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DELMIA Corp.
900 N. Squirrel Road, Suite 100
Auburn Hills, MI 48326
(248) 267-9696
Copyright1985-2004 by DELMIA Corporation
IGRIP , Virtual NC , ENVISION , UltraArc , UltraGRIP , UltraSpot , UltraPaint , DELMIA V5 ,

Process Engineer ,and QUEST , are registered trademarks of DELMIA Corporation.
Microsoft, Windows, and Windows NT are either trademarks or registered trademarks of
Microsoft Corporation in the United States and/or other countries. NT is a trademark of
Northern Telecom Limited. UNIX is a registered trademark in the United States and other
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1 I ntroduction
Step 1 Delmia Working Contents PPR
Ø Getting familiar with the DELMIA V5 software user interface
Step 2 Delmia V5 Software Settings

Ø Viewing all of the user interface menus and functions
Step 3 IGRIP Workbench and Toolbars

Ø Reviewing the Workbench and Toolbars
2 Process Preparation
Step 4 Starting a Project
Ø Reviewing the creation of our project
Step 5 Resources Product and Moving

Ø Reviewing the Resources and Product for our project
3 The Project
Step 6 Open the Project and Inserting Robots
Ø Getting familiar with the Project and Insert the robots
Step 7 Ø Creating a Area

Using the AEC / Floor for the project
Workbench
Step 8 Placing and Assigning Robots

Ø Moving the geometries around the project
Step 9 Mounting a Weld Gun

Ø Using the mounting function to attach the weld gun to the robot
Step 10 Hide and Show Attachments

Ø Displaying/ Not Displaying the Attachment information
4 The Robotic Fu nctionaliti es

Step 11 Ø Creating the Process
Getting familiar Plan and creating the process
with the Project
Step 12 Fastener Assignment

Ø Assigning welds to a process activity
Step 13 Assigning the Robot Resources to the Process

Ø Assigning the resources to the process for the flow
Step 14 Jogging a Robot

Ø Using the Jog function to move a robots axis
Step 15 Creating a Robot Task

Ø Create a Robot Task for the Robot
Step 16 Jogging to the Weld Positions

Ø Use the Jogging icon to move to the weld positions
Step 17 Ø
Editing the Height of the Robot Riser
Using the part design workbench to edit the height of the riser
Step 18 Create and view a Weld Study Analysis

Ø Use the Weld Study Analysis for verification of welds to the robot
Step 19 Robot Controller Profiles

Ø Defining the Robot controller profiles
Step 20 Auto Placing Robots

Ø Using the Auto Place for the best position for the robots
Step 21 Robot Envelope

Ø
Creating a Robot envelope
Step 22 Reach function for the Placement of Robots
Ø Reviewing the Robots location and Reach.
Step 23 Reviewing the Teach Dialog box and Edit Weld Points
Ø Reviewing the project through simulation in the Teach a robot
Step 24 Tag Transformation for Weld Positions

Ø Using the Tag Transformation to move one of the welds
Step 25 Creating VIA Points in the Robot Path

Ø Creating via points within a path.
Step 26 Using the Add Tag Icon

Ø Edit the path, and add a tag
Step 27 Using Trace TCP in the Teach Dialog box

Ø Using the Trace function to view the path
5 The Weld Gun F unctionalities

Step 28 Weldgun Actions
Ø Reviewing the Weldgun actions
Step 29 Dress Operations

Ø Using the Dress Operations to copy the data to other weld points
Step 30 Using the Call Task

Ø Creating multiple programs, and calling them into one
Step 31 Robot Task Simulation

Ø Run the Robot Task
Step 32 Crash Analysis

Ø Using collision / clash function
6 The Advanced F unctionali ties

Step 33 Adding a Icon to a Toolbar, Creating a Section
Ø Reviewing the project through a section
Step 34 Modifications to the Path

Ø Modify a path for the robot
Step 35 Automatic Configuration of Singularity, Set Turn Numbers

Ø Editing the path for configurations automatically
Step 36 Multiple Resource Simulation

Ø Running multiple simulations at once
Step 37 Using the Pert Chart for Parallel Running

