Robotics

Expert
Master
Specialist
V5 Robotics
Course Material
Copyright DASSAULT SYSTEMES
16
Introduction to V5 Robotics - Specialist Course
Robotics helps manufacturing engineering departments define and manage manufacturing

processes. It not only defines the number and sequence of steps to obtain a specific state of a
product, but also is able to associate the tools, right methods and data to perform tasks.
This specialist course in Robotics will introduce you to the initial aspects of preparing an
environment to carry out Robotic activity. The assumption is that the software is going to be used
in a stand alone mode, not connected to the Manufacturing Hub and not using other DELMIA
software such as Process Engineer. Other courses will address the interface of the Hub and
additional software configurations.
The exercises in every module are for learning Robotics and will further help in understanding the
activity. However, in the interests of maintaining the project focus, not every feature and function
available in Robotics will be used or addressed. It is suggested that you access the on-line
documentation that comes with the software installation to further explore functionality.
17
Demonstration
V5 Robotics Overview
Demonstration Overview (Demonstrate the building of a simple work-cell)
1 Select File / New / Process. This will create a template for

this project.
Goal of the Project
2 Using Fastening Process Planner, create some high level
activities: Station Activity, Load, Clamp, Weld, Unclamp, and
Unload.
3 Insert a Product (R.H. Body Side). (Insert / Insert Product)
4 Insert Resources (IRB 6400 / ROCKER2). (Insert / Insert Resource)
5 Attach the Weld Gun (ROCKER2) using

the Set Tool icon from the Robot
Management toolbar.
6 Assign the Robot to the Welding Activity. (Drag and Drop).
7 Assign the R.H. Body Side to the Load Activity. (Drag and Drop).
8 Create a New Tag Group. (Empty)
9 Create a New Tag in the Group.

18
Demonstration
Demonstration Overview (Demonstrate the building of a simple work-cell)
10 Create a New Robot Task. (Empty)
11 Add the Tag Group to the Robot Task. Jog to Tags, Modify Tags, and Insert
VIA Points. (Using Teach / Jog)
12 Add Weld Actions to the Points in the Robot Task. (Weld Actions)
13 The State of the Simulation needs to be saved, use Save the Initial State icon
from the Simulation toolbar.
14 Switch to the Workcell Sequencing workbench, and using the Set an Active
Task icon, set an Active Task for the task just created.
15 The Process is now set up to run this and can be done by using the Process
Simulation icon from the Simulation toolbar.
The Simple Process is now complete and can be saved for future use or as a
reference.
19
Demonstration
Instructor Note:
This manual is based on a simple method the first project is used as a base for the second and third projects
included in this manual. So the layout is a smooth flow the first exercise begins very slowly and simple the next
exercise covers some of the same methods with less instruction or direction from the manual and continues on
until the final third exercise which is the advanced topics which has even less direction counting on the fact that
the students have already completed these steps twice, once on the first initial exercise then again on the second
more complex exercise. Following this process flow should reinforce the learning and help the users become
more proficient quickly and easily.
20
21
Build the
1 Layout
2 Tags and
Robot Tasks
Activities and
Optimizing the 3 Assignments
4 Simulation
Advanced
5 Topics
Module 1
Build the Layout

22
1 Build the Layout
Overview
The first step in building a simulation is to set up a working environment that best reflects the needs
and desired outcomes in your context.
Once the environment is prepared, construction of the 3D Layout of a virtual world can
begin. Bringing in plant layout items, resources and product are all items relevant to
the virtual world.
Objectives
Position and Manipulate Compass
Insert Products and Resources
Snap and Attach
3 hours
23
Workbenches and Toolbars used in this Module
Workbenches
Device Task Definition
Toolbars
Inst.
24
1 Build the Layout
Position and
Manipulate
Compass
Using Manipulation Bounding Boxes

Snapping Automatically to Selected Object
Editing Positions
Insert Products
and Resources
Starting New Process

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

Using Snap Icon 3 hours

Defining Reference Plane (From) / Snap Options
Attaching Child Selection / Hide Show Attachments
25
Position and
A Manipulate
Compass
Using Manipulation Bounding Boxes

Snapping Automatically to Selected Object
Editing Positions
Inst.
26
Position and
Manipulate
1 Build the Layout Compass
About Positioning and Manipulating Compass
It is best to move each item to its approximate final position before inserting another resource. For items
intended to be placed relative to another item (like a plant floor), at least one coordinate will be critical. For
the plant floor example, all items must be at “0 on the Z axis.”
Factory Layout and Robotics / Device Task Definition
Device
Task
Definition
Complete information about positioning and manipulating compass can be found in the
on-line documentation.
27
Position and
Manipulate
Positioning and Manipulating Compass - Procedure
1 Items can be manipulated using the bounding

box. This technique will permit movement
anywhere in the world according to the
increment size set in the Tools/ Options/
Equipment & Systems / General / Grid step.
OR
The “Snap Compass to Object” function can

be used. The Parameters for Compass
Manipulation box can refine the positioning
even further.
Inst.
28
Position and
1 Build the Layout Manipulate
Compass
Using Manipulation Bounding Box - Procedure
To move an object using the bounding box,

1
click on the item in the PPR tree.
2 When the bounding box is highlighted around the item (usually

green), point the cursor to one of the lines of the bounding box.
Click and hold, and then move the item in the direction
permitted by the box. Let go of the cursor when this movement
is complete.
If additional movements are necessary, grab

another side of the bounding box and move in the
direction permitted by that axis.
3 Complete the grabbing and moving until the

item is positioned correctly.
NOTES: 1. Remember that the final placement of the item is defined by the grid size set in
Tools/Options as noted earlier. Inst.
2. Remember that items in reference to a floor must all be at 0 on the Z axis.
29
Position and
Manipulate
Snapping Automatically to Selected Object - Procedure
1 To move an object using the Compass, right click on the

compass and select Snap Automatically to Select Object.
Click on the object to be manipulated.
2 The compass moves to the object and the

bounding box appears.
Grab and hold the axis of the

3
compass that will move or rotate
the object in the desired direction.
Repeat the grabbing and moving until the object is in the

4
desired location.
Right click on the compass and click “Snap Automatically to

5
Selected Object” again to toggle off this function and permit the
compass to be moved back into the world.
30
Position and
Manipulate
Editing Positions - Procedure
The positioning of objects can sometimes be more quickly and
efficiently accomplished by defining the parameters for compass
manipulation. These settings will cause the compass (and thus the
object) to move in these predefined increments.
To access this function, right

click on the compass and select
Edit
This capability is useful if objects need to

be at a certain angle relative to another
object, or for speed of placement.
When snapped to the selected

object, the coordinates of the
Setting the object will be reflected in the top
Translation of the box.
increments will
cause the
compass to Setting the Rotation increments will
move along cause the compass to rotate about
the selected the selected axis in the pre-defined
amount.
axis in the pre-

defined EXAMPLE: Setting 90 deg along W
amount axis will cause a right angle
movement on that axis.
Inst.
31
Position and
Manipulate
Editing Positions - Procedure
1 For viewing ease, keep the rotation of the mouse relative to the floor. To do this, select
the Tools / Options / Display / Navigation tab. In the Navigation section, activate the
Gravitational effects during navigation option and select the Z (axis) option.
2 Click OK.
This setting should have already been set, this is just a reminder to show why and where it is to be set.
Inst.
32
Insert Products
B
and Resources
Starting New Process

Inserting Product
Mounting Device using Set Tool
Using Fit all In / Properties
Using the Save As Function
Removing Resources
Inst.
33
Insert Products
1 Build the Layout and Resources
About Inserting Products and Resources
The insertion of products and resources depend on how you wish to use them in your process. The end result
of the process should be the creation of a finished product consisting of the products listed in the product
branch of the PPR tree. The resources used in the process to create the final product should be listed in the
resource branch of the PPR tree.
Device
Task
Definition
Complete information about Inserting Products and Resources can be found in the on-line documentation.
34
Insert Products
Starting New Process - Procedure

1 On the main menu bar, click Start / Resource Detailing / Device Task Definition.
To create a new project, select File / New. The

2 New dialog box appears.
3 Scroll down to select Process and click OK.

A new Process window opens (Process 2). This shows

that you can run two different projects at the same time.
Then click the Close button for Process 2.
NOTE: Only one process needs to be opened.

35
Insert Products
Inserting Product - Procedure
1 Click Insert / Insert Product from the main menu bar.

The File Selection dialog box appears.
2 Select the appropriate folder from your Project Data folder and click
Open.
To insert tooling (resources), follow the same method as the one above, but select Insert Resource
3
instead of Product.
NOTE: Resources and products should be placed

in their appropriate place in the PPR tree.
Inst.
36
Insert Products
Inserting Product - Procedure

Another way to insert a product is by using the Insert Product icon from the Activity
Management toolbar.
1 Click Insert Product icon.
The File Selection dialog box appears and the selection can be
made from here.
By clicking on the Insert Resources icon, resources can be inserted using the method shown above.
Inst.
37
Insert Products
Mounting Device using Set Tool - Procedure
1 Click the Set Tool icon from the Robot Management toolbar.
The Robot Dressup dialog box appears. Select a robot from the PPR tree
2
for Name in the Robot section.
3 Select a tool or weld gun from the PPR tree for Name in Device section.
Click on Apply.
4 Re-orientate the end effecters on the robot, if need be, using the
compass to manipulate to desired or appropriate orientation.
5 When completed, click OK. Example:

Incorrect Correct
38
Insert Products
Removing Resource - Procedure
It is possible to remove resources or products after insertion and the method is as follows:
1 Select the Resource or product to be removed either

from the PPR tree or the 3-D view.
2 Click on the Remove from PPR icon from the PPR

Tools toolbar.
The item selected will disappear automatically after selecting

the Remove from PPR icon.
NOTE: The removing of products and resources can only be accomplished

on the top elements in the product or resource lists.
Inst.
39
Insert Products
Using the Save As Function - Procedure
9 To save the floor, from the main menu select File / Save As, and save in the appropriate
folder.
Example:
Inst.
40
Insert Products and Resources – Exercise
Inst.
41
Exercise – Insert Products and Resources
20 min.
Scope: Products and resources will be inserted and set up to start the creation of a simple one
robot one product work cell.
Conditions: V5 and Resource Detailing Device Task Definition workbench must be open.
In this exercise you will:

Start a New Process
Insert Products and Resources
Mount a Weld Gun
42
Do It Yourself (1/4)
Starting Point Ending Point

Open: V5 with Device Task Definition workbench
43
Start a New Process
1. Select File / New from the drop down menu.

2. Select Process from the List of Types in the New dialog
box and click OK.
A new Process opens and the page displays Process 2.
The software defaults to the last opened workbench automatically.
REMINDER: Only one Process needs to be opened at a time.

Inst.
44
Insert Product IRB_6400_24_150 ROCKER2

1. Using the methods from the procedure section
insert the following items.
R.H. Body Side Assembly – Product

Station (Fixture) – Resource
IRB_6400_24_150 (Robot) – Resource
Rocker2 (WeldGun) - Resource
The path to the Products and Resources is as follows:

R16 Robotics / Project Data / and then the appropriate
folder Resource or Product.
Station R.H. Body Side Assembly

Inst.
45
Mounting Device using Set Tool
1. Click the Set Tool icon.

2. Select IRB_6400_24_150 for robot name.
3. Select ROCKER2#2 from the PPR tree for device name.
4. Click Apply, do not yet click OK.
5. Double-click compass to use the Parameters for Compass
Manipulation dialog box.
6. Using Rotational Increments position the weld gun as shown:
7. Click OK.
Inst.
Save As: R17 Robotics / R17-Robotics Project Data / Process

/ RoboticsExercise-1.CATProcess
46
C Snap and Attach
Using the Snap Icon

Defining Reference Plane (From) / Snap Options
Attaching Child Selection / Hide Show Attachments
Inst.
47
Snap and Attach
1 Build the Layout
About Snapping and Attaching
The completion of a layout includes placing and attaching other various resources and assigning them to their
appropriate parent parts. This is done for the robots and other resources which sit on or depend on other resources
for full functionality. The snap function allows for placement and the child selection allows the parent child
relationship to be selected.
Factory Layout and Robotics / Resource Detailing V5 R15 Robotics

Device Task
Definition
More about snapping and attaching can be found in the on-line documentation.
48
Snap and Attach
1 Build the Layout
Using the Snap Icon - Procedure
1 In the Layout Tools toolbar, click the Snap icon.
The Snap Options dialog box appears.
2 Select a resource from the PPR Tree to be moved.

The Define Reference Plane (From) dialog box appears and a green compass is
displayed showing the resources current orientation. Example:
As the mouse pointer is moved, a small white rectangle is

displayed to show the selectable planes.
3 Move the white rectangle and line to the desired plane and
orientation and click the left mouse button. The green compass
moves to this location and orientation.
NOTE: Skip this step if the green compass is initially in the desired location
and orientation.
49
Snap and Attach
1 Build the Layout
Define Reference Plane (From) / Snap Options - Procedure
Click OK in the Define Reference Plane (From) dialog box. Then select
1
the object for the resource to be snapped.
The Define Reference Plane (To) dialog box appears.
2 Orientate the rectangle and the line as shown in the image. Click using the
left mouse button, and then click OK in the dialog box.
The Snap Options dialog box appears.
3 In the Select field, choose Face and click OK.

The resource should now be sitting on the object.
50
Snap and Attach
1 Build the Layout
Attach / Child Selection / Hide Attachments - Procedure
In the Layout Tools toolbar, select the Attach icon. The system prompts
8
to select the parent first, select the Object and then select the
resource.
The Child Selection dialog box appears.
9 Select OK, the Parent – Child relationship appears.
10 It is possible to Hide or Show this relationship. To hide it, right-click on the

text, and select Hide / Show from the contextual menu.
51
Snap and Attach – Exercise
Inst.
52
Exercise – Snap and Attach
20 min.
Scope: This exercise will finish the insertion of resources into the project. The resources will then be
snapped and the relationships defined.
Insert a Riser for the Robot

Snap the Robot to the Riser
Attach Robot and Riser
53
Load: R17 Robotics / R17-Robotics Project Data / Process / RoboticsExercise-1.CATProcess
54
Insert Robot Riser
1. Applying the previously learned insertion methods navigate to and insert Riser M.CATProduct as a
resource.
The Riser M. is inserted near the robot, exact positioning is not necessary at this time.
Riser M
Inst.
55
Snapping Robot to the Riser
Referencing the methods from the procedure section Snap the Robot to the Riser M.
1. Click Snap from the Layout Tools toolbar.

2. The command prompts for the object to be
snapped, select the Robot (IRB_6400_24_150).
3. Select as shown in the Define Reference Plane
(From) dialog box and click OK.
4. The command prompts for the object to be
snapped to, select the Riser M.
5. Select as shown in the Define Reference Plane (To)
dialog box and click OK.
6. Select as shown in the Snap Options dialog box
appears and click OK.
Inst.
56
Attaching Robot and Riser

In order to complete the relationship between the robot and riser they need to be attached
to one another.
1. Click Attach from the Layout Tools toolbar.

