Define Connector Points on the Robot

This procedure describes how to Define Connector Points on the Robot.

This step creates points on the robot, or a product to which a cable can connect. If the robot already has
connectors defined on it, then proceed directly to creating a cable between the connectors.

Since this is a complex process we are going to step through, in depth, a scenario to create a Robot cable.
In the Device Building workbench, Start with a empty Product.  (If you need a Product window, from the
Main menu, select, File > New.  In the dialog box select Product, and OK)

From the main menu, select Insert > Existing Product, and click on Product1 in the tree.
The File Selection dialog box appears. Select a robot to load.

This ensures that the cable that we are going to create is separate from the robot, but still in the same product.

1. Click Define Connector   , and the command prompt requires you to select a product with
no electrical behavior (except connector behavior for edition).

Select the part of the robot to which we want to connect one end of the cable either in the
specification tree or in the geometry area. In this scenario we are going to select the brown box
from the PPR tree for the one end of the cable to connect to. (This way it ensures you get the whole
part, not sections).
 The Connector Definition dialog box appears.

o The only type available is Single Insert Connector: male or female connector
applicable to electrical layout.
o Change the name in the Instance Name field if necessary.
o Enter the Number of termination to be defined onto the connector.
The terminations are used to connect the cables.

2. Select the defaults, and for the Number of Terminations, select 1. Click OK to validate the window.
3. After successful execution of this command the specification tree is updated. The part is not
modified.
The instance of the connector is now an electrical object as the electrical behavior has been added.

 
4. Next, define the constraints at the points at which the other end of the cable will be connected to the

Robot. Following the same procedures, Click Define Connector   , and the command prompt
requires you to select a product with no electrical behavior (except connector behavior for edition).
5. In this scenario, select the C_END_BLOCK_3.1. The dialog box appears, and change the Number
of Terminations to 1.

6. The PPR tree is updated.

7. Both ends of where the cable is going to be attached are created.

 8. Next, we have to define the bundle connection points at the points at which the cable ends will be
connected.

A single insert connector allows one connector connection point, bundle connection points and terminations.

Define Bundle Connection Point

This procedure describes how to Define bundle connection points. These points represent the position and the
angles that the cable will be created.
If any geometric entities needed to create the steps below the constraints are not available. Double click on
the connector part to change to part context. Change workbench to Electrical 3D Design Part and use the
Geometric Elements toolbar to create the geometric elements. 
For this scenario, we will be utilizing the Equipment & Systems > Electrical Harness Discipline >
Electrical 3D Design Part workbench to create the constraints.

1. Once Creating Connection Point Constraints, Click Define Connector   , and select a part or
product.

Select from the PPR tree the connector C_END_BLOCK_3. The Bundle Connection Point
Definition dialog box appears.

o Change the Name to Rbt_Connection

o For the Representation select the point. A representation can be a point
or a surface.
o For the Point, select the Point again. This point will possibly be used as
bundle segment extremity.
o For the Initial Condition, select the yz plane. This plane or axis will
determine the direction in which the cable will come out of the connection point.
(right-click the yz plane, and hide/show if not available)
 o Select OK when completed.

2. The Rbt_Connection appears in the PPR tree.

3. Click Define Connector   , and select a part or product.

Select from the PPR tree the connector C_END_BOX_1. The Bundle Connection Point
Definition dialog box appears.

NOTE: you must type in a name, as the default name can only be used once, then it will
give you a error.

o Change the Name to Box_Connection

o For the Representation select the point
o For the Point, select the Point again
o For the Initial Condition, select the xy plane
 o Select OK when completed.

4. The Box_Connection appears in the PPR tree.

5. Save your scenario.

Next, we have to define the Geometrical Harness for the connection points that were created.

Geometrical Harness
A geometrical bundle or harness is a document containing an assembly of connectors, supports and
protective coverings, as well as the geometric representation of a harness.

Make sure the design mode is activated otherwise a warning is displayed.

Select Yes.

It corresponds to the following settings in the Tools > Options... menu item:
Select the Infrastructure > Product Structure > Cache Management tab.
In the Cache Activation, the Work with cache system option is not checked.

As a consequence, in the Product Visualization tab, the Visualization Mode Type is set to None.