Ø Editing the Pert Chart
Step 38 The Process Simulation

Ø Running the process Simulation
Step 39 Adding Welds Tags to the Path

Ø Reviewing the projects paths
Step 40 Automatic Task Collision for Zones

Ø Using the Automatic Task collision for I / O zones and Interference Zones
7 Data I nformation
Step 41 I / O Map and Monitoring
Ø Monitoring the I / O configurations in the project
Step 42 Exporting I/O Information

Ø Exporting the data from the project
Step 43 Data Readouts and Documentation

Ø Exporting the data from the Project
Step 44 Listing Activities, or Products Resources

Ø Listing our objects in our Project
8 Advanced f unctions
Step 45 Clamping Functions
Ø Using the Clamping functions to open close the clamps in the simulation
Step 46 Offline Programming

Ø Using the OLP functions for the project
9 Auxiliary Device Fun ctions

Step 47 Setting up the Auxiliary Device
Ø Using the data for the Auxiliary device to run
Step 48 Mounting a End Effector to a Robot

Ø Using the mounting function to attach the end effector to the robot
Step 49 Teaching a Robot on the Rail

Ø Teaching with the Rail
Step 50 Pick and Drop Actions

Ø Pick and drop the part
10 Remote Tool Center Point Procedur es

Step 51 Creating a Remote TCP
Ø Start setting up the project for a remote tool center point for the robot
Step 52 Creating a New Tag Group

Ø Create a tag group to associate the tags
Step 53 Creating Tags in the Group

Ø Create a tags in our group
Step 54 Creating a Robot Path

Ø Create a path for the robot to follow
Step 55 Creating a Pick and Drop

Ø Utilize the pick and place to grab the part for the ped welder
Step 56 Perform a SetTool for the fixed TCP

Ø Create a tag group to associate the tags
11 Exporting Data
Step 57 Creating Movies and Pictures
Ø Using the Image functions
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Facilitated Projec t:

Title Wo rki ng Contexts
RH Body Side
Assembly Process
with Tooling Product
and Robotics
R e s o u rc e s
V5 IGRIP
This procedure describes the V5 software approach using the Process, the Products, and the
Resources. The Resource Centric Approach is also discussed.
In this approach, the user will have the ability to:
• The user Physical Activities that will have Resource Assigned, and the Robots, also
will have Active Tasks to be simulated.
• If the user changes their mind, the Resource Assignment has to be modified, and the
Active task designated, No Process redesign is required! Time saving, allows for
“what if” scenarios.
This is where we create our project’s process flow. This tells the
story of what activities we are going to do in this project.
Ø We assign (link) from our ProductList and our
ResourceList
This is where we import all of our Products. They would mostly be

e.g. car parts (steel, plastic), motors.
Ø They are then linked to the activity function in the Process.
This is where we import all of our Resources. This could be chairs,

tables, the floor, manikins, tooling, conveyors, and fixtures.
Ø Anything that is going to happen with this Resource is stored
under its name in the ResourceList. We then link the
“whatever” action to the activity in our Process. This way we
can have multiple “whatever’s” and try the multiple ways in
our Process, with a click of the mouse….
1 Working Contexts PPR.doc 1 of 3

Copyright DE LMIA Corp. 2004
V5 I GRI P V5R16
Product
Process

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Files are saved using these extensions.
Process/
Product/ The PPR tree
Inventory Space is awindow.
2D view Itoflists
the process. It appears
all the parts, productsinand
the same viewrequired
resources as the
Resource (PPR) to make a specific product, plus specific applications data. It also lists, in
tree hierarchical form, the actions required to perform the process that produces the
product.
In V5, PPR trees are stored in process documents and have a .CATProcess
extension.
process A process is a series of actions or activities that alter parts. The end result of a
process is the creation of a product or a part of a product.
product Products consist of parts, which may or may not be grouped into assemblies.
They appear in product structure documents; in V5, these documents have a
.CATProduct extension.
The difference between a product and a resource consists in how they are used
with in a process. The end-result of the process should result in the creation of
the product or products listed in the PPR tree.
product The product structure document is a key component in V5. It provides users with
structure a way to organize product creation in a hierarchical format. Each product
document structure document can contain parts, which make up assemblies, which, in
turn, make up products.
Product structure documents have a .CATProduct extension
Resource Resources consist of parts, which may or may not be grouped into assemblies.
They appear in product structure documents; these documents have a
The primary difference between a product and a resource consists in how they
are used within a process. The resources required during the process should
be listed in the resource branch of the PPR tree.
Many resources appear in V5 catalogs. Resources imported from catalogs
cannot be broken down into discrete parts (e.g., selecting the mounting plate of
a robot selects the entire robot, not just the mounting plate.)
The PPR Tree appears when the workbench opens.