2. Select the Parent (Riser M.) and then the Child (Robot), for the relationship
to be selected.
3. Click OK in the Child Selection dialog box.
The relationship is complete.
NOTE: This is done in case the riser needs to be moved,

everything attached to the riser will move with it.
Inst.
57
Attachments and Child Selection

Using the compass and or the bounding boxes, create a layout that looks similar to this.
Inst.
Save As: R17 Robotics / R17-Robotics Project Data / Process / RoboticsExercise-2.CATProcess

58
1 Build the Layout – Module Summary
Summary
This module introduced the first step in building a simulation, i.e. to set up a working environment that best reflects
the needs and desired outcomes in your context.
Later procedure to bring in resources, products, and few basic tasks were discussed.
Coming Up
Create Tags and Robot Tasks

59
1
Build the
Layout
2
Create Tags
3 and Robot
4 Tasks
Activities and
Optimizing the Assignments
Simulation
5
Advanced
Topics
Module 2
Create Tags and Robot

Tasks
60
2 Create Tags and Robot Tasks
Overview
Tag points are created to give the robot a path to follow to perform the job at hand. The job
may be welding, adhesions, or other tasks. The tag points need to be stored some where
and this is where Robot Tasks come in. A robot task is a storage area for multiple tag
points or groups.
Objectives
Creating Tags
Creating Robot Tasks
Using Teach and Jog
Running a Robot Process
61
Workbenches
Toolbars
62
A Create Tags
Creating New Tag Group

Creating New Tags
Renaming Tag Group and Tags
B Create Robot
Tasks
C Creating New Robot Tasks

Use Teach and Adding Tags to the Task
Jog Renaming Tasks and Operations
Moving with Jog Panel

Moving with Teach Pendant
Adding Tags from Teach Pendant
D
Run a Robot
Process
4 hours
Saving Initial State
Using Task Simulation
63
A Create Tags
Creating New Tag Group

Creating New Tags
Renaming Tag Group and Tags
64
Create Tags
About Creating Tags (Points and Groups)
Tags are created to ensure that the robot has a path to follow. By creating tag points a path is
created, this path can be numbered and named. The path can then be reordered after the path is
created or in the middle of the process.
Device
Task
Definition
Complete information about creating tags can be found in the on-line documentation.
65
Create Tags
Creating New Tag Group - Procedure
1 To create a New Tag Group, click on the New Tag Group icon from the Tag toolbar.
The Tag Group dialog box appears.
2 The default name is acceptable but it can be given any name

you wish.
Click OK.
3
The tag group is created and is placed in the
Resource List of the PPR tree as shown.
66
Create Tags
Creating New Tags - Procedure
To create New Tags a group must first be created, once the group has been created a new tag can
be added to the group.
1 Click the New Tag icon from the Tag toolbar.
2 Select the Tag Group from the PPR tree to place the tag.
The Define Plane dialog box appears.
3 Click on Define Plane and using the define plane white bounding box,
select a position for the tag to be placed, and then click OK.
The tag is created and can be viewed by zooming in the area where it was
placed.
67
Create Tags
Renaming Tag Group - Procedure
Tags and the tag groups can be renamed in order to separate it into many different tags and groups
for viewing ease.
1 Tag groups can be renamed by right-clicking on the group in the PPR tree and selecting Properties.
The Properties dialog box appears.
2 Type a name under Instance name to rename the tag

group.
3 Click Apply. The name changes in the PPR tree.
4 Click Close or OK to close the dialog box.

68
Create Tags
Renaming Tag - Procedure
Tags can be renamed using the same method.
1 Right-click on the tag in the PPR tree and then select

Properties from the text box.
The Properties dialog box appears.
2 Click Tag in the Properties dialog box.
3 Under Naming, the name of the tag can be changed to

your preference.
4 Click Apply. The name is changed and it is updated

automatically in the PPR tree.
5 Click Close or OK to close the dialog box.

69
Create Tags – Exercise
70
Exercise – Create Tags
20 min.
Scope: The points for the welds must be created for the robot. In this section you will create tags and a
tag group to hold the tags that are created.
Create New Tag Group

Create New Tags
Rename Tag Group and Tags
71


72
Create New Tag Group
1. Click New Tag Group icon from the Tag toolbar.

2. The Tag Group dialog box appears, name the group
Weld_Path_1 and click OK.
The TagList appears in the PPR tree as shown in the below image:
73
Create New Tags
1. Click New Tag icon from the Tag toolbar.

2. Select Weld_Path_1 from the PPR tree as a place to store the Tag.
3. Click on the Define Plane icon from the Define Plane dialog box.
4. Using the White Define Plane box pick a place on the R.H. Body Side Assy.
Examples
Using the White Define Plane box pick a place on the R.H. Body Side
Assy.
Use the Next Page as a Guide to create tag Points.

74
Create New Tags
Tags will be created on and around the R.H. Body Side Assembly.
Using the picture below create a path of tag points similar to this.
Example
Inst.
75
Rename Tags and Groups
1. Right-click on the Tag.1 to be renamed, then select

Properties from the menu.
2. Click Tag node in the Properties dialog box.
3. Under Naming, change the name to Weld_Tag.
4. Click the Apply button to complete the changes.
5. Select OK or Close to close the dialog box.
The same method can be used to change the name of the tag
group except:
Instead of selecting the Tag node, the Product Node would

need to be selected.
Inst.
NOTE: The tag group name can be changed but it is not necessary for this project.

76
B Create Robot
Tasks
Creating New Robot Tasks

Adding Tags to Tasks
Renaming Tasks and Operations
77
Create Robot
2 Create Tags and Robot Tasks Tasks
About Creating Robot Tasks

This user friendly function makes programming robots less cumbersome. This provides the ability to take
the fastener points assigned to a process activity and reuse them for creating a robot task. Based on the
amount of fasteners assigned prior to selecting this powerful function, this generates operations that robots
use in a matter of seconds. A task is a linear sequence of activities called operations, each operation can
contain a motion and a set of actions.
Factory Layout & Robotics / Device Task Definition
Device Task
Definition
More about creating robot tasks can be found in the on-line documentation.
78
Create Robot
Creating New Robot Task - Procedure
1 To create a new robot task, click on New Robot Task from the Sequence toolbar.
2 The task must be associated with a robot, so select the appropriate robot for the task.
The task is automatically placed in the PPR tree under the Robot in the Program section.
Once the Robot Task has been created it can be

populated with tasks and operations.
79
Create Robot
Adding Tags to the Task - Procedure

Adding tags to the robot task can be done using the Add Tag icon from the Sequence toolbar.
1 Click the Add Tag icon from the Sequence toolbar.
2 Select the robot task to associate the tags with.
3 Select tag group to be placed in the robot task. Example

The operations are completed automatically and are displayed under the
Robot Task in the PPR tree.
80
Create Robot
Renaming Tasks and Operations - Procedure
Tasks and operations may need to be renamed in order to keep the process easy to read and understand.
1 Right-click on the Operation or Task that needs to be renamed.
2 Click on Properties from the menu and under the General tab the names can be changed.
3 Click on Apply.
81
Creating Robot Tasks – Exercise
82
Create Robot Task - Exercise
20 min.
Scope: Robot Tasks are created as a storage area for the operations assigned to the robot. A tag
group can be inserted into a robot task to create operations.
Create New Robot Task

Add Tags to the Task
Rename Tasks and Operations
83

84
Create New Robot Task
1. Click New Robot Task icon from the Sequence toolbar.

2. Select the Robot (IRB_6400_24_150) from the PPR tree.
Now that the Robot Task has been created it can be populated with the
associated paths and tags.
85
Adding Tags to Tasks
1. Click the Add Tag icon from the Sequence toolbar.

2. Select the Robot Task.1 for a place to store the tags.
3. Select Weld_Path_1 as the tag group to be placed in Robot
Task.1.
NOTE: When only one task is available, step 2 is not necessary.
The operations will be completed automatically and placed in the RobotTask.1 as

shown in the example.
86
Renaming Tasks and Operations

1. Right-click RobotTask.1 from the PPR tree, then select
Properties from the menu.
2. Select the General tab from the Properties dialog box.
3. Under Naming, change the name to Welding_Task.
4. Select OK or Apply in order to complete the changes.
The same method can be used to change

the name of the operations.
NOTE: The operations name can be changed but it is not necessary for this project.

87
C Move a Robot
Moving with Jog Panel

Moving with Teach Pendant
Adding Tags using Teach Pendant
88
Move a Robot
About Moving a Robot
Using Teach and Jog are two methods of performing the same task. The task being to move a robot, a robot
can be moved to create a tag point or for various other reasons. Teach and Jog are both used to move a
robot. Utilizing the Teach Pendant it is possible to add tags to the robot path this can be useful when a tag
point has been missed or if one is incorrectly placed.
Device Task
Definition
More about moving a robot can be found in the on-line documentation.
89
2 Create Tags and Robot Tasks Move a Robot
Moving using Jog Panel - Procedure
Jogging can be done using the Jog a Device icon from the Robot Management toolbar.
1 Click the Jog a Device icon, then select the device to be moved.
The Jog Panel appears.
Using the panel, there are multiple ways to jog the device.
One way is by using the Predefined Positions, the panel comes

2
with one default position Home_1.
Selecting this will move the device back to the original home
position.
OR
Another way to return the device to the home position is by

clicking the Reset button.
90
Moving using Jog Panel - Procedure
The device can be moved using

Joint Motion.
Cartesian Motion can also be used
to jog devices.
Each Joint can be moved

independently utilizing the arrows
or the degree arrows.
Linear and Angular Step size can
be set using these buttons.
Predefined Home Positions

can be set and accessed
here.
This button closes the Jog

Panel.
Highlighting this button
makes the changes
immediate. Inst.
Returns the device to the

default position.
91
Move a Robot
Moving using Teach Command - Procedure
Moves can be made and set by using the Teach command.
1 Select the Teach a Device icon from the Robot Management toolbar.
2 Select the Robot to teach from the PPR tree. The Teach
dialog box appears.
3 The robot can be moved using the Compass that attaches

to the end of the robot.
Example
92
Select the Different Tasks associated Choose between Table and

with the robot Compact Format
Process and VIA points can be

inserted using this feature
Select between the
Operations inside of the Task
Selected
This button lets to modify a Shows the name of the Tag

point. Group selected
Step size can be set here
Allows you to Delete

Points
Sets the robot to Jump or

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

Skip to last
Move one step Operation
Operations can be stepped Move one step back forward
through using these buttons
Skip to Operation 1
Run Complete
Choose between Process and VIA Simulation.
points
Choose insertion points before or after

the operation the user is in
Run to next
operation
Tag, Cartesian, and Joint are the
options to define the points origin
Inst.
A simulation can be ran
from the path created Pause Simulate from
beginning
94
Move a Robot
Adding Tags using Teach Command - Procedure
Tags can be added to the path using the Teach command.
Click on Teach a Device icon on the Robot Management toolbar, and then
1
click on the robot.
You will see Teach dialog box.
2 Select Table from the drop menu for Format field.

You will see Teach dialog box in a table format.
3 Select the operation at the desired insertion point. Inst.

95
Move a Robot
Adding Tags using Teach Command - Procedure
3 Check the Jog check box in the teach dialog box and jog the robot to move to the desired position.
4 Use the pull down menu under Tag Group/Tag Name to select the tag group in which you want
the new tag to appear
5 Using the previous pages as a reference make selections as needed. (i.e.

Tag, Cartesian, Joint, Before, After, etc…).
6 Click the Insert button and click OK.
The tag is created and can be modified or reordered as needed using

the Teach command.
Inst.
96
Move a Robot – Exercise
97
Exercise – Move a Robot
40 min.
Scope: Teach and Jog are two separate dialog boxes with similar functions, both can be used for
robot motion. However the Teach Pendant can be used to add tags, modify points, and set the movement
type of the motion.
Move using Jog Panel

Move using Teach Command
Add Tags using Teach Command
98

99
Move using Jog Panel
1. Click on Jog a Device from the Robot Management toolbar.
3. Using the Compass move the robot to different positions, it is helpful to

refer to the multiple methods learned from the procedural section of the
manual as well.
4. Click Close.
Inst.
100
Move using Teach Command
1. Click the Teach a Device icon from the Robot Management

toolbar.
3. Using the Compass move the robot to the different Operations, it is
possible to Edit, Modify, and Insert tags using the Teach Pendant.
When selecting the operations from the Teach Pendant,
an Output Window appears.
The window states that the point is unreachable.

Using the Compass manipulate the tag orientation
so the point is reachable.
NOTE: The next page has some examples of how this is done. Inst.
101
Move using Teach Pendant
The tag can be modified by using the compass to find a reachable point.
As seen in the picture below the point is reachable when the robot is the normal orange color. When the
robot turns purple it is an unreachable position.
Reachable Unreachable
Inst.
102
Adding Tags using Teach Command
1. Click Teach a Device icon and then on (IRB_6400_24_150) from

the PPR tree.
2. Select Table for Format field and choose Operation.1
Depending on the selections from the teach pendant, the tag
can be inserted before or after the operation.
For this project, tag needs to be inserted before the first
operation.
3. Check the Jog check box and using the Jog dialog box move the robot to the
required position.
4. Click on Insert and then on OK.

103
Run a Robot
D Process
Saving Initial State

Using Task Simulation
104
Run a Robot
2 Tags and Robot Tasks Process
About Running a Robot Process
A single robot process can be created and ran in a matter of minutes, which depends on number of
activities the robot is about to do. The most important thing to remember is to save the initial state when a
simulation is going to run. Finally using process simulation the task can be seen by selecting this single
command.

Device Task
Definition
More about running a robot process can be found in the on-line documentation.
105
Run a Robot
Saving Initial State - Procedure
The state in which a process begins is called the initial state.
1 To save a process in this state, click the Save Initial State

icon from the Simulation toolbar.
After Initial State has been set, it can be restored at any

2
time by using the Restore Initial State icon from the
The Save Initial Condition dialog box appears. Simulation toolbar.
The Restore Initial Condition dialog box appears.
The default selections are acceptable.

You can set up the Environment in the proper
positions and using this icon the positions will
all be saved.
The default selections are acceptable.
Inst.
106
Run a Robot
Using Task Simulation - Procedure
To run the tasks created, select the Robot Task to run from the
1
TaskList of the PPR tree.
Click on the Robot Task Simulation

2 icon from the Simulation toolbar.
The Simulation Controls Tools and Process Simulation toolbars appears.
3 Click the play button and watch the task run.
4 Click the Red X to close the toolbar after the task has finished running.
107
Run a Robot Process – Exercise
108
Exercise – Run a Robot Process
40 min.
Scope: Running a Robot Process is not usually done in industry, but for the purpose of this class it is easier to show
the capabilities of this software in a easy to create environment.
Save the Initial State

Use Robot Task Simulation
109


110
Save the Initial State
1. Click the Save the Initial State icon from the Simulation toolbar.
2. The Save Initial Condition dialog box appears. The default selections
are acceptable, click OK and the Current State will be saved.
Once the Initial State has been saved, it can be restored using the
Restore Initial State icon.
The initial state needs to be restored before running a

process be attempted. In order to keep the positions of

everything intact.
111
Using Robot Task Simulation
1. Click the Robot Task Simulation icon from the Simulation toolbar
in order to run the process.
2. Select Robot Task.1 as the task to be simulated.
The Simulation Controls and Process Simulation toolbars
appear.
3. Select the play icon from the Process Simulation toolbar.

