SIEMENS

Tecnomatix 14.1

Release Notes
Proprietary & Restricted Rights Notice

This software and related documentation are proprietary to Siemens Product Lifecycle Management
Software 2 (IL) Ltd. © 2018 Siemens Product Lifecycle Management Software 2 (IL) Ltd.
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or registered trademark of Siemens Product Lifecycle Management Software Inc. or its subsidiaries
in the United States and in other countries. All other trademarks, registered trademarks, or service
marks belong to their respective holders.

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Contents

Proprietary & Restricted Rights Notice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Tecnomatix Release Notes 14.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

Process Simulate New Features and Enhancements 14.1 . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
New Dynamic UX Cable Editor Dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Kinematics Slot Joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Placement Manipulator Enhancements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
New Simulation Monitor Trace Capabilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Robot Program Viewer Enhancements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Display Joints Range in Robot Viewer During Simulation . . . . . . . . . . . . . . . . . . . . . . . . 1-5
PLCSIM Advanced Support for Version 2.0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Attributes Viewer in Process Simulate on eMServer Disconnected . . . . . . . . . . . . . . . . . 1-5
Beta Collision Detector Additional Functionality Supported . . . . . . . . . . . . . . . . . . . . . . . 1-6
Delete Logic from Resource . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
Robot Jog New Frame of Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
Disable Large Kinematic Devices during Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
Define Dynamic Flows of Conveyor Skids . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
Process Simulate on Teamcenter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
Teamcenter Manufacturing Access 2.3 Enhancements . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
Collaboration Context Integration and eMServer to Teamcenter Migration . . . . . . . . . . . . 1-10
PLMXML-based Kinematics Importer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
Enhancements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
Human Release Notes 14.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12
Human 14.1 Enhancements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12
Apply Force: Force Profile Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12
Loads and Weights Dialog Consolidation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13

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Process Simulate New Features and Enhancements 14.1

New Dynamic UX Cable Editor Dialog

The Cable dialog is now called Cable Editor. Its Name field can now be dynamically filled by typing
or selecting a cable in the Graphic Viewer. Now four different colors are assigned when cables
become invalid by exceeding the limits of one of the four parameters: Max tension, Max twist,
Max contact force, Min curvature.

Kinematics Slot Joints

In this version, a new type of joint was added to the Kinematics Editor – the Slot joint. It is represented
by two pins which are guided to move along one or two slots, forcing the link to slide along the slots'
geometry. For a single slot, the two pins are constrained within the one slot. For two slots, each pin
moves along its own slot. These joints can be used for clamp or gun modeling.

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The Offset point is an optional parameter, which when users define it, is used for calculating the value
for the newly created joint – seen in the Joint Jog and Robot Jog dialogs.

Placement Manipulator Enhancements

Starting this version, a dotted (endless) line displays along the active axis of the Placement
Manipulator to serve as a visual indication of the current manipulation direction. Similarly, a circle
displays for a rotational axis. This indication changes as users select a different manipulation axis or
pick a different object to manipulate.
Version 14.1 also contains options to emphasize the manipulated object by dimming or graying the
rest of the scene in the Graphic Viewer making the manipulated object easier to distinguish.

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New Simulation Monitor Trace Capabilities

In version 14.1 users have additional trace filtering options and each adds new layers of information
to inspecting and analyzing robot code. They can click icons in the Simulation Monitor UI to:
Show program messages, i.e., robot instructions such as motion and OLP commands.
Show simulation messages, i.e., details of robot instructions such as signal value evaluation and
customized OLP simulation layer lines.
Show trace messages for simulation debugging, with additional information about robot instructions
for debug purposes.

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Robot Program Viewer Enhancements

Starting in version 14.1, the Robot Program Viewer may include collapsible blocks of code and
colored keywords/regions for ease of debugging, and helping users to get a clearer grasp of the
execution of the program.

Robot Program Viewer now supplies out of the box support for all these controllers: ABB, Kuka,
Fanuc, Comau, Default and Yaskawa.

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Display Joints Range in Robot Viewer During Simulation

Starting in version 14.1, users can view minimum / maximum joint ranges in the Robot Viewer during
simulations. Selecting the Show motion range option overlays a shaded area on joint sliders
representing their range of movements, with further graphic reinforcement of placing joint range black
triangular markers at the extremities of the range. Also the Min and Max columns to the sides of
the joint slider area note those values as well.

PLCSIM Advanced Support for Version 2.0

This version contains an upgrade to Siemens FA PLCSIM Advanced version 2.0, providing improved
performance for name-based signal communication.

Note
Process Simulate 14.1 is compatible with PLCSIM Advanced V2.0. Due to an issue
in the PLCSIM Advanced 2.0 API, when marking a signal as PLC Connected to an
address-based PLCSIM Advanced connection without specifying a proper address for it,
the simulation may hang without issuing a warning.
This issue is expected to be resolved with the PLCSIM Advanced 2.0 Service Pack 1.

Attributes Viewer in Process Simulate on eMServer Disconnected

Users of Process Simulate disconnected from the eMServer, can now view attributes of objects that
were already exported to the PSZ file using the Save As option on the eMServer tab:

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It is possible to open multiple instances of the eMServer Attributes Viewer to examine or compare
various objects.