V5 I GRI P V5R16

IG RIP –
RH Body Side
Assembly Softw are Setting s
with Tooling
and Robotics
V5 IGRIP
This procedure describes how to launch an IGRIP session and become familiar with the IGRIP
workbench toolbars.
The Training Manuals are divided into modules and steps. Depending on the class, each
module represents the configuration and each step in the module guides you through a
procedure. A project will be created from start to finish.
Settings
This reviews the setting required for our project.
1. Launch the software. To do this, click the icon on the desktop, or select
Start / Programs / DELMIA, DELMIA V5.
2. In the menu bar, select Tools / Options.
3. Select General / General tab. In the save field, deactivate
Automatic Save.
2 DPM - IGRIP settings.doc Copyright DELMIA Corp. 2004 1 of 22
V5 I GRI P V5R16
4. In the Document tab click on Other folders (make sure it says Yes under the Active
column). Click the Configure button.
When creating a process, users may choose to obtain part geometry from another file. The
original storage location of these files probably differs from the current location of files. When
V5 attempts to read these files, it cannot find them because pointers inside of the data still
point to the original location. Configure this location to link to the directories where the project
is saved.
5. In the Other Folders window, search for the project and add the directory with the Add
Tree button. Click on OK to complete this setting.
The project is then added to the

linked document list. For this
project, your teacher will detail
the path.
V5 I GRI P V5R16
6. In the Environment Tools toolbar, the Toggle

Manipulation Handle Mode command can be
toggled On/Off. When toggled on, a green box
appears around the selected object. This box
makes the object easier to grab and move.
7. Under the General / Display / Navigation tab, deactivate the

Preselect in geometry view option.
Objects can now be chosen from the PPR tree only. If this option is
active, objects in the 3D view are automatically selected by passing the
mouse over them. Selections, in this made may be made that are not
wanted.
8. Deactivate the Display manipulation bounding box option.
9. In the Navigation field, activate the Gravitational effects during navigation option.

Select Z.
This option is especially useful for a project with a floor; you can rotate around and the floor
stays level with the viewpoint.
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10.In the General / Display / Performances tab note the settings for the 3D Accuracy, the 2D
Accuracy, and the Level of detail fields. The values are at the lowest setting (as shown
below) to give a more exact view of the geometry with this setting. A circle is displayed as
round not as an octagon.
11.Scroll down in the Performance tab to the Miscellaneous field, and activate Save lineic

elements in cache. This allows you to see wire frame geometry.
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12.The General / Display / Visualization tab displays the color settings for the software. For
this project, change the background to white. Click on the down arrow or c lick on the pull
down menu to see the available colors.
The default color for a

clash (collision) is
orange. If the robots are
orange, the clash is
difficult to see. Change
the clash color in the
Selected elements field
13.In the General / Parameters and Measure / Units tab, change the length of the units to
inches.
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14.Use the General / Parameters and Measure / Report Generation tab to set the location
and report content options.
The default values are acceptable.
15.To hide constraints, in the General / Parameters and Measure the Symbols Tab click on