The Simulation will play through the whole path that was created.
Be sure to restore the Initial Position before and after running the simulation.
NOTE: If the robot is spinning between tags it is OK, the turn numbers will be set later in the project.
112
2 Tags and Robot Tasks – Module Summary
Summary
This module introduced you to the procedure of creating tags and robot tasks. These are essential to give the robot a
path to follow to perform its job. Later adding tags using Teach pendant, using Jog panel and running single task
simulation was discussed.
Coming Up Next:
Activities and Assignment

6 hours
113
114
1
Build the
Layout
2
Tags and
3 Robot Tasks
4 Optimizing the Activities and
Simulation Assignments
5 Advanced
Topics
Module 3
Activities and
Assignments
115
3 Activities and Assignments
Overview
Activities and assignments can be made to a project after the initial planning phase is over.
In order to compile a project into a realistic representation of an actual workcell, it is
necessary to create activities and then assign them to the appropriate products and
resources.
Objectives
Create Activities
Assign Fasteners
Assign Products
Assign Resources
Add Weld Gun Actions
116
Workbenches
Toolbars
117
Create
A
Activities
B Assign
Creating Station Activities Fasteners
Creating Activities for Station
Removing Activity
Importing Fasteners
Assigning Fasteners
Assign Assign
D C
Resources Products
Assigning Resources to Activity Assigning Methods

Un-assigning Resources Defining Assignment Type
Creating Robot Task
Setting Active Task
Add Weld Gun

E
Actions
6 hours
Creating Weld Gun Actions

Jogging to Weld Point
118
A Create
Activities
Creating Station Activity

Creating Activities in Station
Removing Activities
119
Create Activities
About Creating Activities
Activities can be created for anything from a simple one robot process to a complete multiple work-
cell shop project. An activity can be as a storage area for step in the process. For example, a loading
activity can be created to store the steps it takes to complete that activity (Pounce, Pick, Pounce,
and Place). More complex tasks can be stored inside activities as well, such as a spot gluing or arc
welding path.
Factory Layout and Robotics / Fastening Process Planner
Fastening
Process
Planner
Complete information about creating activities can be found in the on-line documentation.
120
Create Activities
Creating Station Activity - Procedure
1 In order to create a Station Activity, open the Fastening Process

Planner Workbench.
2 Select the Create Station Activity icon from the Activities toolbar.
Click on the Process node of the PPR tree.

3
The Create Activity dialog box appears.
Click OK and the Station will be created in the PPR

4
tree under the Process node.
121
Create Activities
Creating Activities in Station - Procedure
After creating the station, activities can now be inserted to it.
Click on the Activity to be inserted, such as loading, or spot

1 gluing activity from the Activities toolbar.
The Create Activity dialog box appears.
2 Give a name or accept the default name in the dialog box.
3 Click OK and the activity will be placed in the PPR tree under
the station it was chosen.
Activities can be added in the order that is needed to create a process for the workcell.
Example Process Flow: Load, Clamp, Spot Gluing.1, Spot Gluing.2, Unclamp, and Unload.
122
Create Activities
Activities Toolbar (Options)
Insert Stud
Insert Welding
UnLoading Insert Adhesive
Insert Station Activity
Activity Application
Activity Insert Clinching
Insert Activity
Activity
UnClamping
Activity
Insert Insert Arc

Insert Clamping Welding Activity
Grouping Activity
Activity
Insert Spot Welding Insert Sealant

Insert Activity Application
Loading Activity
Activity Insert Spot Gluing Activity
123
Create Activities
Removing Activities - Procedure
Activities can be removed just as easily as they were inserted.
1 Right-click on the Activity to be removed.
2 Scroll down in the text window and click

Delete.
The Activity will be removed automatically
after selections have been made.
An Activity that was inserted incorrectly can be removed by using the above Procedure.
124
Create Activities – Exercise
125
Exercise – Create Activities
R.H. Body Side Assembly
This set of exercises will take you through the construction of a more complex Robotic Work-cell Process using
the R.H. Body Side Assembly.
126
Design Process: R.H. Body Side Assembly
1 2
Create Activities Assign
Fasteners
4 3
Assign
Assign Products
Resources
5
Add Weld Gun
Actions
127
Exercise – Create Activities
10 min.
Scope: Creation of activities is done in order to store the resources and products necessary to complete a task or
activity. Products along with their appropriate resources make up a finished assembly if you will.
Conditions: V5 and DPM Fastening Process Planner workbench must be open.
Create Station Activity

Create Activities for the Station
128

Inst.

129
Create a Station Activity - Exercise
The Fastening Process Planner Workbench must be opened in order to create activities.
1. Click Insert Station Activity icon from the Activities toolbar.
2. Click the Process node of the PPR tree in order to place

the Station.
3. You can choose a name or the default name can be used

Create Activity dialog box .
4. Click OK to complete the creation of the new Station
Activity.
130
Create Activities for the Station
Using the Activities toolbar create the following activities in the station that was just created.
F D C
A. Loading Activity
B. Clamping Activity
C. Spot Welding.1 Activity
D. Spot Welding.2 Activity
E. Unclamping Activity
F. Unloading Activity
A E
B
1. Click Load icon from the Activities toolbar.

2. Click the Station from the PPR tree.
3. You can give a name or accept the default name in the Create Activities dialog box.
4. Click OK and continue to create the rest of the activities listed.
Make sure to select the previous activity when inserting the next.
131
B Assign
Fasteners
Importing Fasteners
Assigning Fasteners
132
Assign
3 Activities and Assignment Fasteners
About Assigning Fasteners
This user friendly function makes programming robots less cumbersome, this provides the ability to take
the fastener points assigned to a process activity and reuse them for creating a robot task. Based on the
amount of fasteners assigned prior to selecting this powerful function, it will generate operations the robots
will use in a matter of seconds.
Factory Layout & Robotics / Fastening Process Planner
Fastening
Process Planner
More about Fastener Assignment can be found in the on-line documentation.
133
Assign
Importing Fasteners - Procedure
1 In order to Import Fasteners, the Fastening Process Planner workbench must be opened.
2 Select the Import Fasteners icon from the Fastening Management toolbar.
The Fasteners will appear automatically on the Product or Products associated with them.
Example
134
Assign
Assigning Fasteners - Procedure
In order to assign fasteners from a product to an activity, you will need the Fastening Process Planner
workbench opened.
1 Select the Activity from the PPR tree to which Fasteners are to be assigned.
2 Select the Assign Fasteners from a Product to an Activity icon from the Fastener Management toolbar.
3 The Fastener Assignment dialog box appears, make selections as needed to assign all fasteners to
activities.
Inst.
135
Assign Fasteners – Exercise
136
Exercise – Assign Fasteners
10 min.
Scope: Fasteners are usually created in a 3D software when the products are created. These Fasteners are sometimes
referred to as Manufacturing Positions. In order for these fasteners to be added to the process they must be imported using
the Import Fasteners icon from the Fastener Management toolbar.
Conditions: V5 and DPM Fastening Process Planner workbench must be open.
Import Fasteners
Assign Fasteners
137


138
Importing Fasteners - Exercise
Using the Import Fasteners icon from the Fastener Management toolbar, import the fasteners associated
with the R.H. Body Side Assembly.
1. Click the Import Fasteners icon.
The Fasteners will be inserted automatically.

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

Activity using the method shown above.

140
Assign
C Products
Assigning Methods
Defining Assignment Type
141
Assign
Products
About Assigning Product
Products must be assigned to the process to create finished goods. For finished goods to be created, a product
along with its resources must be assigned to the process that will inevitably create the finished goods.

Fastening
Process Planner
More about Product Assignment can be found in the on-line documentation.
142
Assign
3 Activities and Assignments Products
Assigning Methods - Procedure
Assigning can be done in different ways. In this section the most common methods
will be discussed.
The most common method for assignment is the Drag and Drop Method.
1
The procedure for this method is as follows:
A. Select the Product to be assigned without releasing the mouse button.

B. Drag the mouse pointer to the activity the product is to be assigned.
C. Release the mouse button once the product is over the correct activity.
2 The two other most common methods are using the Assign a Product/Resource icon
and the Assign an Item icon from the Activity Management toolbar.
3 The procedure for the Assign an Item method is as follows:

A. Select the Assign an Item icon from the toolbar.

B. Select the Product for assignment.
C. Select the Activity the product is to be associated with.
D. The Product is now assigned to the activity.
143
Assign
3
Activities and Assignments Products
Defining Assignment Type - Procedure
4 A less common method for assignment, Assign a Product / Resource icon from the Activity
Management toolbar. The procedure for this method is as follows:
A. Select the Assign a Product / Resource icon from the toolbar.

B. Select the Product for assignment.
C. Select the Activity the product is to be associated with.
D. The Assignment Type dialog box appears, select the appropriate choice.
E. Click Ok and the Product is assigned, and the assignment type is also completed.
Inst.
144
Assign
3
Activities and Assignments Products
Assignment Type
This relationship is an
input process. Select this
when a product is
processed in a further
process. It may be a
subassembly or a part
that has been processed
This is a disassembly
and completed in a
process. Select this to
previous process. Such
remove a product.
processes are not to be
processed further.
This is an output process.

This is an input process. This should be selected
This should be selected when a product is finished
when a product is first after this process. The
processed by a process. product may be a
It may be a raw material completed part, a
subassembly, or a fully-
from a parts bin or some

other start up product. assembled part.
Using the Callouts you can determine what assignment type you will need.
145
Assign Product – Exercise
146
Exercise – Assign Products
15 min.
Scope: Assignments are made to associate products, resources, and various tasks that make up a process. In order to
store all this information an assignment is made inside the operation or task in the process section of the PPR tree.
Conditions: V5 and Fastening Process Planner workbench must be open.
Assign Product to a Process

Define Assignment Type
147


148
Product Assignment
1. For this project it is not necessary to assign the product to the process, since the fasteners are already assigned
to the product, and a task, the product has been inadvertently assigned as well.
2. However if the product did need to be assigned one could simply use the drag and drop or another
method from the procedure section of this manual.
3. Review the procedural section and if time permits assign the product the multiple activities created.
149
Define Assignment Type - Exercise

1. Using the Procedure section the appropriate assignment type can be chosen and applied to the selection.
2. For example, this Product is a product before and after the process, but this is not the start point nor the finish point
for the product so the process processes the product.
3. Take some extra time and assign the product to the other activities using the different types of assignment. This
does not need to be saved so the product can be assigned to anything the user wishes this is the time for trying
different methods.
Saving is not necessary at this time for this particular section of the exercise.
150
Assign
D Resources
Assigning Resources to Activity

Un-Assigning Products / Resources
Setting Active Task
151
Assign
3 Activities and Assignments Resources
About Assigning Resource
Resources have to be assigned to a process for the simulation to take place. Without resources the product
cannot be altered, since the resources are the tools that create a finished product and from the parts you
can alter to create finished goods. For example, a car starts as thousands of parts and when the parts are
assembled completely, the finished goods are obtained and ready for sale.
Fastening
Process Planner
More about Resource Assignment can be found in the on-line documentation.
152
3 Activities and Assignments Assign
Resources
Assigning Resources to Activity
Assigning can be done in different ways. In this section the most common methods
are discussed.
The most common method for assignment is the Drag and Drop Method.
1 The procedure for this method is as follows:
A. Select the Resource to be assigned without releasing the mouse button.

B. Drag the mouse pointer to the activity the resource is to be assigned.
C. Release the mouse button once the resource is over the correct activity.
The three other most common methods are, using the Assign a Product/Resource
icon, Assign a Resource icon, and the Assign an Item icon from the Activity
Management toolbar.
2 The procedure for the Assign an Item, and the Assign a Resource method is as follows:
A. Select the icon (Assign a Item / Assign a Resource) from the toolbar.
B. Select the Resource for assignment.
C. Select the Activity the resource is to be associated with.
D. The Resource is now assigned to the activity.
153
Assign
Defining Assignment Type - Procedure
3 The least most common method for assignment, Assign a Product / Resource icon from the
Activity Management toolbar and procedure is as follows:
A. Select the Assign a Product / Resource icon from the toolbar.

B. Select the Resource for assignment.
C. Select the Activity the resource is to be associated with.
D. The Assignment Type dialog box appears, select the appropriate choice.
E. Click OK and the Resource is assigned, and the assignment type is also completed.
154
Assign
3
Activities and Assignments Resources
Defining Assignment Type
This relationship is used

for Labor, Tools, Fixtures,
and any auxiliary
Resource used / shared
during Processing. It
Defines the auxiliary
Resources used in the
main resource, while doing
this process.This relation
indicates that the resource
is of labor type or sub
resources in Quest. This relation is used in
Quest software
This relation is used in

This relationship is used
Quest software
for main resources such
as stations and machines.
It defines the main
resource on which the
process happens. Since
the Quest and DELMIA
are of the same PPR data

the Process is added to
the Resource.
155
Assign
Un-Assigning Resources and Items - Procedure
Un-Assigning can be done different ways. In this section, the most common methods
are discussed.
The three most common methods are using the Un-Assign all Products/Resources
icon, Un-Assign a Resource icon, and Un-Assign an Item icon from the Activity
Management toolbar.
1 The procedure for the Un-Assign an Item, and the Un-Assign a Resource method is as follows:
A. Click the (Un-Assign an Item / Un-Assign an Resource) icon from the toolbar.
B. Select the Activity the Item is assigned to.
C. Select the Item for un-assignment from the dialog box that appears. (Item / Resource)
D. The Resource is now un-assigned from the activity.
This method can be used for either the Un-Assign an Item or the Un-Assign a Resource icon.
156
Assign
Un-Assigning Resources and Items - Procedure
4 The least most common method for assignment, Un-Assign all Products / Resources icon
from the Activity Management toolbar is as follows:
A. Click the Un-Assign all Products / Resources icon from the toolbar.
B. Select the Activity the products / resources are to be deleted from.
C. The Delete Assignments dialog box appears, select as needed.
D. Click OK and the Products/ Resources are un-assigned.
Delete only the Product

assignments.
Delete all Resource and

Product Assignments.
Delete only the Resource
Assignments.
157
Assign
Create a Robot Task - Procedure

In order to run the simulation of the activities with their assignments, a robot task must be created. When using
this method with assignments, the robot task created actually creates the relationship between the resource and
the process activity.
1 The method for creating a robot task is as follows:
A. Click on Create a Robot Task icon from the Sequence toolbar.

B. Select the Activity (Spot Gluing.1) where the robot task is to be created from the PPR tree.
C. The Robot Task is automatically created in the Program section of the Robot PPR List.
Example
Inst.
158
Assign
Setting Active Task - Procedure
In order to simulate a work-cell, the task have to be activated. This is done by setting an active
task.
In order to set an Active task, the Workcell Sequencing workbench must be opened. (Start /
Resource Detailing / Workcell Sequencing)
1 Using the procedure shown below, an active task can be set:
A. Click on Set an Active Task icon from the Resource Program toolbar.
B. Select the Activity or the task to be set.
C. The task is set to active automatically.
D. There is no way to see if the task has actually been set except to run the simulation.
Inst.
159
Assign Resources – Exercise
160
Exercise – Assign Resources
20 min.
Scope: Assignments are made up to associate the products, resources, and various tasks that make up a process. In
order to store all this information an Assignment is made inside of the operation or task in the process section of the PPR
tree.
Conditions: V5 and DPM Fastening Process Planner, Device Task Definition, and Workcell Sequencing workbenches will
be used in the exercises that follow.
Assign Resources
Create a Robot Task
Set an Active Task
161

162
Assign Resources
Using the Drag and Drop method from the procedural section assign the Robot to the Spot Welding Activities.
1. Select the IRB_6400_24_159.I using the Left mouse button and while holding it drag the mouse pointer to the
activity then release the button.
2. Making sure to keep the mouse button selected, drag the resource to SpotWelding.1 activity.
3. Release the button once the pointer is over the activity for
assignment.
The Resources have now been assigned for this project.
By viewing the PPR tree it is possible to see that the attachments
and all the features have also been assigned as well.
Inst.
163
Create a Robot Task

In order to create robot tasks, Device Task Definition Workbench must
be opened.
1. Click the Create a Robot Task icon from the Sequence toolbar.
2. Select the SpotWelding.1 activity from the PPR tree, the tasks will be
creates automatically.
3. Repeat the procedure for SpotWelding.2.