Beta Collision Detector Additional Functionality Supported

The Beta Collision Detector now supports Interference Volumes, Point Clouds, Logical Groups,
Contact Reports and all collision-based features in Process Simulate.
To invoke the Beta Collision Detector:
1. Before invoking the BetaCollision Detector from Tecnomatix Doctor , close any currently-running
Tecnomatix applications.

2. In order to enable the BetaCollision Detector when running Windows 10, launch Tecnomatix
Doctor as an administrator.

Delete Logic from Resource

Note
This new command is active on eMServer-based platforms, not in Process Simulate on
Teamcenter.

From this version, users can delete logic behavior (LB) from resources. After activating the command
when the resource object is in modeling state, the Logic is deleted and the signals are disconnected
from it. The logic behavior can be retrieved by using the Undo or Reload Component commands.
With Undo, the signals that had been connected are reconnected. With Reload Component, the

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connections of signals that were connected are lost (Reload Component does not reconnect them
to the resource).

Robot Jog New Frame of Reference

In this version, the Frame of Reference dropdown list in the Robot Jog dialog contains the new
TCPF with BASE orientation option. The new frame of reference behaves like a combination of
the BASEFRAME and the TCP by on the one hand, being parallel to the robot BASEFRAME, but
positioned at its TCP frame. The result is that when users jog the robot, it is translated with its TCP
but not rotated with it, while remaining parallel to the BASEFRAME.

Disable Large Kinematic Devices during Simulation

In version 14.1, users can disable the evaluation of large kinematics devices (devices with large
number of joints - more than 30 - coupled to robots), such as kinematic cables during simulation to
save computing resources and improve performance, especially in cases when a large number of
robots are simulated. The new capability exists only for line operations in Line Simulation mode. This
option blanks these devices (i.e., cables attached to robots) and their kinematics is not updated while
the simulation runs. When users pause or stop the simulation, the devices are enabled and displayed.

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Define Dynamic Flows of Conveyor Skids

Starting in version 14.1 users can create control points at which skid appearances based on selected
skid resources are generated and continue through the simulation. Users can also add control points
at which skid appearances are destroyed, removed from the simulation.

Process Simulate on Teamcenter

Replace JT

Now when Process Simulate on Teamcenter users update a resource they can replace the associated
JT file. The new Replace JT command also updates all occurrences of the updated resource, and
running Teamcenter Update updates the Teamcenter server with the new JT file.

Note
The command can also be used for new resource instances that still do not have a JT.

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Reload Resource Supports Equipment

Starting this version, when opening disconnected studies (psz-tc) in Process Simulate on Teamcenter
Connected, users can now select an equipment in the study and reload its definitions and structure,
with the latest updates, from its prototype in Teamcenter. The Reload Resource command reloads
3D data, kinematics and tool definitions to all instances of the selected equipment in the loaded scene.

Note
The command does not modify data specific to the instances, e.g., locations and positions.

Reload Product (Get Product Update to Disconnected Study)

Now users of Process Simulate on Teamcenter working offline most of the time, can receive product
updates from the Teamcenter server. They can reload product data (parts, Mfgs, DIPAs) from the
Teamcenter server after opening the psz-tc file in Process Simulate on Teamcenter Connected so
that the file now contains the up-to-date product data.

Enable Operation Reorder

From this version, when users edit actions in a study and change the order of Teamcenter objects
(e.g., adding and moving operations, MFGs, parts and resources) below a process or operation, using
Teamcenter Update now updates the new order to Teamcenter.
• It is now possible to reorder operations in Sequence Editor by drag and drop.

• The updated order is reflected in Teamcenter in the Find Number column (increment of 10).

• The order below a process or operation saved to Teamcenter is grouped by type: Parts,
Resources, Operations and MFGs.

Note
If the Teamcenter Find No. attribute of any of the items that initially came from Teamcenter
is textual (rather than numeric), Process Simulate disables operation reordering and issues
a warning.

Teamcenter Manufacturing Access 2.3 Enhancements

The Load Study command in Process Simulate has been renamed to Study Manager.
When using Process Simulate on Teamcenter with Teamcenter Manufacturing Access 2.3, the
following new Study Manager capabilities are available:
• When editing study scope, add work areas and tools to studies.

• Remove studies from collaboration contexts.

The Load Study dialog in Teamcenter Manufacturing Access now contains the Plant tab, allowing
users to navigate the Plant structure and locate work area objects they wish to add to the study scope.
See Teamcenter Manufacturing Access 2.3 User Assistance for more information.

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Collaboration Context Integration and eMServer to Teamcenter Migration

eMServer Simulation Data Transfer Enhancements
Multiple Part Appearances
Transferring eMServer studies to Teamcenter now includes part appearances of Parts, Compound
Parts and In-Process Assemblies (IPAs).

Note
Appearances of IPAs created in eMServer are not supported.