Filter button. The Constraint Filter dialog box appears. In the Filter field, select Hide All
then click on OK.
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16.In the Infrastructure / Product Structure / Cache Management tab / Cache Activation

field, activate the Work with the cache system option.
17.In the Infrastructure / DELMIA Infrastructure / Simulation tab, adjust the simulation

settings to match the options shown. Set the step size to 0.3 to make the simulation run
faster.
V5 I GRI P V5R16
18.Select the Infrastructure / DELMIA Infrastructure / Robot Analysis tab. These settings

determine what system behavior when tool center point (TCP) limitations are exceeded
during a s imulation. Additional options control TCP trace display in the 3D view.
The table
below
provides an
explanation of
the TCP trace
parameters
that you can
set.
The options
take effect
immediately
and apply to
all
applications
containing
simulation
commands.
Parameter Value
Show point Provides the color and symbol for each point within a TCP trace.
Show line Provides the color, type of line, and line thickness for each TCP trace
Show axis Provides the color, line type, and thickness for the axis of each TCP trace.
A simulation's path is deleted when a new simulation is run. Otherwise, each path
Delete path
remains visible until the session ends.
Text appears when a point/line/axis is (pre)selected by the user. The text contains
information related to the current point. The text can contain any of the following data
(if selected):
• Name
Show • Time
legends • X axis
• Y axis
• Z axis
• Yaw
• Pitch
• Roll
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19.Select the Digital Process for Manufacturing / Tree tab. In the Hierarchy tree field,

select all the items as shown.
20.Select the Digital Process for Manufacturing / DPM – Fastening Process Planner /

Commands tab. In the Fastener Assignment field, Activate duplication assignment.
V5 I GRI P V5R16
21.Click on the DPM – Fastening Process Planner / Fastener Visualization tab. To see the

coordinates, activate the Show the fastener(manuf)/tag option to see the coordinates.
22.Select the IGRIP / Robot Task Display tab. The Options dialog box appears:
Select the desired values, or accept the defaults.

The various robot task display options are explained in the following table.
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Option Role
Cartesian Target These options are for tag, weld, and Cartesian targets.
Show X, Y, Z Values/Show Checking these boxes causes these values to be displayed when the
Y, P, R Values mouse is moved over the target.
Joint Target These options are for joint and home targets.
Show Joint Values/Show Checking these boxes causes these values to be displayed when the
Auxiliary Axes Joint Values mouse is moved over the target.
Line Connects the operations.
Set/Wait Line Shows the IO connections.
Show Actions Displays as icons the actions in the viewer
Show Target Name Shows the target name when the mouse is moved over the target.
23.Click on OK. Use

is not updated the tasks contextual menu to activate the task display. The task display
automatically.
24.Use Update All Tasks in the Sequence toolbar to

refresh the visualization.
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25.Select the IGRIP / Teach Dialog Settings tab. No changes need to be made for this

project, however, the following changes are possible:
•
Select items from the “Data included in the table box” field and move it to the “Available
Data” area using the left arrows. Data item order is changed with the up and down arrows.
When the teach command table option is activated in the software, this is the order and
selection that is used.
• The options list order determines the order in which the data fields appear in the teach
table.
• Activate the Show Task visualization option to automatically display the task visually
when teaching a task.
26.Set up the system for Offline Programming. To do this:
a. Remove any Java version earlier than version 1.4

b. To determine the Java version installed on your computer:
i. open a command prompt
ii. type java –version in the directory where Java is installed
V5 I GRI P V5R16
c. Download the latest version of Java from www.java.Sun.com

d. Create the directory, c:\jdk extract the java files to this directory.
e. Set your environment variables for CLASSPATH and Path to c:\jdk\bin
f. Go to the Tools / Options / Offloading Programming tab. In the Java
Executable field, insert the path, c:\jdk\bin\jave.exe
V5 I GRI P V5R16
27. In the AEC Plant / General tab, change the Grid step value to 0.5 in. This value affects
the manipulation handle (used for easily moving a geometry); the manipulation handle
snaps to the value set.
28.Change the Depth Effect value. To do this, in the main menu, Select View / Depth Effect.
In the Near Limit field, activate the Fixed option and set the value to 100.
In the Far Limit field, activate the Fixed option, and set the value to 500000.
Now you can zoom in on an item in the 3D view, and the clipping planes modify to only display
the center of the field of visions center.
V5 I GRI P V5R16
29.To change the size of the PPR tree, click on the line connecting the directories, and in the
View toolbar click on the zoom in or out.
The size changes
Click on the line again to get back to the 3D view. To display, or hide the PPR tree, select the
F3 key on the keyboard.
To deactivate the zoom capability, go to the Tools / Options / General / Display / Tree