164
Setting an Active Task - Exercise

Using the Procedure section as a guide, open the Workcell Sequencing workbench.
1. Click the Set an Active Task icon from the Resource Program toolbar.
2. Select Spot Welding.1 as the activity to set an active task on.
3. The Active Task dialog box appears, using the arrow on the
dialog box scroll down and select robot task.1 then click OK.
4. Repeat these steps for Spot Welding.2.

Save As: R17 Robotics / R17-Robotics Project Data / Process / RoboticsExercise9.CATProcess
165
Add Weld Gun
E
Actions

Jogging to Weld Points
166
Add Weld Gun
3 Activities and Assignment Actions
About Adding Weld Gun Actions
Weld gun actions are created to simulate the action a real welder gun would make. This is done to ensure
there are no clashes between the products and the resources (parts / fixtures and robots). The main reason
for creating weld gun actions is to create a more realistic simulation to better analyze the process being
recreated. This is done so any adjustments that need to be made to the process can be made now before
the process is implemented.
Device Task
Definition
More about Adding Weld gun Actions can be found in the on-line documentation.
167
Add Weld Gun
Creating Weld Gun Actions - Procedure
In order to Create Weld Gun Actions, a toolbar must be inserted into the Workbench.
1 The path is as follows: Tools / Options / Resource Detailing / Action Libraries Tab.
168
Add Weld Gun

2 Click the Add button on the Action Libraries page.
3 The File Selection dialog box appears, navigate to the appropriate file as shown.
The path is as follows:

D:\\ Program Files \ Dassault Systemes \ B16D27 \ intel_a \ startup \ DNBIgpSpotActionLib.act
4 Once the file has been found, click

Open from the File Selection dialog box
and the toolbar is inserted
automatically.
169
Add Weld Gun
Creating Weld Gun Actions Cont. - Procedure
5 To create a retract action for the weld gun, select Retract Action icon from the Spot
Weld Action toolbar, and select the Robot Motion under the task it is to be inserted.
6 The Option dialog box appears, select where it is to be inserted (before or after)
and click OK.
The Actions Configuration dialog box appears. Notice that when the
7 predefined states (Home Positions) are selected, the weld gun moves to
that position. Select the appropriate home position and click OK.
8 To create a weld gun action, click on the Weld Action icon, and select the robot motion to place the
weld gun action. The Option dialog box appears, select an option from the dialog box and click OK.
170
Add Weld Gun
9 The Actions Configuration dialog box appears. Under the Close Gun tab, select
the appropriate position.
The position in which the Weld Gun can
perform the task correctly.
For Example: If Home position 3 were
close then that would be the correct
choice for a weld action.
10 Under the Weld Time tab, set the time for the
weld to be completed.
11 Under the Open Gun tab, select the appropriate home

position and click OK.
This sets the gun movements for closing, welding, and semi-open.
171
Add Weld Gun
Jogging to Weld Points - Procedure
In the Tools / Options / DPM Fastening Process Planner / Fastener Visualization turn on the Show Fastener
1
(Manuf) tag. This will make the tags and their coordinates visible.
The tag color can

be changed for
ease of viewing.
This step has already been completed this is a reference to show why and when it happens.
172
Add Weld Gun
Jogging to Weld Points Cont. - Procedure
2 Using the Robot Management toolbar, click the Jog a Device icon, and select the robot to jog to the weld
point.
The Jog dialog box appears.
Notice the orientation of the compass on the weld gun. This will be compared to the orientation of each
weld.
3 Using the Compass it is possible to grab the red box of the compass and place it on a tag point or
fastener position in the 3D view.
This is the Red

box on the
Compass
Inst.
This is the time to check tags and fasteners to make sure the orientation is correct.
173
Add Weld Gun Actions – Exercise
174
Exercise – Add Weld Gun Actions
40 min.
Scope: Assignments are made up to associate the products, resources, and various tasks that make up a process. In
order to store all this information an Assignment is made inside of the operation or task in the process section of the PPR
tree.
Create Weld Gun Actions

Jog to Weld Point
175


176
1. In order to create a Weld Gun Action the Device Task Definition workbench must be opened. Use the procedure
section for help opening the workbench.
2. Use the procedural section to open the Action Library toolbar which
must be inserted into the project, to add weld gun actions.
3. Click the Weld Action icon from the Action Library toolbar.
4. Select Weld.2 from the PPR tree it will be the father activity of the Weld Action.
5. The Option dialog box appears, select the Before node from the box and
click OK.
6. The Actions Configuration dialog box appears. Click the OK

button and the Operation will be added before the Weld
chosen as the father activity.
Inst.
177
7. Weld Gun Actions can be created, before and after each weld.
8. For this project, the goal is to complete the close position before for the first weld.
9. Then complete the Open position for after the last weld in the path.
10. These steps should then be completed for Spot Welding.2, this will complete the weld actions part of this section.
Always remember that if something is not working correctly, refer to the procedural section or the Online
Documentation for help.
Inst.
178
Jogging to the Weld Points
Jogging to the weld Points can be accomplished using many different methods.
As you have just witnessed, by using the weld actions icon and following through
the process completely the robot automatically jogs to the weld point that is selected.
Another way is to use the Jog a Device icon from the Robot Management toolbar.
1. Click the Jog a Device icon, then select the IRB_6400_24_150.1 from the PPR tree.
The compass will jump to the end of the weld gun (Tool Center Point).
2. Moving the mouse over the red square on the compass, it is possible to grab and move it to any reachable
position or weld point.
Inst.
179
3 Activities and Assignment - Summary
Module Summary
This module introduced you to creating activities and later assigning them to products and resources. Creating
weld gun actions, jogging to weld gun points was also discussed here.
Coming Up Next:
Optimizing the simulation

5 hours
180
181
Build the
1 Layout
Tags and
2 Robot Tasks
Activities and
Optimizing the 3 Assignments
4 Simulation
5 Advanced
Topics
Module 4
Optimizing the
Simulation
182
4 Optimizing the Simulation
Overview
Using the different functions available in the V5 R17 environment a Simulation can be
Optimized for peak performance. Some of the key elements regarding optimization will be
shown in the next few sections to help you understand these functions and the ability of
the V5 R17 Software better. The functions included in this module are listed below for quick
reference.
Objectives
Mapping and Monitoring I/O’s

Robot Task Analysis
Multiple Resource Simulation
Create Robot Controller Profiles
183
Workbenches
Toolbars
184
4 Optimizing the Simulation
A Robot Task
Analysis
Using Automatic Task Collision

Using Clash Analysis
Creating Weld Study Analysis
Creating Workspace Envelope
Saving Workspace Envelope
Mapping and
B Monitoring I/O’s
C Multiple
Resource
Simulation I/O Mapping and Monitoring
Exporting I/O Information
Using Multiple Resource Simulation Data Readouts and Documentation
Using the Pert Chart for Parallel Running
D Create Robot
Controller
Profiles
Creating Motion Profile 5 hours

Creating Accuracy Profile
Creating Tool Profiles (TCP)
Setting Turn Numbers
185
A Robot Task
Analysis
Using Automatic Task Collision

Using Clash Analysis
Creating Weld Study Analysis
Creating Workspace Envelope
Saving Workspace Envelope
186
Robot Task
4 Optimizing the Simulation Analysis
About Robot Task Analysis
Robot task analysis has many different meanings because of the various methods used for analyzing the
multiple tasks and configurations of tasks, which are provided in any multitude of scenarios. You can
analyze tasks for collisions, clashes, or even perform a weld study analysis to determine the correct cycle
time for a certain type of weld.

Device Task
Definition
More about robot task analysis can be found in the on-line documentation.
187
Robot Task
Using Automatic Task Collision - Procedure
Switch to Workcell Sequencing workbench.
1 To create an interference zone for a welding robot, click Automatic Task Collision Analysis from the Interference
Zones Toolbar.
The Task Collision dialog box appears with
all the robot tasks.
2 Select a robot task and then another (by holding down Ctrl).
The last selection made will be managing the I / O’s that will be
automatically created.
3 Click the down arrow to select the tasks.
4 In order to set up the state of the I / O’s, click on the Next

button.
5 Then click the Result and Analysis tab.

188
Robot Task
7 To finish the I / O’s setup:
A. Set the Interval Distance

B. Set the Collision Tolerance
C. Set the Interval Rotation
D. Check the the Drop Mark box at Check Interval button
E. Click on the Compute button
8 In the geometry window, the robots step through the programs and
places a Square (Collision Marker) where there is interference. ( i.e. the
drop mark or collision point)
When the computation is done, the scroll bar can be used to review
the results for each of the positions.
189
Robot Task
9 To Import all of the I / O’s waits and sets in the robot task:
A. Select the Interlock Map tab

B. Select the Set / Wait button
C. Click the Update Interference Zone bar
D. Then click Close
For the interference zones to be set between the robots, follow

10
through the same procedures, but select the Enter/Clear Button, then
click Update Interference Zone.
11 Run the simulation to view the new process.

190
Robot Task
Using Clash Analysis - Procedure

To check the simulation for clashes
1 or crashes, Click the Clash icon from the
Simulation Analysis Tools toolbar.
The Check Clash dialog box appears.
2 The name can be changed to your need. Select the

type in the Type field and from the drop down the
option select Between two selections.
For the selections, Selection.1 is activated, select

3 the appropriate resources. Select the components
from the PPR Tree. As they are selected they will
become highlighted.
Click in the Selection 2 field and select the

4
part or assembly and the appropriate station.
5 When finished, click on Apply.

6 The Check Clash dialog box opens displaying all of the results and conflicts. This is
reviewed later, click on Apply to review the Check Clash (Results) dialog box. Click
on OK when done.
191
Robot Task

7 To analyze the configuration, select the Analysis
Configuration icon. The Analysis Configuration
dialog box appears.
In the Analysis Configuration dialog box the available

clashes are shown.
8 Select the clash and use the arrow over to place it under Selected
category.
9 Select the type of analysis mode that is to be used from the pull down
menu and it will become highlighted.
10 Click on OK. The Analysis Mode activation box appears,

select Yes.
11
Using the Robot Task Simulation icon, it is possible to run

through the path again.
192
Robot Task
12 In some situations, the data may need to be exported

for a report or some other need (ie. for Manager
Reviews). If this data is to be exported, click on the
Export As icon from the dialog box and then click save.
NOTE: It is possible to choose the directory the files are

saved, use the appropriate location for all saved files.
193
Robot Task
This procedure describes how to turn on a view to see the violation in a preview window and access
additional data about the violation. You can temporarily halt the simulation to observe the violation and
then return to the simulation. This option works for dynamic clash analysis also.
The Tools / Options / Digital Mockup / DMU Space Analysis / DMU Clash options
13
must be set so that in the Display in Results Box section, the First line
automatically selected is checked.
14 First a simulation must be running. From the

Interference window, select a portion of the
collision to be seen.
194
Robot Task
15 Run the simulation again. When a collision appears, click on the warning and the simulation halts.
The Check Clash dialog box appears. Select the clash to view by double-clicking it. The preview window appears.
16 To return to the simulation, click the OK button in the Check Clash dialog box, then click the run button on the
Process Simulation player.
Export As and
Save Functions
are additional
functions in this
dialog box.
195
Robot Task
When a line is selected in the Interference Window, the process simulation player shows the same time as the one
in the Interference Window.
If the simulation is ended by deselecting the Process Simulation command or by closing the Process Simulation
player, then the interference window becomes grayed out. The preview window and the clash check dialog box are
saved in the applications node of the PPR tree.
196
Robot Task
Creating Weld Study Analysis - Procedure

1 To create a Weld Study Analysis, click Analyze Welds for Robot icon from the Robot
Management toolbar. Then select a Welding activity. This automatically selects the
weld items in the geometry or PPR tree, select the weld or Tag group(s) that is a
target for analysis. The target(s) appears in the dialog box.
To add objects to the Collision check, click the Analysis Parameters tab. Then click
2 in the Collision Objects box, and select a component to be checked from the PPR
Tree.
Delete any target by selecting the line

3 containing the target and then clicking
the Remove button.
NOTE: For more information on the Analyze Target Orientation dialog box see the on-line docs.
197
Robot Task
Creating Weld Study Analysis - Procedure
4 To complete and view the Results of the Collision Analysis, click the Results tab.
Target Report: This frame provides feedback from Sort By Welds: by checking this option, the table
the analysis. For each robot and target for an is sorted by fastener or target name.
activity, a status will appear after computation.
Check KO: This button is active if at least

one fastener is unfeasible.
Sort By Robots: The default
presentation of the data is
sorted by robot name.
Rotate Closest: The Axis jumps to the
middle of the nearest feasible area. This
option minimizes the changes of
orientations for the welds, and can be
checked at any time after the analysis has
Display Pie Report: Displays
been performed.
the results on the viewer in pie
form.
Rotate biggest: The Axis jumps to the
middle of the biggest feasible area. This
option minimizes the risk of collision for
the robot, and can be checked at any time
Save: This opens a Save

after the analysis has been performed.
window. The computation
data shown in the target
report frame is saved in a .txt
file. Compute / Stop / Resume: These buttons control
the progress of the analysis.
198
Robot Task
Creating Workspace Envelope - Procedure
1 To create a Work Envelope, click Create Workspace Envelope icon

from the Robot Management Toolbar. The Workspace Envelope dialog
box appears.
2 Select the robot to create the workspace envelope on.
3 Click on the Create button and the Work Envelope is automatically

created around the robot.
The pull down menus can

be used to select the
desired tool profile and
mesh resolution. The
available mesh resolutions
are coarse, medium , and
fine.
The Envelope also appears in the PPR tree, as Workspaces under AnalysisObjects.
199
Robot Task
Saving Workspace Envelope - Procedure
1 To save the Workspace, right-click the workspace, the

contextual menu appears.
2 Select Save Workspace. This creates a .cgr file to

contain the workspace data.
NOTE: Robots with fewer than three joints are not

considered.
Workspace generation is limited to devices whose first three positioning joints fall into
one of the eight generic type arm kinematics classes:
- Cartesian
- SCARA
- Cylindrical
- Block
- Articulated
- Spherical
- Pendulum
It is possible to do a Hide / Show after the workspace is saved.
200
Robot Task Analysis – Exercise
201
Exercise – Robot Task Analysis
40 min.
Scope: Robotic Task Analysis are used to analyze the simulation for cycle time and other various items. By running
these task analysis on the various devices and task assigned to those devices it is possible to remove any collisions or
clashes from a simulation.
Conditions: V5 and Resource Detailing Workcell Sequencing workbench must be open.
Automatic Task Collision

Clash Analysis
Weld Study Analysis
202

Load: R17 Robotics / R17-Robotics Project Data / Process / ForExercise11.CATProcess
203
Use Automatic Task Collision
Switch to Workcell Sequencing workbench.
1. Click the Automatic Task Collision Analysis icon from the Interference Zone
toolbar.
2. Select RobotTask.2, and then RobotTask.1.
3. Click on the Next button.
4. From the Task Collision dialog box click on the Result And
Analysis tab.
5. In the Analysis portion of the dialog box input the following:
A. Interval Distance 4 in (100 mm)
B. Collision Tolerance 4 in (100mm)
C. Interval Rotation 90 deg
D. Click on Drop Mark at check Interval.
6. Click the Compute button.

