.
Y Enter a Radius of 41.25.

Y Enter a Stiffness of 1 (i.e. very flexible).
Y Enter a Fulcrum of 2 (i.e. flex quickly from the ends).
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NOTE
A pass through location (frame) may have to be added to reduce the sag of the
cable.
Y Click Accept.
6 Modify the cable as needed.
Y From the eM-Cables window, click the Create cable button.
Y In the Create cable window, pick your newly created cable
for the Cable name.
Y For Stiffness, enter 4.
Y Click Accept.
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CHAPTER 6
7 Simulate the r120_1 robot along the pa1 path (yellow path),
with the newly added cable. Notice how the cable flexes.
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CHAPTER 6
Lesson 3: Introduction to CAD

Integration with Robcad
(Optional Topic)
Introduction
In this lesson, we will describe how to CAD link parts and
assemblies from several CAD systems.
CAD integration (CI) is a much cleaner way to bring data from
other CAD systems into Robcad. This is because the original CAD
models are never translated into Robcad. With CI, the original
CAD model is read and displayed (tessellated) in Robcad as a
component.
Unlike translated components, integrated components are only a
shadow of the original CAD data. Therefore, the geometry of this
component cannot be changed, but kinematics can be added to it.
What Does CAD Integration

Answer?
) Can continues associativity with product data
) CAD independent e-Manufacturing environment
) Access to product assembly tree
) Multiple CAD system environment
) Communicate process information feedback
Y Notified of design problems
Y Preliminary design link
) Quick and accurate access to product data
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CAD Integration Benefits

) Use best-in-class CAD and e-Manufacturing solutions
) Enables concurrent engineering
Y Such as on-demand design reviews
) Start process studies early on
) No data translation or duplication
) Reduce data management costs
) No precision loss
) Attribute, geometry, and assembly linking
CAD Integration Strengths

Summary
) Gives quick & accurate procedure
) Allows concurrent engineering
) Reduces data management costs
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CHAPTER 6
Concept 1 of CAD Integration

Synchronous Math Based Manufacturing
Concurrent Access
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Differences between CAD

Integration and CAD Translation
Here are the plusses and minuses for each method.
¾ CAD TRANSLATION (CAD Interface)
+/- Can modify the translated parts

+ Requires less CAD licenses
- Breaks the link between the CAD model and the Robcad model
- May not get 100% of the CAD model
- Takes up more disk space than CAD Integration
¾ CAD INTEGRATION (CAD Linking)
+/- Read only parts
- Requires more CAD licenses

+ Maintains a live link between the CAD model and Robcad
+ See 100% of the CAD model the way it is viewed in the CAD
system
+ About 60% less disk space is used (no duplication of data)
Multiple CAD Integrated Parts in

the Same Cell
Users can have CAD integrated parts from NX, CATIA, I-DEAS, and
Pro-E in the same cell. For example, you could design your spot
weld guns in NX and your fixtures in CATIA and your work parts in
Pro-E.
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CHAPTER 6
Support of Attributes from the CI

Parts
It is possible to CAD-Link the geometry, but also the attributes of
the entities in the CAD system. The attributes from the original
CAD system are mapped to Robcad attributes. (For NX the file is
called ugrob.map).
Ability to See the CAD Integrated

Assembly Tree in Robcad
If you want to see the assembly tree of an assembly that has been
CAD Integrated, use this button. It allows you to see and use the
component tree structure from the original CAD system in the
Robcad tree tool.
Support of Kinematics with CAD

Integrated Parts
It is possible to add kinematics to CAD Integrated parts. For
example, you could CAD Integrate a spot weld gun into Robcad,
add the kinematics to it in Robcad modeling, and then use it in
your spot welding cell.
Exercise 1 On UNIX: Steps to

Creating a Link Part (NX, CATIA,
ProE)
NOTE
These steps assume that you have already setup your CAD Integration
environment. If you have not, please see the next couple of sections titled Setting
Up CAD Integration and Example .cshrc File Settings.
1 Enter the CAD Link menu on the Workcell Data menu
Y On the Top Menu window, click Robcad-> Utilities.
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Y On the Utilities window, select CadIT.