Manipulation tab and uncheck the Tree zoom after clicking on any branch option.
30.To find an object in the PPR tree, right-click on the object in the 3D view and choose
Center Graph from the contextual menu.
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31.In the main menu bar,

select View / Toolbars to
view the list of toolbars.
32.Another way to view the toolbars is to

drag them from their docking position.
To do this, drag the move handle of
the toolbar to the center of the
geometry window.
33.Some of the toolbars have toolbars imbedded in

them. Use the black arrow to expand the toolbar,
and then select the move handle and drag it.
Keybo ard Shortcu ts

Use this keyboard key
To...
(or combination)...
Escap e Ex it th e current dialo g b ox (when there is o ne)
F1 Get contextual online help
Shift + F1 Get help on toolbar icons
Shift + F2 Toggle the specification tree overview on and off
F3 Toggle specification tree display o n and off
Alt + F8 Run macros
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Shift + F3 Activate the graph is the model is active and inversely
Home Display the top of the graph
End Display the bottom of the graph
Page Up Relocate the graph one page up
Page Down Relocate the g rap h one p ag e d own
Ctr l + P age Up Zoom In the g rap h
Ctrl + Page Down Zoom Out the graph
Up arrow Relocate the graph 1/10th (one tenth) of a page to the top
Down arrow Relocate the graph 1/10th (one tenth) of a page to the bottom
Left arrow Relocate the graph 1/10th (one tenth) of a page to the left
Right arrow Relocate the graph 1/10th (one tenth) of a page to the right
Ctrl + T ab Sw ap active document windo ws
Alt + Enter Ru n the Pro perties... co mmand
Ctrl + C Run the Copy command
Ctrl + F Run the Search... command
Ctr l + G Run the S election Sets. .. command
Ctrl + N Run the New... command

Ctrl + O Run the Open... command
Ctrl + P Run the Print... command
Ctrl + S Run the Save... command
Ctrl + V Run the Paste command
Ctrl + X Run the Cut command
Ctrl + Y Run the Redo command
Ctrl + Z Run the Undo command
Another useful shortcut

Clicking an icon lets you run the command associated with that icon only once. However,
double-clicking an icon lets you use the associated command as many times as you want
without having to click on the icon several times.
Expanded explanations,
Call outs are used throughout the project to give tips examples, information,
or facts…
and expand explanations.
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Open, and review a Workbench.
Workbench main
Software version / menu bar Minimize / enlarge
File name
PPR / close / Window
tree
Compass
3D view
Window
size
buttons
Expand /
collapse
Current
workbench
Click on
line to
adjust PPR
tree
Some toolbars are

hidden. Place the Text window
mouse over the Command prompt for command
arrows and drag the or other information Toolbar or function
toolbar into the 3D
view
V5 I GRI P V5R16
Other Basic Techniques
• Sometimes when rotating or panning,

the geometry disappears from view. To
regain view, right-click the geometry in the
PPR tree and select Reframe On from the
contextual window. The geometry
reappears and the view zooms to that geometry.
• Press and hold the Middle Mouse Button to move the model in the 3D view.
• Press and hold the Middle Mouse Button and the Left Mouse Button to rotate the model
in the 3D view.
• Press and hold the Middle Mouse Button, press then release the Left Mouse Button,
then drag the mouse vertically to zoom the model in the 3D view.
•
Click on any line in the PPR tree, then use the mouse buttons as described above to
adjust the size and location of the PPR tree.
The 3D Compass
Use a graphic manipulator referred to as the 3D compass to perform a number of
manipulations on objects created and managed by certain applications (for example, Product
Structure, Assembly, FreeStyle Shaper, DMU Navigator, etc.).
The 3D compass is also used to manipulate viewpoint representations ("cameras"), which