Also make sure that in External

References, the Keep link with selected object is activated in
Tools > Options > Infrastructure > Part Infrastructure, General tab.
 1. To create the cable, a new Product will that will have all of the data relating to the cable
will be inserted.
2. From the Main menu, select the Insert > New Product.
3. Click Robot with Cable.  This created a new product, Product1. This is a document that
will contain an assembly of connectors, supports and protective coverings, as well as the
geometric representation of a harness. We created a new Product within the Robot with
Cable to store this data, as we want it in a different product, not within the same product
folder as the robot.

4. Activate the Product.1 by double-clicking on it. Click anywhere in the 3D geometry

window to verify it's activation (Blue bar).

5. Click Geometrical Harness icon.

6. Select the Product1.  This automatically changes the name of Product1. The geometrical
bundle is created, with appropriate properties and behaviors.

7. Next, we create cable between the two point using the Create a Bundle Segment, Multi-
Branchable Document.

Only the following can be selected to become a geometrical bundle:

 a product which does not already have electrical properties and behavior
 a product which doesn't result from the New Part command.
  a product which doesn't result from the New Component command (inline product).

Multi-Branchable Document
This task shows you how to create a multi-branchable document and first branch as well as define associated
segment parameters

This task shows you how to define the segment route between points, devices and supports. Defining the
segment route creates the Flexible Curve representation. You can route branches and single bundle
segments using this method. This task focuses on the branch
 Ensure that the dedicated bundle segment create option ( Work with one multi-branchable per
geometrical bundle) is selected.
 Select the Allow system to use a smaller bend radius value option. Selecting this option optimizes
the bend radius in order to keep the flexible curve.

1. Double-click the Geometrical Bundle1 to activate it.

The bundle is highlighted.

2. Click Branchable Definition .

The workbench automatically changes and the Branch Definition dialog box appears.

3. Enter a value (e.g., 40mm) in the Diameter field.

The Section is automatically computed. Alternatively, if you enter the Section, the Diameter is
computed.

A message warns you that the bend radius must be at least equal to the Diameter value to
insure the correct bundle segment route computation.

4. Enter a value (e.g., 90mm) for the Bend Radius.

The Bend Radius is the minimum bend radius allowed for the whole bundle segment. The Bend
Radius value must be at least equal to the Diameter value to ensure the correct bundle segment
route computation. Alternatively, you can select the Bend Radius Ratio option and set the ratio;
the Bend Radius is automatically computed.
5. Select the Mode: Slack for this example and give a percentage of 50% slack.

The different options are the following:

o Slack(%):
The bundle segment length is increased by the percentage indicated in the Slack(%) field.
The Length field is unavailable.
o Length:
 The bundle segment length is indicated in the Length field. The Slack(%) field is
unavailable.
o Bend:
The bundle segment length corresponds to the minimum distance between the points
defining its route. The  Slack(%) and Length fields are unavailable.
o Straight Bend:
The bundle segment length is computed from a centreline curve with a fixed minimum
bend radius.

 The main purpose of the Straight Bend Algorithm is

to compute a global center line curve with a minimum fixed bend radius
from 3D inputs.
 The center line curve is made of two possible
elements:
 Arc of a circle, with fixed radius R
(minimum bend radius)
 Line segment or straight line.

The connection points between these elements are continuous

in tangency (same tangents on both sides), and imposed
tangencies are respected at 3D route points.
Generally, the result is a non-planar curve.

 When this mode is selected, both Slack(%), and

Length fields are grayed out.
 Slack is not managed for segments built in this
mode.

At this stage, the bundle segment parameters are defined.

Now you need to route the bundle segment to complete the definition and create the geometrical
representation of the Flexible Curve.
Note that OK and Apply are deactivated.
6. Select the Route Definition bar; the Route Definition dialog box appears.

7. Click the More >> button to expand the Route Definition dialog box.
 The command prompt states: Select a point, tangent, a device or a support. 
8. Select the C_END_BOX.1 from the tree.

The data is imported into the Route Definition dialog box.

9. To connect the cable onto the bottom of the brown box, click the Reverse Tangent button. 

This rotates the Red arrow 90 degrees to the correct attachment.

For the other end the command prompt states: Select a point, tangent, a device or a support. 
10. Select the C_END_BLOCK_3.1 from the tree.
 The data is imported into the Route Definition dialog box, and the cable is created. 
11. To connect the cable onto the top of the block, select the Reverse Tangent button. 

This rotates the Red arrow 90 degrees to the correct attachment.

12. Click Apply and OK.

This returns you to the Branch Definition dialog box. 
13. Make any adjustments required, and click Apply and OK.
14. Double-click Robot with Cable to return to the original workbench.