2 Select the Cad system you want to CAD Integration
Y On the CadIT window, click Setup -> CAD -> UG
NOTE
ProE parts are also available in the training data.
3 In the window labeled Cad select your NX part

Y On the CadIT window, click File -> Insert Elements
Y Browse to the: ..\projects\robdata\ug_parts
Y Choose: board.prt
4 Pick the part in the List.
5 In the window labeled Robcad library select the place to put
the pointer component that will refer to your NX part
Y On the CadIT window, click Edit -> Part parameters ->
Destination
Y Choose: misc
NOTE
It is suggested that users have a standard directory structure for the CAD parts and
a standard directory structure for their CAD Integrated pointer components in the
Robcad libraries
6 Create the link
Y On the CadIT window, click Apply.
7 Exit CadIT
Y On the CadIT window, click Exit.
Exercise 1 On PC or UNIX: Steps to

Creating a Link Part (NX, CATIA,
ProE)
NOTE
These steps assume that you have already setup your CAD Integration
environment. If you have not, please see the next couple of sections titled Setting
Up CAD Integration.
1 Open a command window.
Y From the Windows toolbar select Start -> Run.
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Y Type: cmd
2 Change into the folder with the data.
Y Type: cd C:\Robcad\data\projects\robdata\ug_parts
NOTE
ProE parts are also available in the training data.
3 Look at the syntax for the cadlink command

Y Type: cadlink
4 Run the cadlink command for a NX part named board.prt.
Y cadlink C:\Robcad\data\libraries\misc\board -p board.prt
Exercise 2: Steps to Using a Link

to a NX Part in a Cell (NX, CATIA,
ProE)
1 Load your cell
Y Start Robcad, if it is not already started.
Y From the Top Menu window, select Layout.
Y From the Layout window, select Load cell.
Y Choose an existing or a new cell.
2 Change your current library to misc
Y From the Layout window, select Get component.
Y In the Get component window select Current library.
Y Choose: misc.
3 Get the CAD integrated component into the cell
Y Choose: board.co
Y Click [OK].
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4 Store your cell
How To Know You Have The Latest

Part? (NX, CATIA, and ProE)
1 Load your cell
2 If the original NX part has been changed Robcad will print a
message before updating the changed components in the cell.
Each time you load a cell with CAD Integrated parts, Robcad
checks to see if you have the latest.
Setting Up CAD Integration with

NX
Before using CAD Integration, the user must install it from the
Robcad CDROM. The license name for NX CAD Integration is
UG_CI. Please see the Robcad Installation Notes for more
information on how to install a product from the CDROM.
Robcad loads NX CAD Integrated parts the same way as NX: Using
the settings in the load_options.def file. It is suggested that a
standard load_options.def file be created for a project and placed
in the /usr/local/robcad/usr folder on UNIX or the c:\Robcad\usr
folder on a PC.
The following parameters must be added to a .robcad file
(Typically in the /usr/local/robcad/usr folder on UNIX or the
c:\Robcad\usr folder on a PC):
¾ On UNIX:
CAD_WORK_DIR /usr/local/robcad/usr
¾ On a PC:
CAD_WORK_DIR C=\Robcad\usr
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CHAPTER 6
To do NX CAD Integration, Robcad will need access to NX and the

following NX licenses from UGS:
) UFUNC license (User Function Executable Environment)
) GATEWAY license
¾ On UNIX:
Example .cshrc File Settings for UG Version 15 CAD Integration

# These parameters can be added to the .cshrc in the users home
# dir or to the r.cshrc in /usr/local/Robcad/sys to affect all
# users
#
# For SGI and SUN
#
#setenv UGII_BASE_DIR /usr/ugs150/

#setenv UGII_ROOT_DIR /usr/ugs150/bin/
#
source /usr/local/robcad/sys/r.cshrc
setenv LD_LIBRARYN32_PATH ${LD_LIBRARY_PATH}
¾ On a PC:
Verify that these system environment variables are set by right-

clicking on My Computer and selecting Properties. Then choose
the Advanced tab and select Environment Variables.
) UGII_BASE_DIR
) UGII_ROOT_DIR
) PATH should contain the UGII_ROOT_DIR folder path
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CHAPTER 6
Lesson 4: Stand Alone GUI for

CAD-Interfaces (UNIX only)
(Optional Topic)
Introduction
A new stand-alone application has been created with a GUI for
CAD translation. It gives users the ability to import and export data
without starting Robcad.
The CAD translation stand-alone interface is activated by typing
robdex at a UNIX prompt.
1 Select whether to import to Robcad or export from Robcad
2 Choose the file format to exchange with Robcad
3 Select the desired parameters relating to the selected exchange
format
4 Select the files to be imported/exported and to put the resulting
files
5 Click Run.
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Lesson 5: Data menu CAD