capture viewpoints.
The 3D compass is always active. Show and hide the compass by toggling the View /
Compass command. Note that hiding the compass does not deactivate it.
The compass is displayed by default in the top right corner of the document.
The letters X, Y and Z represent the axes. The Z-axis is the default orientation. The point close
to the Z-axis is the free rotation handle used for freely rotating the compass and the
document's objects at the same time.
The red square is the compass manipulation handle you use to drag the compass and place
on objects to be manipulated. You can also rotate objects around this point.
The base of the compass, the XY plane, is the privileged plane. This concept is not useful
when simply using the Select command. It is only useful when using application commands
that use manipulators, which require working planes.
V5 I GRI P V5R16
Reviewing the Compass Functions
Right-click on an
Automatically toobject to display
Selected its contextual
Object. menu.
In the 3D view From
or in the this
PPRmenu, select an
tree, select Snap
object. The
compass immediately snaps to that object.
1. To reset the compass to its default position, from the main menu select View / Reset
Compass.
2. To move the compass, place the mouse pointer over the red box, and click the left mouse
button or LMB. The pointer changes to a grasping hand. Drag the mouse and compass
toward an object in the 3D view. The compass snaps to that object.
3. In the contextual menu, select

Edit. The parameter for
Compass Manipulation appears.
The current coordinates of the
compass manipulation handle
(red square), with respect to the
center of the world, are
displayed in the axis fields for
the Position option.
• Coordinates
Set the coordinate values to move
and rotate objects.
• Increments
Set the incremental values for
translation and rotation.
V5 I GRI P V5R16
Conventions used in the online documentation
Certain
recognizeconventions are used
and understand in CATIA,
important ENOVIA
concepts andand DELMIA documentation
specifications. The followingtotext
help you
conventions may be used:
The titles of CATIA documents appear in this manner throughout the text.
File -> New identifies the commands to be used.
The use of the mouse differs according to the type of action you need to perform.
Use this mouse button whenever you read:

Select (menus, commands, geometry in graphics area, ...)
Click (icons, dialog box buttons, tabs, selection of a location in the document window, ...)
Double-click
Shift-click
Ctrl-click
Check (check boxes)
Drag
Drag and drop (icons onto objects, objects onto objects)
Drag
Move
Right-click (to select contextual menu)
Graphic conventions used in the Online Documents are denoted as follows:
indicates the estimated time to accomplish a task.
indicates a target of a task.
indicates the prerequisites.
indicates the scenario of a task.
indicates tips
indicates a warning.
indicates information.
Indicates basic concepts.
V5 I GRI P V5R16
indicates methodological information.
indicates reference information.
indicates the end of a task.
indicates functionalities that are new or enhanced with this Release.

Enhancements can also be identified by a blue-colored background in the left-hand
margin.
When DELMIA software is launched, by default, it opens the workbench last used in the
previous session.
In this example, the default is the Fastening Process Planning workbench.
V5 I GRI P V5R16

IG RIP –
RH Body Side
Assembly Wor kb enches and
with Tooling T o o l b a rs
and Robotics
V5 IGRIP
This procedure describes how to launch an IGRIP session and get familiar with the IGRIP
workbench toolbars.
The workbenches and the toolbars are described. Docking and undocking is practiced.
Robot Task Definition
This workbench provides tools for 3D modeling at the workcell level. Robot Task Definition
provides all the tools required to perform robotic feasibility studies and programming in an
environment where product data and manufacturing resources can be integrated into a single
3D model. This model performs the basis for the development of robotic processes. Robot
Task Definition allows you to test for robot reach and access in a complex manufacturing
workcell. It provides tools for the development of robot programs and facilities to test those
programs while checking for interferences. The output of Robot Task Definition is a workcell
model that is ready for the next step: development of a complete manufacturing simulation with
synchronization of all resources.
These models can consist of a combination of multiCAD product models, legacy DELMIA D5
devices, and general CATIA V5 and V4 resource models. Robot Task Definition interacts with
V5 Plant Layout so that users can either re-use the plant model or modify it.
Robot tasks and tag definitions for robot motion are integral to Robot Task Definition. Users
can create tags and add them to tasks or can create tags in free space for clearance moves.
Robot Task Definition provides interactive jogging and robot teaching capabilities to develop
and test robot tasks. These tasks can be simulated, one at a time.
In addition to the basic setup commands, Robot Task Definition contains analysis tools. These
tools add the following capabilities:
basic measuring of distances and angles