204
Use Automatic Task Collision
8. When the computation is done, use the

scroll bar at the bottom to view the
results for each of the positions.
9. Click the Interlock Map tab; select the

Set/Wait button, and click on Update
Interference Zone bar, and Close.
205
Perform Clash Analysis

1. Click the Clash icon from the Simulation Analysis Tools toolbar.
The Check Clash dialog box appears.
2. Under the Name field Interference.1 is the default.
3. In the Type field select Contact + Clash, and
Between two selections.
4. For Selection.1 select the Rocker 2, and the
Robot S-420iS.
5. For Section2 select the RH Body Side
Assembly (1), and the Station.1.
6. Click on Apply.
206
Save Clash Analysis
7. The Check Clash dialog box opens showing all of

the Results and Conflicts.
8. Click on Apply to review the Check Clash
Dialog box. Click on OK when finished.
9. Select the Analysis Configuration icon to view the

Available clashes.
10. Select the Clash, and use the arrow over to place it into the Selected
category.
11. From the Analysis level click to select, Highlight.
12. Click on OK.
13. The Analysis Mode activation box appears, click Yes.
207
Viewing Clash Analysis
14. Using the Robot Task Simulation icon from the Device Task Definition
workbench, run through the path again. The Via point can now be moved in
order to create a collision.
15. Under RobotTask.1, click on Operation 7.
16. Click the tag point in the geometry window. That activates the tag point
snapping the compass to the tag.
17. Grab (left mouse click, and hold) onto the “X” axis, and move towards the
center of the part (in order to create a collision). When done, click anywhere in
the blank screen to disable this function.
208
Viewing Clash Analysis
18. Bring in the Analysis Configuration dialog box, and change

the settings from highlight to interrupt.
19. Run the path again, and the Robot will stop when it comes
into contact as long as the adjustment made was enough to
cause a conflict.
20. To review what created the collision, close the Simulation
and double click on the Interference Results.1 in the PPR
tree under Applications.
If Applications doesn’t show up in the PPR tree this means there was no clash, at this time it is possible to repeat
these steps and make sure the tag point is a conflict point and then complete this step again.
209
Create a Weld Study
1. In the TSA Toolbar, click the Analyze Welds for Robot icon, and
select the Spot Weld.1. This automatically selects the weld items
associated with the Robot Tasks.
2. Click on the Analysis Parameters Tab.
3. Click in the Collision Object box, and select Station.1 (Fixture)
from the PPR Tree.
4. It is possible to delete any Target by selecting the line containing
the target and then pressing the Remove button. Select the
Analysis Tab and review the functions in that dialog box.
5. Select all of the Welds (Hold down the Ctrl button).
For this exercise, use these settings:
Uncheck Do Flip
Highlight all the Welds (Ctrl)
- Start angle –180deg, End angle 180deg.
- Collision Object, (Fixture) Station .1
- Rotate Z every 15deg
210
View a Weld Study
5. Click the Results Tab.
6. Turn on the Display Pie Report, and select all of the activities, then click
Compute in the Analyze area.
The robot moves to the positions and the results are documented.
7. Click on Weld 01, using the Rotate X (Closest) position the Weld 01
orientation closest to the middle of the nearest feasible location. The
orientation changes on Weld 01.
8. In the Robot Management Toolbar, click on the Teach a Robot icon.
9. Using the Teach dialog box, step through the robot tasks using the
Operations buttons, and then the Simulation buttons.
NOTE: Make a note, if in the simulation the robot flips while going from
one position to another. If it does, later you can use the Set Turn
Numbers to fix it.

211
B Map and
Monitor IOs
Mapping and Monitoring IOs

Exporting IO Information
Creating Data Readouts and Generating Documentation
212
Map and Monitor
4 Optimizing the Simulation IOs
About Mapping and Monitoring IOs
IO Mapping is a static representation of the IO connections within one or more robot tasks, and IO
Monitoring is a dynamic representation of the IO connections as the robot simulation takes place. This
section explains how to view IO mapping and IO connections. The connections set up using Automatic Task
Collision will also be reviewed.
Factory Layout and Robotics / Workcell Sequencing Workbench

Workcell
Sequencing
Complete information about IO mapping and monitoring can be found in the on-line documentation.
213
Map and Monitor
Mapping and Monitoring IO - Procedure
In order to map the IOs, click the IO Map and Monitoring

1
icon from the IO Management Toolbar.
The Select Process or Individual Tasks for IO Map… dialog box appears, select
2
the the process or tasks to be checked.
3 To view the information, click the Display IO Map Information bar.
If multiple tasks appear in the dialog box and you decide not to
4
view them all, select the tasks to remove and click on the
Remove Selected Tasks button.
The tasks can be sorted by the task name or by the IO name.
When completed, exiting can be done by selecting the IO Map and Monitoring icon again,
or by using the Close button from the dialog box.
214
Map and Monitor
Mapping and Monitoring IO - Procedure
5 To use IO Monitoring:
A. Click the IO Map and Monitoring icon

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

from the IO Im(Export) toolbar.
The Export IO Information dialog box appears.
2 Select the Resource Option and the Export Option as desired and click OK.
The Save As window appears. Type in a name, and save it to the

3
appropriate folder.
To view the data, open the file just created and the IO data will appear as a
4
text file or an Excel Spreadsheet depending on the save method chosen.
216
Map and Monitor
Creating Data Readouts and Generating Documentation - Procedure

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

8 To view the changes in Spreadsheet form, click the SpreadSheet tab
from the dialog box.
9 To view the data graphically, select the Graphics button from the
Outputs section of the dialog box.
10 If documentation is needed for the project, click Generate

documentation icon from the PPR Tools toolbar.
11 The Process documentation dialog box appears, make

selections appropriately for the Script, Process,
and Path.
This document can then be saved to the appropriate place.
218
Map and Monitor

12 To start the Script, click on OK.
13 The Documenting the process dialog box appears,

showing the document is being created.
14 Once the documentation has been generated, click OK.
15 To view the files, go to the directory they are saved in, and
click Open.
16 Close all windows when finished with the review.
219
Map and Monitor I/O – Exercise
220
Exercise – Map and Monitor IOs
40 min.
Scope: IOs are set between devices for communication. This feature is needed to help with cycle times, device
communication, and other various items which are required to complete a simulation.
Conditions: V5 and Resource Detailing Workcell Sequencing workbench must be open.
I/O Map and Monitor I/Os

Generate Data Readouts
Inst.
221


222
Do it Yourself (2/7)
Map and Monitor IO Information
1. In the IO Management toolbar, click on IO Map and Monitoring icon from the Workcell
Sequencing workbench.
The Select Process or Individual Tasks for IO Map…dialog box below appears.
2. Select the robot task or tasks for which you want to see the mapping.
3. Click on Display IO Map Information bar.
The IO Map and Monitoring dialog box appears.
5. Select Sort by Task Name.

6. Check the Graphic Display of IO Map check box to enable the IO map in the 3D
view.
223
Map and Monitor IO Information
7. When completed, exit the IO Map and Monitoring mode by clicking on Close.
8. Now use the I/O Monitoring feature with your simulation.

To use I/O Monitoring:
A. Click the IO Map command and then the task.

B. Click Display IO Map Information button
C. Click the Process Simulation command.

D. Run the simulation.
224
Export I / O Information
9. Click the Export IO Info icon.

10. Select as shown from Export IO Information
dialog box, and click OK.
11. The save window appears. Type in the name, and save it in
the Process folder.
12. Open that file, and we see the IO data (They may be different
depending on the RobotTask).
225
Create Data Readouts and Generate Documentation
1. Click the Data Readout icon from the Simulation Analysis Tools
toolbar.
2. Click the Display icon in the Options toolbar.

3. Select the S-420iS robot, and all of the information is displayed.
4. From the Options toolbar, click on Display to deactivate the Display
icon, and activate the Sensor icon.
5. Select the Robot again, then click on the Select All button from the
dialog box that appears.
6. Run the simulation.
7. When the simulation is finished, click on the SpreadSheet tab
from the Sensor Management dialog box.
226
Create Data Readouts and Generate Documentation
8. Check Graphics check box under Outputs.
To save
this data,
click on
the File,
and save
it into a
directory.
9. The Data is displayed graphically. Close all windows when

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

228
Multiple
C Resource
Simulation
About Multiple Resource Simulation

Using Multiple Resource Simulation
Using the Pert Chart for Parallel Running
229
Multiple
Resource
4 Optimizing the Simulation Simulation
About Multiple Resource Simulation
The Multiple Resource Simulation command enables you to select tasks associated with more than one
resource (e.g. multiple robots or stations) and simulate those tasks simultaneously, even though the tasks
run sequentially in the process document. A PERT Chart is a project management tool used to schedule,
organize, and coordinate tasks within a project. A Pert Chart presents a graphic representation of the
process flow. It allows for modification of the process plan in a dynamic and friendly manner. It is a useful
tool for visualizing and re-structuring the sequence of operation of the process. Since simulation is a 3D
representation of the manufacturing process, the Pert Chart can easily re-sequence the process. The order
in which the activities are linked will be reflected in the PPR Tree. It is also possible to use the Pert Chart
for Parallel Running which is when two tasks run in unison.

Device Task
Definition
Complete information about multiple resource simulation can be found in the on-line docs.
230
Multiple
4 Optimizing the Simulation Resource
Simulation
Using Pert Chart for Parallel Running - Procedure
1 To open the Pert Chart, click the Open Pert Chart from the Data Views toolbar.
The command prompt asks for a Process or Activity, select one.
The Pert window opens showing the process activity flow of the process or activity chosen.
Notice the links between them.
2 To delete a link, right-click on it and select delete from the text window or on the keyboard.
Moving the activities around to see what is the best way to optimize the sequence of events is possible using this
window.
231
Multiple
Simulation
Using Pert Chart for Parallel Running - Procedure
3 In the Activity Management toolbar, click on Link the selected activities and
select the one that was deleted and create a new process plan for the activity.
Start
Finish
4 Close this window.
5 Run the Process to see what changes have taken place in the process.
232
Multiple
Resource
4 Optimizing the Simulation Simulation
Performing Multiple Resource Simulation - Procedure
To use the Multiple Resource Simulation tool, the Workcell Sequencing workbench needs to be opened. (Start /
Resource Detailing / Workcell Sequencing)
1 Click on the Multi Resource Simulation icon from

the Simulation toolbar to access multiple resource
simulation.
This command serves as a lead into the Process Simulation command. Once invoked, the Multiple Resource
Simulation dialog box appears.
All the robots in a simulation will be shown in the dialog box.

The dialog box also lists all the resources in the PPR tree that have tasks associated with them. Using the pull
down menus, tasks can be selected to run simultaneously. (Remember that NONE is an option for each of the
resources pull down menu).
233
Multiple
Simulation
Performing Multiple Resource Simulation - Procedure
Once the tasks are selected, clicking on the OK button will make the toolbars associated with the Multi Resource
2
Simulation dialog box appear.
Using these toolbars the simulation can be viewed.

234
Perform Multiple Resource Simulation – Exercise
235
Exercise – Perform Multiple Resource Simulation
40 min.
Scope: Multiple resource simulation is used to run more than one device, process, or robot at the same time in a
simulation. This is a unique function utilizing the time restraints set by the production engineers. By using this function it is
possible to view two or more devices in motion at the same time.
Use Pert Chart for Parallel Running

Perform Multiple Resource Simulation
236

237
Use Pert Chart for Parallel Running
1. Click on the Open PERT Chart icon.
2. From the PPR tree select Process.
The Pert window appears showing the
process activity flow of the Process.
3. Delete all links.
4. Manipulate the process until it resembles the snapshot below:
Use the Link the selected activities icon to re-link the activity icons.
5. Close the PERT chart.

This makes the two stations run in parallel, however
since there is only one product involved with this project
there is no need to run it.
238
Perform Multiple Resource Simulation
7. In the Workcell Sequencing workbench, click on

the Multi Resource Simulation icon.
8. Select the Robots from the Multi Resource
Simulation dialog box as shown:
9. Use the pull down menu to select the tasks to run simultaneously. (Remember that
NONE is an option for each resource's pull down menu.)
10. Once the tasks are selected, click on the OK button. The toolbars associated with the
Process Simulation command appear.
11. Click on the Run icon.
239
Create Robot
D Controller
Profiles
Creating Motion Profile

Creating Accuracy Profile
Setting Turn Numbers
240
Create Robot
4 Optimizing the Simulation Controller
Profiles
About Robot Controller Profiles
The software uses default settings for the Motion and Accuracy profiles to optimize cycle time and increase the
accuracy of robots as they perform their operations.
The purpose of a Motion file is to specify speed and acceleration values for the robot. One type of profile may set
speed and acceleration parameters appropriate to a particular kind of move (e.g. moving to a weld point), while another
may set those parameters in a way appropriate to a different kind of move (e.g. a via point).
An Accuracy profile can be created using the Create and Edit Accuracy profile command. The purpose of the accuracy
profile is to define the accuracy of a desired trajectory. When corner rounding is desired, you can select between two
different algorithms to effect it.
Device Task
Definition
More about robot controller profiles can be found in the on-line documentation.
241
Create Robot
Profiles
Create Motion Profile - Procedure
To add a new motion profile, click the Motion Profile icon from the
1
Robot Controller toolbar, then select a robot. The Motion Profile dialog
box appears. The Motion Profile will be created automatically and placed
under Motion in the PPR tree.
2 To edit this profile, double-click on the profile just created. The Motion
Profile dialog box appears. Absolute:
- Straight line motion, this speed
Absolute: Means that the speed value is specifies absolute TCP linear
the average speed the robot uses. speed.
Percent: Means that the robot will move at - Joint-interpolated motion, this
a specified percent of its maximum value is divided by the maximum
speed. TCP linear speed to obtain the
Time: Means that you provide a set time percentage of maximum joint
for the robot motion, and the robot speed.
calculates its speed to perform the Percent:
move within that time. - Straight line motion, specifies
percentage of maximum TCP
linear speed.
Straight line motion, the percentage of the
- Joint-interpolated motion,
Maximum TCP rotational speed.
specifies percentage of maximum
Joint-interpolated motion, the percentage joint speed.
of the maximum joint acceleration.

Time: The programmed duration of the
move.
Straight line motion, the percentage of

the Maximum TCP rotational speed Straight line motion, the percentage of the
acceleration. Maximum TCP rotational speed
242
Robot
Profiles
Create Accuracy Profile - Procedure
To add a new Accuracy Profile, click the Accuracy Profile icon from
1 the Robot Controller toolbar, then select a robot. The Accuracy Profile
dialog box appears. The Accuracy Profile is created automatically and
placed under Motion in the PPR tree.
2 To edit this profile, double-click on the profile just created.