Translation (Optional Topic)
Introduction
This chart shows which interfaces are supported on the various
Robcad platforms.
Interface SGI Platform PC Platform
AutoCAD DXF Yes Yes
CATIA v4 * Yes
CATIA v5 * Yes
IGES Yes Yes
SET Yes
STEP Yes
STL Yes Yes
NX * Yes Yes
VDFS Yes
* Check the Robcad release for a list of the supported versions of

CATIA and NX.
Process To Import a CAD file

From the Top Menu window, select Data. From the Data window,
select Cad import.
) Name of file to import
) Import format: Robfacein, Igesin, Setin, Stepin, Dxfin
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CHAPTER 6
) Name of component to be created

) Import button is not enabled until a Source file is selected
PRINCIPLE
Robcad does the import as a two step process. First, it creates a ROBFACE file
from the input file. Then it converts the ROBFACE file to a component file.
EXERCISE: Importing IGES Files

into Robcad
Verify that you are in the processing project
1 Import the IGES files from projects/robdata to the
projects/processing project
Y From the Top Menu window, select Data.
Y From the Data window, select Cad import.
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2 In the Source file area of the Cad Import window, verify that
you're in the projects/robdata project
Y The source project name is shown in the lower left hand
corner
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CHAPTER 6
Y From the robdata folder, double-click on the iges_parts

folder.
NOTE
There are 2 IGES files in this project.
3 Click on import format on the Cad import window and select

Igesin.
Y Two IGES files are shown.

4 In the Target file area of the Cad Import window, verify that
you're in projects/myproject project.
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Y The target project name is shown in the lower right hand

corner.
5 Import the file.

Y Select surf.igs in the Source file area of the Cad Import
window.
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CHAPTER 6
Y In the Cad Import window, click Import.

Y The file is translated from surf.igs to surf.co.
Y When it is done translating, press a y to close the translation
window
6 Repeat translation for the second file. (wire.igs)
7 View the imported surf.co and wire.co in Robcad.
8 Store the workcell, if desired.
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Process To Export a CAD file

From the Top Menu window, select Data. From the Data window,
select Cad export
) Name of file to export
) Export format: Robfaceout, Igesout, Dxfout
) Name of component to be created
) Export button is not enabled until a Source file is selected
PRINCIPLE
Robcad does the export as a two step process. First, it creates a ROBFACE file
from the component file. Then it converts the ROBFACE file to a specified file
format.
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CHAPTER 6
Lesson 7: More Data

Commands Windows (Optional
Topic)
Introduction
This lesson will cover the following menus:
) System Utilities (UNIX only)
) Instance to Prototype Connections
System Utilities (UNIX only)

¾ To Find a file, Backup a file, Convert a file from a earlier
version of Robcad, or Get information about Files sizes
and Disk usage
) From the Top Menu window, click Data
) From the Data window, click System utilities.
) From the System utilities window, click System.
You must have clearance to access these functions:

) Disk usage - displays list of disks and their current usage
) Backup - creates a backup of data selected to device selected
) Find - finds file of name specified
) File sizes - displays sizes of files selected
) Restore - recovers data from backup storage
) Converter - converts files from previous Robcad version format
to current format
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Instance to Prototype Connections

¾ To Explode, Resume or Replace Connections
) From the Top Menu window, click Data.
) From the Data window, click Project utilities.
) From the Project utilities window, click Connection.
Here are some of the commands on this menu:

) Explode Allows user transfer a reference to a library prototype
to a project prototype for selected workcell.
) Resume allows for the restoration of connections to prototypes.
) Replace allows the user to replace the connection from a
workcell to a prototype with a connection to a different
prototype.
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CHAPTER 6
Chapter Summary
) More on robot motion.
) How to use and create cables.
) How to create and use CAD-linked components.
) How to import and export data via some UNIX tools.
) How to import and export components from other file formats.
) How to use some of the other Robcad data commands.
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WKP100U Classroom Setup
1
APPENDIX A
Appendix A
WKP100U
Classroom Setup
About This Chapter
This chapter provides a description of how to setup a class and

contains the following lessons:
) Lesson 1: Software Requirements page 2, describes the
software and applications that must be installed on every client
for this class.
) Lesson 2: Classroom Setup page 3, describes how to setup a
class.
) Lesson 3: After Class: Resetting the data page 9, describes how
to delete the class projects so you can use the same data for
future classes.
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Lesson 1: Software
Requirements
Software Requirements
This class requires the following list of software and applications be
installed on every client:
) Robcad.
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APPENDIX A
Lesson 2: Classroom Setup