collision and band width analysis.
It is expected that tool designers and simulation engineers will make excellent use of this
product.
3 workbench toolbars.doc 1 of 10
Copyright DELMIA Corp. 2004
V5 I GRI P V5R16
Workcell Sequencing
This workbench
processes. is aupon
It builds powerful 3D simulation
the workcell modeltool used to in
developed simulate robotic
Robot Task manufacturing
Definition, Human Task
Simulation, or DPM Assembly Process Simulation. With Workcell Sequencing, the user can
coordinate and review the functioning of multiple resources as they work in tandem.
The interface is intended to enable task synchronization among any programmable resources
such as robots or human models. The tools are synchronized using IO technology. Workcell
Sequencing allows it to link the resource programs to the process planning, and so creates a
bridge between the resource-centric programming and the high-level manufacturing process
description.
Design and manufacturing engineers can use Workcell Sequencing to see simulations of
robotic movement. The simulation reproduces both simple and complex robotic manufacturing
processes exactly as they are defined.

1. Start an IGRIP V5 robotics session. To do this, click on Start / IGRIP Robot Offline
Programming.
To view the toolbars horizontally, drag them by their move handle, redock them in the top
toolbar docking area, and drag them into the 3D view. Some of the toolbars have toolbars
imbedded in them. Use the black arrow to expand the toolbar, and then select the move
handle and drag it.
V5 I GRI P V5R16
Workbenches and Toolbars
Robot Offline Programming
______ ________________________
Select Off-Line
Programming
_________________________________ ___________________________________
PPR Tools
Calibration
_________________________________ __________________________________
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Simulation
Activity Management
________________________________ _________________________________
Team PDM
Data Views
_______________________________ ____________________________________
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View
Standard
________________________________ __________________________________
Simulation Analysis
Tools
Environment Tools
_______________________________ __________________________________
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Knowledge
Layout Tools
________________________________ ____________________________________
Simulation Activity
Analysis
________________________________ __________________________________
The V5 General command toolbars appear in every workbench from this point on only toolbars
specific to Workcell Sequencing, Robot Task Definition, and Device Building are covered.
V5 I GRI P V5R16
Workcell Sequencing
__________________________
PPR Tools
OLP
________________________ ____________________________
IO Import/Export Resource
________________________ ____________________________
IO Management
RRS Connect
________________________ ____________________________
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Interference Zone
Device Motion
________________________ __________________________
Robot Task Definition
__________________________
Tag Spot Weld Action
______________________ ___________________________
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Sequence
Activity Management
_________________________ __________________________
Robot Management
Robot Controller
________________________ __________________________
Simulation Activity Creation
_________________________
V5 I GRI P V5R16
Device Building
Workbench
________________________
Device Building Device Building
_____________________ __________________________
Frames of Interest
Device Jog
_____________________ ________________________
V5 I GRI P V5R16

Starti ng th e Pro ject
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
This describes how to start a project from the beginning. The products and resources consist
of parts that may or may not be grouped into assemblies. The part data is stored in product
structure documents that have a .CATProduct extension.

The difference between a product and a resource depends on how you wish to use them in
your process. The end result of the process should be the creation of a finished product
consisting of the products listed in the PPR tree. The resources used in the process to create
the final product should be listed in the resource branch of the PPR tree.
This procedure has:
Loading products
Loading resources
In addition to loading resources using the Resource Context command (as described in this
procedure), The robot catalog, can also be used.
This procedure reviews the different ways a project can be started.
1. By default, the software opens to the workbench used in the last session. To open the
IGRIP – Robot Task Definition workbench select Start / IGRIP. The workbench opens
with a new process document.
Another example is if the software is o pen,

and we want to start a n ew project. Close,
or save the existing window (X) then we
have a blue screen, (no workbench
selected) for this example; close the
Process window, (X) .
4 Starting a Project.doc Copyright DELMIA Corp. 2004 1 of 2
V5 I GRI P V5R16
2. To start a new process document, select File/ New and the