The Accuracy Profile dialog box appears.
Distance:As it moves near
its target, the robot will
Selecting On: means that the robot moves move within a virtual
near, but will not stop at a specific target sphere that has the target
(i.e., there will be no declaration; the target point as its center.
is a via point).
Speed: The speed
Selecting Off: means the robot will stop at represents the extent to
the point. which the robot
decelerates as it rounds
the corner. A speed of 0%
enables the robot to move
exactly to the target point;
a speed of 100% means
Radius of targets surrounding sphere: The the amount of corner
accuracy value represents the radius of the rounding will be very

sphere. large.
Percentage of Deceleration: A percentage of
the deceleration speed at which corner
rounding should begin.
243
Robot
Profiles
Setting Turn Numbers - Procedure
1 Click the Set Turn Numbers icon, from the Sequence toolbar
and select a robot to have the turn numbers set.
The Set Turn Numbers dialog box appears with the Cartesian
Target Type selected. The default settings are usually
acceptable.
2 To complete the setting, click on Set on the dialog box.
To run through the path, select the Teach a Robot icon from the
3 Robot Management toolbar.
The Teach dialog box appears.
4 By using the Simulation or

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

Create an Accuracy Profile
Set Turn Numbers
246
Start Point End Point

247
Robot Controller Profiles
1. Expand the Motion and Accuracy files for Spot Weld.1 in the PPR
Tree.
2. In the Robot Controller Toolbar, click Motion Profile.
3. Select the IRB_6400_24_150.1 to add a new profile and Motion.1 is

created and the Motion dialog box appears.
4. Double-click to edit the name of Motion.1.
5. For this example, change the name to Custom Motion.1 the Speed
Value to 90% and toggle between the Motion Basis to view the results.
Click apply, and OK when done.
6. Click on Accuracy Profile icon from the Robot Controller Toolbar,
and adjust the accuracy to see the changes.
By double-clicking on Accuracy.1 the

name of the accuracy profile can be
changed.
248
Set Turn Numbers
1. In the Sequence toolbar, select the Set Turn Numbers icon.
2. Select the IRB_6400_24_150.1 robot.
3. The Set Turn Numbers dialog box appears. Leave the default
settings and click Set. The command will run the robot
through the path automatically and configure the turn numbers to
the correct positions.
4. Click Teach a Robot icon and run through the path to see the corrections.
249
4 Optimizing the Simulation - Summary
Module Summary
This module introduced you to some of the key functions that can be used to optimize a simulation.
It is using these tasks you can obtain peak performance.
Coming Up
Advanced Topics
7 hours
250
251
1
Build the
Layout
2
Tags and
3 Robot Tasks
4 Activities and
Optimizing the Assignments
Simulation
5 Advanced
Topics
Module 5
Advanced Topics
252
5 Advanced Topics
Overview
Advanced topics are used for a more advanced group of users. These users are more proficient with
the software either from using it or previous classes taken in the field of study.
Objectives
Advanced Functionality
Editing Manufacturing Positions
Offline Programming
Device Building
Build V5 Robot
253
Workbenches
Device Task Definition
Toolbars
254
5 Advanced Topics
Advanced
Robotic
Functionality
Editing
General Settings Manufacturing
Inserting using Catalog Browser Positions
Inserting D5 Component
Teaching Robots to move on Rails
Using the 3D XML Player Using Tag Transformation for Weld Points
Using Trace TCP
Show / Hide Attachments
Creating Call Task
Offline
Device Building Programming
Using Offline Programming

Opening Product
Uploading Robot Program
Creating Frames
Using RRS (Realistic Robot Simulation)
Creating Joint from Axis
Setting and Editing Joint Limits and Jogging
Creating Home Positions
Build V5 Robot Creating Tool Center Points
Assigning Inverse Kinematics
Insert Parts
Create Revolute Joints
Define Fixed Part

Define Kinematics Relations
Assign Generic Inverse Kinematics 7 hours
255
Advanced
A Robotic
Functionality
General Settings
Inserting using Catalog Browser
Inserting D5 Component
Setting Auxiliary Devices
Teaching Robots to move on Rails
256
Advanced
5 Advanced Topics Robotic
Functionality
About Advanced Robotic Functionality
The advanced functions covered in this section are just an example of the many different functions included with
this software. Incidentally some of the advanced functions may be a bit beyond the beginning users, however the
functions that have been included should be able to be learned by even the most novice of users.
Device Task
Definition
More about the Advanced Robotic Functionality can be found in the on-line documentation
257
Advanced
Functionality
General Settings – Procedure
The first step in building a simulation is to set up a working environment that best reflects the needs and desired
outcomes of the user’s context.
1 Launch V5 Product, open Device Task Definition workbench.
Double-clicking this link will

DELMIA V5R17.lnk start the V5 product.
2 From the Main Menu, click on Tools, then

on Options.
3
258
Advanced
Functionality
General Settings – Procedure
Node Tabs
The Options window
appears with a tree.
The Nodes and Tabs

permit the you to
customize the
software.
The software must be

closed and reopened
for changes to take
effect.
259
Advanced
Functionality
Inserting using Catalog Browser – Procedure
Browse another catalog

With the plant floor in the world, the next step is The path to the current
allows you to search
to populate the world with the resource items necessary library as well as
through all catalogs that
to carry out the manufacturing activity. recently accessed
have been mapped to the
libraries can be viewed
environment when the
from the drop down
options were set.
list.
Many items exist in previously constructed
custom catalogs or are resident in large
libraries.
Catalog
items can
be shown
The Catalog Browser is a convenient in large or
way to search and retrieve items small icons,
needed to populate the environment for or as a list.
a particular project.
Queries can
Specific queries be
can be constructed constructed
with filters. on multiple
levels.
Smart definitions refine

searches further.
260
Advanced
Functionality
Keep the Resource Detailing and Device Task

Definition workbench and the project file open.
OR
Go to the Insert menu and select Catalog

1 Browser OR click on the Catalog Browser icon
on the Activity Management toolbar.
The Catalog Browser window opens

with the last catalog used.
Click on the “browse another catalog” icon at the far right to

2
navigate to the location of the library or catalog.
Navigate through the library or catalog until the item you wish
3
to import is located.
Inst.
261
Advanced
Functionality
Click on the item and drag it into the world. When the mouse
4 button is released the item becomes visible, but it will move
around with the cursor.
Click to set the item in the world and notice that another instance
5
of the same item appears. Clicking will set another instance of the
item in the world and will open another instance. This continues
until the you close the dialog box. This feature is efficient for multiple
instances of items necessary to populate a world.
6 Check the PPR tree to see that the item is listed under the ResourceList.
Inst.
262
Advanced
Functionality
Inserting D5 Components – Procedure
To insert D5 components into the V5 release a few considerations must first be met.
First a Library with D5 components must be created and be populated
1 with the components needed for insertion.
2 Then simply use the Import Delmia D5 Component icon from the Activity
Management toolbar or the pull down menu from the Insert node of the
menu bar.
3 Click on the node from the PPR tree to insert the item under it either as a
Product or Resource (which ever is applicable).
Point to the part to be inserted in the appropriate folder, the object is

4
then added to the appropriate list in the PPR tree and the geometry will
appear in the 3D viewer.
263
Advanced
Functionality
Setting Auxiliary Devices – Procedure
1 Click on the Define Auxiliary Device icon from the Robot Controller
toolbar.
The Define Auxiliary devices dialog box appears.
3 Select a Robot for in the Selected Robot section.
Then select an auxiliary device that will be assigned or defined to

4
the robot.
Click OK, and then Close from the dialog box.

5
The device will be automatically defined to the robot.
264
Advanced
Functionality
Teaching Robot to Move on the Rail – Procedure
Before teaching a robot to move on a rail, points should be created to make a path for the robot to follow.
1 Click on Teach a robot icon from the Robot Management

toolbar, and select a robot from the PPR tree or 3D view.
Check the Jog Panel check box in the Teach dialog
2
box. The Jog dialog box appears.
The Teach dialog box appears.

NOTE: Specific coordinates can be entered in the Jog dialog box,

if they are known.
265
Advanced
Functionality
Teaching Robot to move on the Rail – Procedure
3 Jog the Robot to the next position in the path being created.
4 Click on Close in the Jog window to close the dialog box.
5 Click on Insert in the Teach dialog box to insert the new position created.
6 Click on Save Initial State icon from the Simulation toolbar to save
the position just created.
The Save Initial Condition dialog box appears.

7 Set the desired options and click on OK (for most projects the default is acceptable).
266
Advanced Robotic Functionality – Exercise
267
Exercise – Advanced Robotic Functionality
45 min.
Scope: This software has to many functions for all to be seen within a short time. For that reason the material
contains only the more common tasks. For the Advanced section of this material the same is true. This section will teach
General Settings, insertion using a Catalog Browser, insertion of a D5 Device, and how to teach a robot to move on a rail.
Conditions: V5 and Device Building workbench must be open. A product to which inverse kinematics needs to be
assigned should be open.
Complete General Settings

Insert items using the Catalog Browser
Insert a D5 Component
Set Auxiliary Devices
Teach a Robot on a Rail
268

269
General Settings
Node Tab Option Setting_____________________________________

General General Turn Off AutoBackup
General Document Other Folders= requires Instructor direction to configure
path to data
Display Navigation Preselect in geometry view
Turn on Display Manipulation Bounding box
Turn on Gravitational Effects to z axis
Parameters & Measures Report Generation Input XSL = requires Instructor direction to select script
Output Directory = requires Instructor direction to select
output directory location
Parameters & Measures Symbols Filter Button = Select Hide All then OK.
Infrastructure Product Structure Cache Management Activate Work with the Cache System
Digital Process for Mfg Tree Activate all radio buttons under Hierarchy Tree except the
Items Folder
Digital Process for Mfg FPP/Fastener Visualization Show the Fastener (design)
Digital Process for Mfg FPP/Fastener Visualization Show the fastener (manuf)/tag.
Compatibility DELMIA D5 Follow path to Root Lib (Plibs\UARClib)

Inst.
REMINDER: You must close and reopen the software for settings to take effect.
270
Insert Items using the Catalog Browser
Since the users have already learned how to insert robots using the Catalog Browser the same method applies
for other resources. So at this time there may not be any need for the users to complete this section.
However if the user feels they need some practice inserting now is the time, refer to the procedural section of the
manual and insert any components you wish. Later use the Remove from PPR icon in order to delete the added
items.
Inst.
271
Insert D5 Component
As for the insertion of D5 components, the next few steps will

guide you through importing a D5 Device into the V5
environment.
The insertion of a D5 component is a useful tool especially
when converting from D5 to V5. However the Tools / Options
must be configured before the insertion can be done. These
steps should have been previously done before the class
started.
1. Click on the Import DELMIA D5 Component icon.

2. Select the insertion node (Product/Resource
List) point, select Resource from the PPR tree.
3. In the Import DELMIA D5 Components dialog
box appears select the Device Radio button.
4. In the select a D5 file window, click
WELDGUNS/TREGASKISS/H20_180_23, then
click Open.
5. Click OK. The device is automatically inserted
into the process.
6. Replace the Rocker2 Weldgun on the
IRB_6400_24_150.2 with the Tregaskiss Weldgun
that was just retrieved.
272
Set Up an Auxiliary Device (Gantry / Robot Relationship)
Using the Define an Auxiliary Device icon from the Robot Controller toolbar, it is
possible to set up the robot / gantry relationship to move back and forth on the
rail inside the robot program.
1. Click on the Define Auxiliary Device icon from the Robot Controller toolbar.
2. Select the S-420iS robot from the PPR tree for Selected Robot field.
3. Select the Gantry from the PPR tree for Selected Auxiliary device field. Make sure
to select Rail/Track/Gantry from the pull down menu as well.
4. Click OK.
The device is automatically updated into the robot

programming. This will let the user move the robot on the
rail inside of the existing program.
273
Teach the Robot to move on a Rail
1. Click on Save Initial State icon from the Simulation toolbar.

2. Use the compass to swing the robot over the RH Body Side Assembly
then click Insert from the Teach dialog box.
3. Next, lower the end effector so that it is in a general position over the
product then click Insert again.
4. Now, lower the end effector so that it is in the position to pick up the
product, then click Insert.
5. There should be 3 operations now. Using operation 2 then 1, copy and
paste them to create new positions with the exact same orientation.
This is done so the robot can back out the same way it entered the pick action.
274
Teaching the Robot to move on a Rail
1. Right-click on Robot Task.2, and in the
Properties,
under Operation Order check to make sure the
order is correct if not it can be fixed here.
2. Run the Robot Task using the Teach
dialog box and the Simulation buttons to
check the process.
3. Select Operation.5 in the teach dialog
box, then click on the Jog Panel radio button
and select the Gantry from the PPR tree.
4. Select the Middle Predefined Position from the
Mechanism.1 section of the Jog dialog box.
5. The robot moves to the middle of the rail,

click on Insert in the Teach dialog box.
6. Click Close and OK to close the windows, and then run the
simulation again to view the changes.
Inst.

275
Edit
B Manufacturing
Positions
Using Tag Transformation for Weld Points

Using Trace TCP
Hide / Show Attachments
Creating Call Task
276
Edit
Manufacturing
5 Advanced Topics Positions
About Editing Manufacturing Positions
Manufacturing positions are created at the time of creating the initial model of the part that will be used in the
finished scenario. These positions are then inserted into a simulation and so the points can be used for robots
program. The points may be oriented incorrectly or unreachable, but can be edited later to make simulation run
properly. The technician creating the simulation can then pass that information the next step.
Device
Task
Definition
Complete information about editing manufacturing points can be found in the on-line
documentation.
277
Edit
Manufacturing
5 Advanced Topics Points
Using Tag Transformation for Weld Points - Procedure
1 To transform a tag, click on the Tag Transformation icon from the Tag
toolbar.
2 Select the Welds that need new tag points.

The Tag Transformation dialog box appears, and the
compass snaps to the last weld selected.
3 Move the compass to the correct orientation,

and click Close.
NOTE: Use the Teach a Robot icon as a reference tool to verify proper gun orientation, as you move the robot
to each new location.
278
Edit
Manufacturing
Transforming Tags using Teach dialog box - Procedure
1 To transform tags using the teach dialog box, click the Teach a Robot
icon from the Robot Management toolbar.
The Teach dialog box appears, and the robot snaps to the Current Weld shown in
the dialog box.
2 The default format for the Teach dialog box is Compact. Select Table, and all
the welds appear with the supporting data.
The robot will jump to an operation by simply selecting it from the table. Note that the options described above for
inserting operations and modifying them also appear in the tabular format the Teach dialog box.
Remember this dialog box can be resized for a better view.
279
Edit
Manufacturing
Transforming Tags using Teach dialog box - Procedure
Depending on the task and robot, not all the column headings will contain data.
3 Select the operation to change, since multi-selection is supported you can select more
than one operation at a time by holding the Ctrl key.
4 Select a column heading to be altered. Click on the name in the title bar. Column Headings
/ Title bar
5 The Parameters Selection dialog box appears. Use the pull down menu to select from the different
options.
6 Click OK, the new option appears in the table associated with the correct operation(s).
Inst.
280
Edit
Manufacturing
Transforming Tags using Teach dialog box Cont. - Procedure

Operations
7 Return to the Compact format of the dialog box.
8 Click on the different operation buttons, and the simulation buttons to see
the different uses of this box.
Simulation
9 Click on the Jog Panel radio button to activate the Jog dialog box. This dialog box
can control the robot and return the robot to its home positions.
Jog Radio button
Return to home
positions
10 Close the dialog boxes, when completed.

281
Edit
5 Advanced Topics Manufacturing
Points
Using Trace TCP - Procedure
To Trace the TCP, click on TCP Trace from the Robot
1 Management Toolbar then select the robot to trace.
The TCP Trace Management dialog box appears
2 Check the On radio button in the TCP trace activation field.
3 Click on the Teach a Robot icon, check the Track Target

check box to activate the function. Then using the
simulation tabs, run the simulation. The simulation will

run while the line is drawn tracing the robot path.
282
Edit
Points
Hide / Show Attachments - Procedure
1 To make the parent / child relationship visible, in the Environment Tools toolbar, click the Show Attachments icon
and click on one of the robots.
2 Click the icon again and select another robot, so that both
relationships are shown.
3 Double-click the Hide Attachments icon.
A. Click on the text to hide it.