Introduction
These exercises must be completed by the instructor before class
begins.
EXERCISE 1: Setting up the

Training Data
Objective: To copy the training data from a CD and give write
permission to the folders.
NOTES:
The data requires at least 110MB free on the computer.
1 Download the training data from the training website on the

intranet or training CD. The data will be in the form of a zip
file. The zip file contains two primary folders: projects and
libraries.
2 On each Robcad student and instructor computer, browse to
the C:\Robcad\data folder. (The assumption is that Robcad is
installed in the C:\Robcad folder, the default location.)
3 If a projects and libraries folder, currently exists rename them

to something else.
4 Extract the data zip file directly to the C:\Robcad\data folder to
each Robcad student and instructor computer,.
5 Verify access rights are set correctly.
Y Select Start -> Run.
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Y Type: cmd
Y Change directories to the C:\Robcad\data folder.
Y Type: attrib –h /s
Y Type: attrib –r /s
6 Close the command window.
EXERCISE 2: Setting up the Robcad

Library Root
Objective: To set the Robcad library root.
¾ On an Robcad computer do these steps:

1 Start Robcad.
Y Select Start -> Programs -> Tecnomatix -> Robcad
(Robcad) -> Robcad
Y Or double-click the Robcad icon on the desktop.
2 Set the library root.
Y In the Top Menu window select the Setup button. The
Setup window appears on the right side of the Graphics
Window.
Y In the Setup window, select the Projects button.
Y In the Setup window, select the Set library root button.
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APPENDIX A
Y In the Library Root Browser window, browse into the

C:\Robcad\data\libraries folder.
Y Click [OK].
3 Save settings for the library root.
Y In the Setup window, click the Configuration button.
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Y In the Setup window, click the Store button.
Y Select Project from the dropdown.

Y A robcad_config.xml file is stored in the C:\Robcad\data
folder.
4 Exit from Robcad
Y Select Robcad -> Exit.
EXERCISE 3: Test that the First Cell

Works
Objective: To open the first cell in Robcad.
¾ On an Robcad computer do these steps:

1 Start Robcad.
Y Double-click the Robcad (Robcad) icon on the desktop.
2 Open the workcell in Robcad.
Y In the Top Menu window select the Layout button. The
Window.
Y In the Layout window, select the Load cell button.
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APPENDIX A
Y Browse to the /C=/Robcad/data/projects/intro folder.
NOTES:
In this class it is not necessary, however if you want to change drive letters (for
example to the I: drive), it can be accessed by typing /* in the Filter field and
pressing [Enter]. You can then double-click the desired drive.
Y Select the first_cell.ce workcell.
Y Click [OK].
Y The workcell contents are displayed in the Graphics
Window.
3 Rotate, Pan, and Zoom the workcell.
4 Open the Station11 SOP.
Y In the Top Menu window select the SOP button. The
Sequence of Operations window appears on the right side
of the Graphics Window.
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Y In the Sequence of Operations window, select the Sequence

button.
5 Simulation it.
Y In the Sequence of Operations window, select the Play
button.
6 Exit from Robcad
Y In the Top Menu window select the Robcad button.
Y On the dropdown menu, select Exit.
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APPENDIX A
Lesson 3: After Class:

Resetting the Data
EXERCISE: Reset the Data
Objective: To reset the data so we can use it for future classes.
1 Browse to the C:\Robcad\data folder
2 Delete the libraries, projects, and robcad_config.xml.
3 You are now ready to setup a new class. Refer back to Lesson
2 to begin.
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Customizing Your .robcad File
B-1
APPENDIX B
Appendix B
Customizing Your
.robcad File
About This Chapter
This chapter provides a description of the most basic parameters of

the .robcad file. It contains the following lessons:
) Lesson 1: Basic .robcad File Parameters page B-2, describes
some basic parameters that can be placed in the .robcad file.
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B-2
Lesson 1: Basic .robcad File

Parameters
Introduction
The .robcad file allows you to customize your ROBCAD
environment. You can establish an environment based upon which
site, which user, and which project. The .robcad file is read each
time that ROBCAD is started.
¾ On UNIX:
A .robcad file can be located in any of the following folders:

) /usr/local/robcad/dat/.robcad contains standard settings
) /usr/local/robcad/usr/.robcad contains site specific settings
) $HOME/.robcad contains user specific settings
) (working directory/.robcad) contains project specific
settings
¾ On PC:
A .robcad file can be located in any of the following folders:

) C:\Robcad\dat\.robcad contains standard settings
) C:\Robcad\usr\.robcad contains site specific settings
How Robcad Reads this File

When ROBCAD is started, it looks in each of the folders defined
above and reads the .robcad, if found. The folders are searched in
the order listed above. The environment setting in the .robcad file
being read overrides the setting in any previous file.
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APPENDIX B
Let's say for example, that you set ARROWS_IN_PATH to "on" in

the /usr/local/robcad/usr/.robcad file. In the $HOME/.robcad file
you set it to "off." ROBCAD will use "off" as the value for
ARROWS_IN_PATH, because the $HOME/.robcad file is read after
the other .robcad file.
If an environment variable is not set in any of the .robcad files or if
you've set a variable to a value that ROBCAD doesn't understand,
the default value will be used for that variable. Remember, the
default value is not necessarily the same value found in the
/usr/local/robcad/dat/.robcad file supplied by Tecnomatix.
NOTE: This appendix is an introduction to the usage of the robcad
file. It is not intended to be all inclusive of its functionality.
General File Description

Each line in this file contains a keyword followed by a value to be
assigned. A keyword defines which environment parameter will be
affected.
To set the value of a parameter, start the line with that
corresponding keyword, followed by a space, and the value you
would like to assign. Depending on the keyword, you can assign
it's value to be a number or a text string.
In the .robcad file, comments lines can be added by starting the
line with either a # or a space.
Here is an example of a simple .robcad file:
################ Miscellaneous Settings
################
FLOATING_LICENSE off
ANGLE_GOURAUD 166
FLIP_DISPLAY_MODE wire gouraud
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B-4
FLIP_PICK_LEVEL entity component

FLIP_PICK_INTENT where_picked snap
STATUS_MOTION_UPDATE on
Do not modify the standard .robcad file in /usr/local/robcad/dat.
This file will be overwritten each time that a new version of
ROBCAD is installed. To set the system wide settings for your site,
create a .robcad in /usr/local/robcad/usr directory and set the
parameters to your liking.
The .robcad files in any directory other than /usr/local/robcad/dat
usually contain only those parameters that you wish to change.
There is no need to copy the entire .robcad file to these folders.
Keyword Descriptions
NOTE
Not all parameters are active on a PC.
) FLIP_DISPLAY_MODE - This specifies the list of display modes

that you can cycle through by pressing the {F10} key. The three
modes available are wire, flat and gouraud. The default modes
specified are wire and gouraud.
) FLIP_PICK_INTENT - This keyword specifies the list of pick
intents that you can cycle through by pressing the {F11} key.
The currently selected pick level intent is displayed in the Top
Bar Menu. The four modes available are snap, on_edge,
self_origin, and where_picked. The default pick intents
specified are snap and where_picked.
) FLIP_PICK_LEVEL - This keyword specifies a list of pick levels
that you can cycle through by pressing the {F12} key. The
currently selected pick level is displayed in the Top Bar Menu.
The five modes available are entity, assembly_group, part,
component and cell_group. The default pick intents specified
are entity and component.
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B-5
APPENDIX B
) ANGLE_GOURAUD - This number tells ROBCAD which

neighboring polygons in a solid will be smoothed to one
surface when gouraud mode is on. The minimum value is 120
degrees and the default value is 137 degrees. This is the
difference in the angles of the surface normals.
) CONFIRM_UNLOAD_STORE – (UNIX only) This is used during
Load, Exit, and Change project commands. Setting it to off will
eliminate the question: "Do you want to store cell ...?" The
default value is on.
) FLOATING_LICENSE – (UNIX only) This is a toggle that enables
or disables license node-locking. The default value is off. Put
the name of the license server in to activate.
) ARROWS_IN_PATH - This enables or disables the display of
direction arrows in the paths. It can be set to on or off. The
default value is on.
) ARROWS_IN_PATH_SIZE - This number describes the size of
the arrows in a path. It can range from 1 to 5. The default
value is 3.
) ARROWS_IN_PATH_NUM - This number tells ROBCAD how
many arrows to place on the path. It can range from 1 to 100.
The default value is 20.
) LEVEL_OF_DETAILS - This number determines how many
points to skip when drawing a mesh. A small number will
cause large gaps and a big one small gaps. A reasonable
number is 0.3 which is the default.
) MIN_VISIBLE_SIZE - This number determines how small objects
can become before they are no longer displayed. The default
size is 4 (measured in pixels).
) MOVIE_SIZE - The movie size is specified as two numbers and
determines the size (in pixels) of a created movie. The first
number is the horizontal size , and the second number is the
vertical size. The default is 352 by 240. It is suggested that you
set the size to multiples of these numbers.
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B-6
) PARALLEL_VIEW - The parallel view has two numbers