Publish Snapshot Data

Transferring eMServer studies to Teamcenter now includes Snapshot information.
Publish Study/Simulation Data Option Moved to AdminConsole
The Map studies and simulation data option has been moved from the Publish Request dialog in
Process Designer to the AdminConsole: CC Configuration tab of the Integration Settings dialog.
When activated, the option transfers studies and Process Simulate simulation data during publish. In
order to use this option, it is still necessary to have a Pack and Go license on the client machines.
This option was moved to the server to ensure that all exchanges are implemented in the same
way, for all users.
Enhancing Attachment Mapping
Map Attachment to either ItemRevision or Occurrence
ER 8986515: A new customized attachment mapping enhancement allows users to map attachments
of CompoundResources to/from either Occurences or ItemRevisions in Teamcenter.
Map Resource Revision Files of Prototypes to COJT Folder
ER 9005020: Users can now configure the Mapping file so that resource revision files are transferred
to the COJT folder of the equivalent tool prototype in eMServer.

PLMXML-based Kinematics Importer

This version contains a new batch tool to import kinematics created by other products (mainly NX) to
JT files that can be used in Process Simulate.
The kinematics file is an ASCII file in XML format using PLMXML kinematics schema. This file
contains the definition of links, joints, poses and the relations between them.

Enhancements
ER 8307920: From this version, developers of controllers can now properly simulate robots waiting
for a given conveyor position while taking into account the possibility of changing conveyor speed,
acceleration and stop configurations during the wait.
ER 8542695: It is now possible to hold down the Move/Rotate One Step button in order to
continuously move the object according to the defined step size. This saves the need to click the
button repeatedly until it reaches the required distance/angle.

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ER 8542697: Now the status of expanders in the Robot Jog dialog is persisted between closing and
re-opening the dialog. For example, if the All Joints expander was open the last time the Robot
Jog dialog was used

ER 9024529: In the Robot Jog Settings dialog there are now two separate options for Manipulate
continuous locations and Manipulate weld locations.

ER 9025738: Legacy data (with existing robot instances and system frames) can now be repositioned
in a frame tree hierarchy by using Create / Update System Frame.

Note
This repositioning is triggered only if the Robot World Frame is not already inside a frame
folder (in order not to break any existing hierarchy).

ER 9118950: The XSens motion capture tracking dialog now uses UDP communication protocol
instead of TCP for connection to Process Simulate.

More enhancements in this version:

• The new Move Location to TCPF option updates the selected location with the current robot
position, if Follow Mode is off.

• Starting in version 14.1 both the Simulation Time Interval and Simulation Speed fields are located
in the toolbar for Sequence Editor and Path Editor. As a result, users can move the simulation
speed slider to change the simulation speed even while simulation is running.

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• Light intensity is now somewhat increased when True Shading is activated in order to enhance
visualization.

• Collaboration Context Integration now supports publishing snapshots.

• The API now exposes the Pick Intent and Pick Level methods.

• In Controller Settings the Validate All button now gathers error messages as well as successes
and displays a report of all successes and failures encountered during initialization, after it has
finished. Users can also abort the RCS initialization process before it finishes.

• The Map studies and simulation data option has been moved from Publish Request to the
CC Configuration tab of the Integration Settings dialog. When activated, the option transfers
studies and Process Simulate simulation data during publish. In order to use this option, it is
necessary to have a Pack and Go license.

• The Tecnomatix .NET API DigitsAfterPoint attribute can now also be used for expressions as
well as parameters.

• The new EmsProfiler Tecnomatix Administration AdminConsole logging tool, enables

administrators to perform analysis on user workflows. They can now create summary reports that
match user workflow Session Ids listed under Session Administration of the AdminConsole.

Human Release Notes 14.1

Human 14.1 Enhancements

In version 14.1 several improvements were made to a variety of Human capabilities. The Task
Simulation Builder Apply Force task has been expanded to now support forces with varying time
magnitudes. Usability has also been refined in several areas, including the Loads and Weights
dialogs, which are now consolidated and centralized.

Apply Force: Force Profile Support

In version 14.1, the Apply Force task has been enhanced to support forces that change in magnitude
throughout the motion. This allows for more accurate assessment of musculoskeletal stresses for
typical exertion tasks. Examples include sliding an object onto a surface, opening a heavy hinged lid
and stretching material over a form. Force magnitudes can be entered manually or, if force sensor
readings are available, read from a file. Consistent with the original Apply Force task, forces can
be defined to maintain their global orientation, or move with the part. Specifically, this new Apply
Force enhancement allows users to:
• Define force magnitudes at specific times during the exertion using via postures. Forces are
automatically interpolated between readings.

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• Optionally read in a data file containing time and force magnitude values, which may be useful
when actual force sensor readings are available.

• Preview the motion, easily scroll using a slider, and edit individual via poses if desired.

Loads and Weights Dialog Consolidation

Until this version, defining Loads and Weights launched a separate dialog where users entered load
type, force direction and magnitude information. Now the dialog has been consolidated within the
Human Posturing Dialog. Additionally, the dialog layout has been simplified, providing easy radio
button switching between load definition and joint force visualization controls.

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Similarly, the multiple object force annotation dialogs have been consolidated into a single, easy to use
dialog layout. These force definition enhancements improve the efficiency of ergonomic assessments.

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