B. Hide both relationships and then click on the icon again to deactivate it.
4 To view the data in the No Show area, click on the Swap Visible
Space icon in the View toolbar. Clicking it again will return you
to the main 3D view.
This 3D view has a green background

indicating that this is the No Show area. A
component hidden in the product structure
appears in low highlights in the PPR tree.
283
Edit
Points
Hide / Show Attachments - Procedure
5 Click on the Swap Visible Space icon to go back to the main 3D view.
If there is a lot of data and the view is confusing, use the Hide / Show command to place some
of the data in the No Show area. This area is for viewing only and the main 3D view is the active view where functions
are available.
6 When using the Hide / Show command with some of the geometry. Pick the geometry from the PPR Tree or from
the 3D view to see the different results.
Example:
Click on any of the robots from the
PPR tree and then click on the
Hide/Show icon. You will notice
that the selected robot is no
longer visible. To make it visible
again, click on the robot from the
PPR tree and click on the

Hide/Show icon again.
284
Edit
Points
Creating Call Tasks - Procedure
Before a call task can be created, a new robot task must be created in order to have a place to store task data.
1 To create a new robot task, click the New Robot Task

icon and select the robot to receive the new task.
2 Right-click on the robot task and change the name by using the
properties box.
To place the robot in the correct orientation, click the Teach a Robot
3
icon.
4 The Teach dialog box appears, select the Robot Task just created
and click on Insert.
(This stores the home position of the new program for the robot).
285
Edit
Points
Moves must be created for a task so that both the tasks and the moves can
be assigned to the process.
5 In order to create the moves, use the Jog panel in the Teach Pendant to create a
position similar on the approach to the tool being used in the process.
6 Click on the Insert / Before.

A. Move the robot forward into the tool.
B. Create another new position and use Insert / Before.
C. Then move it back.
D. Create one more new position and use Insert / Before.
7 Close the Teach window.
8 Click on the Creates a Call Task Activity icon, and then the
new task in the Task List under the robot.
The Select Target Task dialog box appears.

9 Select the robot task, then click on Creates a Call Task Activity icon. Finally select
the task that was just created.
286
Edit
Points
Switch to the Workcell Sequencing workbench to Set an Active

10 Task for the operations that were created (Start / Resource
Detailing / Workcell Sequencing).
11 To set an active task in the process, click on the Set an

Active Task icon and select the task just created.
Run the simulation.

287
Editing Manufacturing Positions – Exercise
288
Exercise - Editing Manufacturing Positions
15 min.
Scope: The multiple parts and pieces of the device will be attached and kinematics will be added. As an added feature
Inverse kinematics will be added to a separate device as well.
Perform Tag Transformation

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


290
Edit Manufacturing Positions
1. From the Robot Management toolbar, click on the Teach a Robot icon.
2. Locate the IRB_6400_24_150.1 under the resource node and select it.
With a closer look you can see Welds 11 and 13 need adjustment.
3. Double-click on the Compass to access the Parameters for Compass
Manipulation dialog box.
4. Select weld 11 from the 3D view.
5. Manipulate the compass to a position that does not interfere

with the tooling or any other geometry.
6. Select Modify from the Teach dialog box.

This will modify the position into the correct orientation.
291
Edit Manufacturing Positions - Exercise
8. Use the Compass to manipulate any other weld locations appropriately.
9. When you are satisfied with the new locations, close the Teach dialog box.
10. Use the Teach a robot function once again to verify the weld gun orientation.
292
Trace TCP
1. Click Trace TCP from the Robot Management Toolbar,
and select the IRB_6400_24_150.1 robot.
2. Click On radio button for the TCP Trace Activation.
3. Select the Teach a robot icon, and click on the Track TCP
to activate the function.
4. Run the Simulation. Make sure that you are starting from the pounce position.
A line representing the robot path should be created.
293
Trace TCP - Exercise
1. Return to DNBTCPTraceDlg dialog box to see that the path has
been recorded. Notice that the options to the left of the dialog
box become available after selecting the recorded path.
2. Click on the Export icon, and save the path as shown below.
3. Locate and open the output file to see the results.

294
Hide Show / Attachments - Exercise
1. Using the Hide / Show attachments icon from the

Environment Tools toolbar, attachments like child parent
relationships or any geometry can be hidden in the swap
visible space area.
2. Try using this function on some of the various geometry,

then select the swap visible space icon from the View toolbar
and it is possible to see all the hidden geometry.
3. Follow the same steps to replace the geometry to its original positions.
295
Create a Call Task - Exercise
1. Insert the Tip Dresser1.CATProduct.
2. Place the tip dresser near the location shown below.
3. Click the New Robot Task icon, and select the robot
IRB_6400_24_150.1.
This creates a new Robot Task.
4. Use the properties menu to change the name RobotTask to
Maintenance Program.
5. Create two more RobotTasks and call it Prog and Maint.
296
6. Click the Teach a device icon, and the IRB_6400_24_150.1.

7. Locate the Maintenance Program from the Teach dialog box.
8. Click on Insert. (This stores the home position of the other program)
9. Using the Jog panel in the Teach Pendant. Create a position similar on the
approach to the Tip Dresser.
10. Click on the Insert / Before. Move the Robot forward, into the tip dresser,
and create a position, Insert / Before, and move it back, and create a
position, Insert / Before.
11. Close the Teach Window.
12. Click on the Creates a Call Task Activity icon, and Prog and Maint, under
the Tasklist, under the Robot.
297
13. The Select Target Task Dialog box appears.
14. Select RobotTask.1, then click on the icon again, and the
Prog and Maint, and select Maintenance Program.
15. Right click on the Prog and Maint, and in Properties /
Operation Order, check to make sure the Maintenance
program is the last one.
The finished Robot Task List.
298
17. From the start menu, navigate to the Workcell Sequencing workbench.
18. Click on Set a Active Task icon, and select the SpotWelding.1 from the
Activities section of the PPR tree.
19. Then click on Prog and Maint. from the pull down menu on the Active
Task dialog box.
20. Finally run the simulation.
299
Offline
C
Programming
About Offline Programming

Using Offline Programming
Uploading Robot Programs
RRS (Realistic Robot Simulation)
300
Offline
5 Advanced Topics Programming
About Offline Programming
This procedure describes DELMIA OLP or (Off-Line Programming) which is a robotic solution for off-line
programming of complex, multi-device robotic resources. This helps to reduce man-hours while greatly
improving program accuracy.

Complete information about offline programming can be found in the on-line documentation.
301
Offline
Using Offline Programming - Procedure
1 In the OLP toolbar, click on the Create a Robot Program icon,

then select the robot task to modify.
2 The software generates the Robot Program, and the Downloading Options dialog box appears. The defaults are
acceptable, click OK and the robot program dialog box appears.
3 Behind the scenes, an XML file has been generated also, this has been created in a directory on the C:drive. To
view this file go to C:\Documents and Settings \”User”\Local Settings\Temp.
302
Offline
Importing Offline Programming - Procedure
1 In order to Import the Robot Program a robot task has to be created or opened for use.
2 Click Import Robot Program icon on the OLP toolbar, then

select the robot task to use.
The File Selection dialog box appears.
The new robot task can then be populated with an existing program or the new one can be created.
303
Offline
RRS (Realistic Robot Simulation) - Procedure
Realistic Robot Simulation can be done using the RRS Connect toolbar, however since this is a beginners manual
we will only be discussing some of the key features not actually using RRS or Realistic Robot Simulation.
RRS – II Free Play – command to control

the motion of one or more real-time
RRS Connect – This is used managed VRC connected robots using
to connect the program being the VRC module's own user interface (UI)
written to the server for RRS. instead of the V5 UI.
Make VRC Consistent - Allows for the

VRC to be consistent throughout the
RRS Operations – allows whole program.
the operations to be
changed for simplicity of
use. Set RRS Attributes –
Allows the attributes to
be set for RRS.
RRS Status –
Allows you to
check the status of
the Program.
304
Offline Programming – Exercise
305
Exercise – Off-Line Programming
15 min.
Scope: Off-Line Programming is done in order to program robots for a simulation, this can be used for all of the
programming, however it is not done by all programmers this way. Some programmers utilize the software and its ease of
use in robot programming, but for all the programmers that still like offline programming it can be done using the following
instructions.
Conditions: V5 and Device Building workbench must be open.
Use Off-Line Programming

306

307
Off-Line Programming
1. Click on Create Robot Program icon from the OLP toolbar.
2. Select the S-420iS Robot Task.2.
3. The Downloading Options dialog box appears. The defaults are
acceptable, click OK and the Robot Program dialog box appears.
308
Uploading the Robot Program
4. Create a new robot task for the IRB_6400_150_24.1 using the

Create Robot Task icon from the Sequence toolbar.
5. Select the Upload Program icon from the OLP toolbar, and the new
robot task just created.
6. The new robot task is populated with an existing program. For this
example we will use the one just created.

309
Device
D Building
Opening a Product
Creating Frames
Creating a Joint from an Axis
Setting and Editing Joint Limits and Jogging
Creating Home Positions
Creating Tool Center Points
Assigning Inverse Kinematics
Inst.
310
Device Building
5 Advanced Topics
About Device Building
Device building provides a complete set of tools for modeling mechanical systems that are typically
used in the manufacturing process. Such systems include robotic end-effectors (grippers,
weldguns, etc.), positioning devices, stamping presses, milling machines, lathes, and tracked
vehicles. The target is generic modeling of forward-kinematic devices that can be driven using joint
coordinates.
Factory Layout and Robotics / Device Building
Device
Building
Complete information about device building can be found in the on-line documentation.
311
Device Building
5 Advanced Topics
Opening a Product - Procedure
1 On the main menu bar, select File / Open.
2 The File Selection dialog box appears. Go to the appropriate folder to access the Product, click
on the File and select Open.
312
Device Building
5 Advanced Topics
Creating Frames - Procedure
1 Click on Frames of Interest from the Frames of Interest toolbar and then select the
part to attach the Frame.
Example
This creates a storage area for different frame types that can be used on a device.
2 After creating the storage area, click on Frame Type from the
Frames of Interest toolbar then select the Frames of Interest
from the PPR tree which will be defined.
3 To assign the type of frame needed, select a frame type: Design, Tool, Base, or Custom.
313
5 Advanced Topics Device Building
4 After selecting the type of frame, select a Define Plane from the Define Plane dialog box.
In some cases the Frame may be positioned incorrectly, if this is the case do not click OK yet.
Example
Important Note: Prismatic and revolute joints are based on the position of the (w) axis. Prismatic will
move along and revolute will rotate around the (w) axis.
314
5 In order to manipulate the Frames orientation, double-click the compass, which will bring up the Parameters
for Compass Manipulation dialog box.
6 A specific amount can be typed in, or under rotational / transitional increments 90 degrees can be used and
the compass will move in 90 degree increments by clicking the Arrows shown in the example.
315
Creating a Joint from an Axis - Procedure
1 On the Device Building toolbar, use the arrow down to display the Kinematic Joints toolbar, it is possible to place
it anywhere on the screen once it is open.
2 Click on Joint from Axis icon, and the Axis-based Joint

Creation dialog box appears.
3 Click on New Mechanism, here a name can be given

or the default is acceptable.
4 Select what type of joint to use from Joint Type in the dialog
box.
5 Fill in the section for Axis 1 and 2 under the Current selection part of
the dialog box. To do this:
A. Select a Frame from the PPR tree for Axis 1 of the joint.
B. Then under Axis, 2 select the other Frame to be included in the
Joint, from the PPR tree.
To view the data storage area, go to the PPR tree and open Applications. This is where the data is stored for the
Mechanism that has been created.
316
Setting and Editing Joint Limits and Jogging - Procedure
1 Click on Fixed Part icon.

The New Fixed Part dialog box appears.
2 Click on a part in the PPR tree.
Double click on Prismatic.1 for example from the PPR Tree, in

3
order to edit the joint values.
The Joint Edition dialog box appears. This is where the

defaults for the motions are set.
Example
317
Setting and Editing Joint Limits and Jogging - Procedure
4 To set the Limits for the device, click on the Length Driven button.
Change the lower and upper limits to the desired tolerance and click OK.
The Information dialog box appears, click OK.
Now the device can be jogged. This can be done by, selecting Jog
5
Mechanism then selecting a device to jog.
Jogging can be done by using the Command.1 pull bar, or by

typing in a value.
6 Reset and close to place the robot back to the original position.
318
Creating Home Positions - Procedure

1 Click the Home Positions icon from the Device Attributes
toolbar.
The Home Position Viewer dialog box appears.
2 To create a new position, click New.

The Home Position Editor Dialog box appears.
For the selection to be

completed either select
Close or click Enter on
the Keyboard.
3 Depending on the orientation of the device, type in a name

that reflects that position under Name in the dialog box .
319
Creating Tool Center Points (TCP) - Procedure
1 The first thing to do when creating a TCP is to, open a Frames of Interest node from the PPR tree.
(Make sure the Compass Automatically snaps to Selected objects is turned off.)
2 After opening the node section from the PPR tree, click Frame Type from the Frames of
Interest toolbar.
Then select a Frames of Interest from the PPR tree to

3
create a frame type for the selected part or device.
A Frame type must then be selected in order to create the TCP for the Product.
4 Make a selection in the Frame Type dialog box. Then select a Plane type from the
Define Plane dialog box and click OK.
The TCP has now been created it can be moved into a new position or the default position
may be acceptable.
320
Device Building
5 Advanced Topics
Assigning Inverse kinematics - Procedure
1 Click Inverse Kinematics icon from the Resource Device tool bar and click the main product in
the PPR tree.
You will see GANTRY’s Inverse Kinematic Attributes dialog box.
2 Click in the first entry line (for Mount Part) and from the PPR tree select the part, which contains the
mounting point.
3 Click in the next entry line (for Mount Offset) and from the PPR tree select the desired Frame of
Interest, where the TCP will be located.
321
Assigning Inverse kinematics - Procedure
4 For the Reference part, select any geometry within the kinematic device from the PPR tree.
5 For the Base Part, select the anchored geometry. Fill in any other details you desire and click on
More… button.
You will see the following dialog box: 6 Click on Actuator Space Map tab. You will
see the following dialog box:
7 Click Compute button to allow V5 gather the

Note: If the OK button is grey, it indicates necessary information from V5 mechanism.
there are settings, which need to be set.

8 Click OK.
You should now be able to jog the mechanism
using inverse kinematics.
322
Device Building – Exercise
Inst.
323
Exercise – Device Building
15 min.
Scope: The multiple parts and pieces of the device will be attached and kinematics will be added. As an added feature
Inverse kinematics will be added to a separate device as well.
Device Building
Assign Inverse Kinematics
324

Load: R17 Robotics / R17-Robotics Project Data / Product / PedWelder/ PedWelder.CATProduct
325
Open Product
1. The parts on the Ped Welder need to be attached so they move in unison with one another, using
the Attach icon attach Holder18, Shank21, and the Cap1 as Children to Piston10. Piston10 is the
Parent in this relationship.
REMINDER: Selection of multiple parts can be done by holding the CTRL. button.
The parts can now move together opening and closing as one piece.
Inst.
326
Create Frames
The Frames of Interest need to be created for Piston10. and Base.1.
1. Using the Frame Type icon define the Frame for the Piston10.
2. Select Design from the Frame Type dialog box.
3. Select Define Plane using Compass, from the Define Plane dialog box do not click
OK yet.
Inst.
327
Create Frames
4. Double-click the compass to make the dialog box appear. Type in 90 degrees on the
Along V and click on either rotation arrow to set the (V) Axis in the correct position
as shown.
5. Close the Compass Manipulation dialog box. Now you can click OK in the Define
Plane dialog box.
This is done so the orientation of the Frame

is positioned correctly.
328
Create Frames
1. Repeat the steps to Create and Define the Frame for the Base1.
2. All the settings are the same for the Base as they were for the Piston i.e. the Define Plane and the Frame
Type are the same.
3. Since the settings are the same for the Base you can click OK.
329
Create Joint from Axis
1. Click on the Joint from Axis icon from the Kinematic Joints toolbar.
2. The Axis-based Joint Creation dialog box appears.

Accept the default name and click OK.
3. Under Joint type select Prismatic.
4. Select Design.1 from below the Base in the PPR
tree for Axis 1 field.
5. Select Design.1 from Piston10 for Axis 2 and
click OK.
The dialog box should look like this when completed.
To view the data stored for the Mechanism you just created, go to Applications
in the PPR tree and click open.
330
Set and Edit Joint Limits
1. In order to set-up the device for motion, click the New Fixed Part icon from
the Device Building toolbar.
2. Click the Base in the PPR tree.