separated by a comma. The first number sets the threshold and
the second sets the sensitiveness to mouse movement during
parallel viewing. The default values are 0 and 2.
) PROJECT - This toggle determines whether or not the project
command item is displayed on the Robcad menu. The default
value is on. Setting this to off will keep users from changing
their project.
) ROBCAD_KEYDIR - (Unix Only) This specifies the directory
used by the licensing mechanism to determine the location of
the node-locked license files. The full path and filename must
be specified. The default is /usr/robcad_keys.
) STATUS_MOTION_UPDATE - This toggle is used by the Move
-> Motion/Move location command in ROBCAD. It specifies
whether to update the Status window only when the command
is done or during a command at a specified time interval. (The
time interval is set in ROBCAD by the time interval command).
The default, off, updates the Status window after the command
is done.
Changing Top Level Menus (UNIX

only)
This is the general syntax for setting up your top-level menu
buttons. Top-level menus are selected from the Robcad menu.
Examples of these are Robcad->Modeling, Robcad->User, Robcad-
>Workcell, and Robcad->Spot. Top level menu buttons such as
setup, layout, and motion can be placed into any top level menu
using this syntax in the .robcad file:
TopMenu "TopItem_1 TopItem_2"
This is the general syntax for defining which menu item will pop up
first when you change to that top level menu item:
TopMenu.invoke TopItem
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B-7
APPENDIX B
Here's a small piece of a .robcad file that sets up the modeling

menu:
############# Top level menu configurability #########
Modeling "setup display modeling create edit kinematics
modeling_query"
Modeling.invoke modeling
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B-8
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Robcad Basics Training Guide

F V 4.0 December 2000

I V 7.5 October 2005

This edition obsoletes all previous editions.

Proprietary and Restricted

If this computer software and computer software documentation

Chapter 2: Workcell Layout..........................................................2-1

Chapter 3: Modeling and Kinematics ............................................3-1

Chapter 4: Processing ...................................................................4-1

Lesson 4: From Least Constraints to Most Constraints............................................ 4-29

Chapter 5: Basic Simulation Techniques .......................................5-1

Chapter 6: Other Selected Topics .................................................6-1

Appendix A: WKP100U Classroom Setup .................................... A-1

Appendix B: Customizing Your .robcad File .................................B-1

About This Chapter

This chapter provides an introduction to Robcad and contains the

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) Lesson 8: Additional commands, page 1-40, describes how to

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Training Guide Typographical

This bullet is used to show an important sub-grouping of a

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This bullet is used to show bullet points in a lesson. It is not

¾ Informational Sidebar Conventions:

This icon is used to show notes of special importance. This

¾ Basic Exercise Conventions:

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¾ Exercise Button Click Conventions:

3 Here is how an icon from a toolbar is refered to in

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4 Here is how a button on the keyboard

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Lesson 2: Basic Skills

Y Confirm that you wish to logout by clicking on the Yes

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Y Select Logoff from the dropdown.

UNIX Window Management

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¾ Minimizing and Maximizing a UNIX Shell

4 Click on the icon to return the window to its regular size.

Exercise: Starting Robcad

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Lesson 3: Basic Robcad

The Robcad Windows

The Robcadbutton on the Top Menu window is used to change the

The large window just below it is the Graphics Window. This

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The window to the right of the Graphics Window is the current

This window is located under the Graphics Window. It displays up

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¾ Status (Data) Window:

The Status Window is located along the bottom of the display. It

¾ Toolbox Manager Window:

The window in the lower right corner is the Toolbox Manager

It contains various Toolbox Managers. Some of these toolboxes are

Exercise 1: Minimizing and

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This behavior is the same on UNIX and PC.

2 All Robcad windows are minimized to one Robcadicon that sits

3 Double-click on this Robcadicon to restore all the Robcad

Mouse Conventions in Robcad

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