3. Double click on Prismatic Under Applications / Mechanisms / Joints in the PPR tree and the Joint Edition
dialog box appears.
4. Click on the Length Driven button. Change the Lower limit to 0mm and the
Upper limit to 100mm, then click OK. Now you see the Information dialog
box, the user can now select OK.
331
Jog the Device

1. The mechanism has the ability to be jogged. Click Jog Mechanism
and then select the Ped Welder.
2. The Jog dialog box appears. The user can move the Ped Welder using the dialog box.
3. Click on Reset, then on Close

when completed.
Refer to the procedure section for tips on using the Jog dialog box.
332
Create Home Positions
Home Positions can be created using the Home Positions
icon from the Device Attributes toolbar.
1. Click Home Positions icon and the Home Positions Viewer appears.
2. Click New in the Home Position Viewer and the Home Position Editor dialog box
appears.
3. Type Open under Home Position Name, and click on Close.
4. Click New in the Home Position Viewer dialog box again. Now move
Command.1 slider to 100mm and repeat the steps for the Closed
position.
The Mechanism can now be Jogged using the Home Positions just created.
333
Create TCP
1. Select Closed from the Home Position Editor dialog box.
2. Click Frame Type from the Frames of Interest toolbar.
3. Select Frames of Interest from under the Base in the

PPR tree and the Define Plane and Frame Type
dialog box appears.
4. In the Frame Type dialog box select Tool.
5. Select Define Plane at Center of Circle in the Define Plane dialog box.
334
Create TCP
1. Pick three points on the surface of the Cap then click OK.
2. In the Measurement Toolbar, click Measure Between, then pick the

surface of Cap 1 and Cap 2, then click OK.
3. Select Tool1 and move it between the Caps using the

Parameters for Compass Manipulation dialog box for
the new Position of the TCP.
Save As: R17 Robotics / R17-Robotics Project Data / Product / PedWelder / PedWelder.1.CATProduct
335

Load: R17 Robotics / R17-Robotics Project Data / Product / Gantry / Gantry.CATProduct
336
Assign Inverse Kinematics
Note: Before assigning inverse kinematics, open

GANTRY.CATProduct from the Product folder.
1. Click on Inverse Kinematics icon and click on

GANTRY from the PPR tree.
2. Click in the first entry line (for Mount Part) and from the
PPR tree select Gantry DummyJ4.3.
3. Click in the next entry line (for Mount Offset) and from the
PPR tree select Design.2.
4. For the Reference part, select Track_0.1 from the PPR tree.
5. For the Base Part, select Track_0.1 from the PPR tree
and click on More… button.
6. Click on Actuator Space Map tab and click on Compute.
7. Click OK.
Save As: R17 Robotics / R17-Robotics Project Data / Product / Gantry / Gantry.1.CATProduct
337
E Build V5 Robot
Inserting Parts
Creating Revolute Joints
Defining Fixed Part
Defining Kinematics Relations
Assigning Generic Inverse Kinematics
338
Build V5 Robot
5 Advanced Topics
About Building a Robot
Using Device Building workbench, you can now build a robot with all the controller and inverse
kinematics in addition to the forward kinematics. To build a robot, follow the parent child
relation. For ex: To create a joint between base and a part, you will have to select the base
components first such as line1, plane 1 and then the components of the part such as line 2,
plane 2. You will have to follow this procedure in building each and every joint of the robot.
However the exercise section explains with the images to show you which part needs to be
selected first and which part to be selected second.
Factory Layout and Robotics / Device Building
Device
Building
Complete information about building robot can be found in the on-line documentation.
339
5 Advanced Topics Build V5 Robot
Inserting Parts - Procedure

Click on File/New, and select Product from the New dialog box.
1
2 Click on Insert/Existing Component, and click on Product

node on the PPR tree.
3 Select appropriate CATPart and click on Open.

340
Inserting Parts - Procedure
You will see the selected CATPart inserted.
4 Insert the next CATPart following the previous steps.

341
Creating Revolute Joint - Procedure
5 Right click on the compass and check the Snap automatically to selected object option .
6 Click on the part, which needs to be positioned correctly. The compass attaches itself to the part. Using the
compass, position the part to create a revolute joint.
Click Revolute Joint on the Device Building tool bar.

6
You will see Joint Creation: Revolute dialog box.
7 Click on New Mechanism. You will see Mechanism Creation dialog box.
8 Type in a name for Mechanism name field or accept the default name and
click OK.
342
Creating Revolute Joint - Procedure
9 Click on the required axis of the parent and child part for Line 1: and Line 2: fields respectively.
10 Click on the required plane of the parent and child part for Plane 1: and Plane 2: fields respectively.
11 Check the Angle driven option and click OK.

Revolute joint is created between the parent and the child part.
343
Defining Fixed Part - Procedure
12 Click Fixed Part on Device Building Toolbar and click the parent part from the 3D window or PPR tree.
You will see a dialog box as shown below, click OK.
After defining the fixed part, inserting parts and creating revolute
joints must be continued till a robot is built.
13 Follow the steps detailed earlier to insert parts and
create revolute joint between the newly inserted part and the
parent part.
You can define kinematics relations only after you have built a robot
similar to the image shown.
NOTE: Detailed set of steps to create revolute joints is mentioned in the exercise section of this material.
344
Defining Kinematics Relations - Procedure
14 Click Kinematics Relations on Device Attributes toolbar and click the robot.
You will see a dialog box listing the non-command joints.
Select one of the non-command joints and click on Add/Edit Relation.

15
You will see Define Joint Kinematic Relationship dialog box.
16 Enter the required relationship and click on OK.

Repeat the steps for the other non-command joint.
345
Assign Generic Inverse Kinematics - Procedure

17 Click Inverse Kinematics on Resource Device Toolbar and click on the robot.
You will see Inverse Kinematic Attributes dialog box.
18 Select mount part, mount Offset, reference part, and base part from PPR tree and click on More.
19 Click on Actuator Space Map tab and

select the Kin Parts manually from
the PPR tree.
346
Assign Generic Inverse Kinematics - Procedure

20 Switch to BaseMore tab and select Generic Inverse for Solver Type field.
21 Move to Solver Attributes (Generic) tab page, and click OK. A controller node appears on the PPR tree.
347
Build V5 Robot – Exercise
Inst.
348
Exercise – Build V5 Robot
40 min.
Scope: In this section you will build a robot using the steps given in the procedure section. You will then
define kinematics relations and assign generic inverse kinematics.
Conditions: V5 and Resource Detailing Device Building workbench must be open.
Insert Parts
Create Revolute Joint
Define Fixed Part
Define Kinematics Relations
Assign Generic Inverse Kinematics
349

Load: V5 with Device Building work bench
350
Inserting Parts and Creating Revolute Joints
1. Click on Insert/Existing Component and click on

the product node on the PPR tree.
2. Choose the IRB0.CATPart.
3. Follow step 1 and 2 to insert IRB1.CATPart.
4. Right click on the compass and check the ‘snap automatically to
selected object option.
5. Click on IRB1.CATPart and using the compass, position it correctly
before creating a revolute joint.
6. Click Revolute Joint in Kinematics Joints toolbar.
7. Click New Mechanism in the Joint Creation:Revolute dialog box.
8. Accept the default name in the Mechanism Creation dialog box and
click OK.
Note: You can find the parts used in this exercise in the R17 Robotics / R17-Robotics Project Data / Parts folder.
351
Creating Revolute Joints and Defining Fixed Part
9. Use the below table to fill in the Line and the

Plane details:
Line 1 Z-axis of IRB0.CATPart

Line 2 Z-axis of IRB1.CATPart
Plane 1 XY plane on IRB0.CATPart
Plane 2 XY plane on IRB1.CATPart
10. Check the Angle Driven option and click OK.

11. Click Fixed Part command and select IRB0.CATPart from
3D window or PPR tree.
12. Click OK on the Information dialog box.
352
13. Insert IRB2.CATPart and create a revolute joint between IRB1.CATPart and IRB2.CATPart. Click
on Revolute Joint command.
Accept the default values as Mechanism.1 and Revolute.2
Use the below table to fill in the Line and the Plane details:
Line 1 X-axis of IRB1.CATPart

Plane 1 YZ plane on IRB1.CATPart

Check if the parts moves to the position as shown in the image.
REMINDER: Insert all the .CATParts using Insert/Existing Component option throughout
this section.
Here Revolute joint is used because we want the IRB2.CATPart to rotate on the axis of
the IRB1.CATPart
353
15. Insert IRB2a.CATPart and create a revolute joint between IRB1.CATPart and IRB2a.CATPart. Click
on Revolute Joint command.
Line 2 X-axis of IRB2a.CATPart
Plane 2 YZ plane on IRB2a.CATPart

Here revolute joint is used because we want the IRB2a.CATPart to rotate on the axis of the IRB1.CATPart
354
17. Insert IRB3.CATPart and IRB4.CATPart. Create a revolute joint between IRB3.CATPart and
IRB4.CATPart. Click on Revolute Joint command.
Line 1 Y-axis of IRB3.CATPart
Plane 1 XZ plane on IRB3.CATPart

Here revolute joint is used because we want the IRB4.CATPart to revolve around the axis of the IRB3.CATPart.
355
19. Insert IRB5.CATPart and create a revolute joint between IRB4.CATPart and IRB5.CATPart. Click on
Revolute Joint command.
Accept the default values as Mechanism.1 and Revolute.5.

356
21. Insert IRB6Axis.CATProduct and create a revolute joint between IRB6Axis.CATProduct and
IRB5.CATPart. Click on Revolute Joint command.
Line 2 Y-axis of IRB6Axis.CATPart
Plane 2 XZ plane on IRB6Axis.CATPart

Here revolute joint is used because we want the IRB6Axis.CATProduct to revolve around the axis of the
IRB5.CATPart.
357
Creating Revolute Joints
23. Create a revolute joint between IRB3.CATPart and IRB2.CATPart. Click on Revolute Joint command.

24. Leave the Angle Driven option unchecked and click OK.
358
25. Insert IRB3a.CATPart and create a revolute joint between IRB2a.CATPart and IRB3a.CATPart. Click on
Revolute Joint command.

26. Leave the Angle Driven option unchecked and click OK.
The robot built should resemble the image shown below:
Here revolute joint is used because we want the IRB3a.CATPart

to revolve around the axis of the IRB2a.CATPart.
359
Defining Kinematics Relations
1. Click Kinematics Relations on Device Attributes toolbar and click
the robot.
2. Click on Revolute.7 and click on Add/Edit Relation.
3. Type in dof(3)-dof(2) relationship in the field provided and click on OK.
4. Repeat step 2 for Revolute.8 and type –dof(3)+dof(2) relationship.
5. Click OK.
360
1. Click Inverse Kinematics on Resource Device
Toolbar and click on the robot.
Use the below table to fill in the fields:
Mount Part IRB6Axis.CATProduct

Mount Offset ‘Tool 1’ Frame of Interest
Reference Part IRB0.CATPart
Base part IRB0.CATPart
3. Click on More.
4. Click on Actuator Space Map tab and use the
below table to fill in the fields:
Command 1 Dof(1) IRB1.CATPart

Command 3 Dof(3)+dof(2) IRB3.CATPart
Command 6 Dof(6) IRB6Axis.CATProduct
Select Kin Parts manually from

the PPRTree.
361
5. Switch back to BaseMore tab and select Generic
Inverse for Solver Type field.
6. Move to Solver Attributes (Generic) tab page, and click OK.
A controller node appears on the PPR tree.
7. Click on Jog Mechanism command to

jog the robot.
Save As: R17 Robotics / R17-Robotics Project Data / Parts/ V5Robot.CATProduct

362
5 Advanced Topics - Summary
Summary
In this module you learned about advanced functionalities, editing manufacturing positions,
offline programming, device building, and building a robot.
Coming Up
Wrap up and Evaluations

1 hour
363
Wrap Up
DELMIA V5 Robotics offers a scalable, easy to use solution for tooling definition, workcell
layout, robot programming, and workcell simulation. It is much more than a basic offline
programming system. It can capture the underlying philosophy of and intent of the robot
programmer allowing the company to capture and reuse best practices, leverage
programming knowledge, and automate the repetitive work of robot programming.
V5 Robotics is ideally suited for work in the Automotive Industry, specifically robot spot
welding and material handling operations. It can be extended for use in other domains as
well.
V5 Robotics also allows you to:

Define the number and sequence of steps / tasks to obtain a specific state of a
product.
Associate the tools necessary to perform those tasks.
Associate the right methods and data to perform those tasks.
Be able to document, validate, and reuse this series of steps.
Add product data such as fasteners to an operation in a process.
Manage fastener assignments and account for fastener.
Coming Up
Evaluations
364
AFTER TRAINING SUPPORT
AND SERVICES
www.delmiasupport.com
365
Professional Services
Professional services are available to

customers to provide on-site, “Over the
Shoulder” assistance with implementing
DELMIA solutions.
Contact your local DELMIA office for more

information
In the USA 248.267.9696

366
Please fill out and return the evaluations
367
Thank you
368

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Expert

Robotics helps manufacturing engineering departments define and manage manufacturing

Demonstration Overview (Demonstrate the building of a simple work-cell)

1 Select File / New / Process. This will create a template for

3 Insert a Product (R.H. Body Side). (Insert / Insert Product)

4 Insert Resources (IRB 6400 / ROCKER2). (Insert / Insert Resource)

5 Attach the Weld Gun (ROCKER2) using

6 Assign the Robot to the Welding Activity. (Drag and Drop).

8 Create a New Tag Group. (Empty)

9 Create a New Tag in the Group.

Demonstration Overview (Demonstrate the building of a simple work-cell)

10 Create a New Robot Task. (Empty)

Build the Layout

Device Task Definition

Using Manipulation Bounding Boxes

Starting New Process

Snap and Attach

Using Snap Icon 3 hours

Using Manipulation Bounding Boxes

About Positioning and Manipulating Compass

Factory Layout and Robotics / Device Task Definition

Positioning and Manipulating Compass - Procedure

1 Items can be manipulated using the bounding

The “Snap Compass to Object” function can

To move an object using the bounding box,

2 When the bounding box is highlighted around the item (usually

If additional movements are necessary, grab

3 Complete the grabbing and moving until the

Snapping Automatically to Selected Object - Procedure

1 To move an object using the Compass, right click on the

Click on the object to be manipulated.

2 The compass moves to the object and the

Grab and hold the axis of the

Repeat the grabbing and moving until the object is in the

Right click on the compass and click “Snap Automatically to

To access this function, right

This capability is useful if objects need to

When snapped to the selected

axis in the pre-

Editing Positions - Procedure

Starting New Process

About Inserting Products and Resources

Factory Layout and Robotics / Device Task Definition

Starting New Process - Procedure

To create a new project, select File / New. The

3 Scroll down to select Process and click OK.

A new Process window opens (Process 2). This shows

NOTE: Only one process needs to be opened.

Inserting Product - Procedure

1 Click Insert / Insert Product from the main menu bar.

NOTE: Resources and products should be placed

Inserting Product - Procedure

1 Click Insert Product icon.

Mounting Device using Set Tool - Procedure

5 When completed, click OK. Example:

Removing Resource - Procedure

1 Select the Resource or product to be removed either

2 Click on the Remove from PPR icon from the PPR

The item selected will disappear automatically after selecting

NOTE: The removing of products and resources can only be accomplished

Using the Save As Function - Procedure

In this exercise you will:

Starting Point Ending Point

Open: V5 with Device Task Definition workbench