New dialog box appears. Scroll down, select Process, and
click on the OK.
The workbench icon

always appears in this
corner (unless moved)
Move the mouse over the
icon to display the
workbench name.
3. The PPR tree displays the Process consisting of:
1. ProcessList
2. ProductList
3. ResourcesList
4. Notice the displayed toolbars bordering the 3D view, and the Process Name, Process 2.
There are two processes open. Click on the Close button for Process2.
4 Starting a Project.doc Copyright DELMIA Corp. 2004 2 of 2
V5 I GRI P V5R16

P ro d u c t s an d
RH Body Side
Assembly R e s o u rc e s
with Tooling
and Robotics
V5 IGRIP
Products and resources consist of parts (which may or may not be grouped into assemblies)
and appear in product structure documents. Files that contain products or resources have a
Products and resources differ in how they are used in a process. Products that are used to
create the end-result of a process should be listed under the ProductList section of the PPR
tree. Resources required during the process itself should be listed in the ResourceList branch
of the PPR tree. The PPR tree serves as a tool to organize the digital manufacturing
environment.
The PPR paradigm allows the user to describe a scenario (i.e., the Process) for manufacturing,
processing and transforming a series of items (which are embedded in the ProductList) with a
number of resources (which are embedded inside the ResourceList), The relationships
between the activities (or operations), products and resources are both accessible and editable
inside the PPR Environment.
Process documents are always using a PPR environment.
The actors and the transformed items of a process must be imported into the PPR
environment (as the sections which follow describe). However, a process can be created
without these elements and then completed later as those elements are brought into the
environment at a later stage in the process design project.
In this procedure, a product (RH Body Side Outer) and resources (tooling, tooling bases, robot
risers) are inserted into the process.
1. In the main menu bar select Insert / Insert Product.
5 Resources Product and moving.doc 1 of 6

V5 I GRI P V5R16
2. The Import Window dialog box appears. Select the Product folder from the 3 Geometry

folder, and Open.
The Product appears

in the PPR tree and
the 3D view.
3. Tooling is added next from the main menu.

Select Insert / Insert Resource.

V5 I GRI P V5R16
4. The Import window appears. Go up one directory, select the Resource directory, and then
select the Station.CATProduct. Click the Open button.
5. The Station appears in the 3D view.

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6. Using the View toolbar select the different Icons to change the 3D view.
7. Open the Quick view and View mode toolbars and try different commands. Also use the
mouse to zoom in, out, and rotate.
8. Insert a resource. From the Resources direcrory, select the Fixture Base.CATProduct.
9. Click on
The bounding outline,
the Fixture andStn1.
Base the compass is used
Notice that to move
the text in thethe fixture
PPR treebase into position.
is highlighted orange
(default color), and, in the 3D view, the base is highlighted.

V5 I GRI P V5R16
10.Move the mouse over to one of the edges of the base. The side that you selected it
moves in that direction.
11.The base can be rotated with the

compass. To do this, right-click on the
compass and, from the contextual menu,
Select Snap Automatically to Selected
object.
12.In the 3D view, click on the Base. Grab

the circular line on the compass and move
the mouse to rotate the base.
13.To be exact, right-click again on
the compass, and select Edit from
the contextual window. The
Parameters for
manipulation compass
dialog box
appears.
14.Type in –90 in the Along X /

Angle field and click on the Apply
button.
15.Grab the compass, as shown

below, and move the base close
to the station fixture.

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View the base from different

positions to ensure that it is placed
correctly…
16.Try to place the base under the station’s risers. Later the snap function is introduced for
more exact placement.
17.Close this file. A different file with a complete setup will be used in the next step.

V5 I GRI P V5R16

Open in g a Pro jec t &
RH Body Side
Assembly In s e rt i n g R o b o t s
with Tooling (Removing from PPR Tree)
and Robotics
V5 IGRIP
The Robot Task Definition workbench, allows you to test for robot reach and access in a
complex manufacturing workcell. It provides tools for the development of robot programs and
facilities to test those programs while checking for interferences. The output of Robot Task
Definition is a workcell model that is ready for the next step: development of a complete
manufacturing simulation with synchronization of all resources
In this procedure, a project is opened and robots and other resources are inserted.
1. In the main menu select File / Open, and select the 3Geometry / Process /

Robotics.CATProcess. Click the Open button.
Some of the data has
already been set up. You
will step through the
inserting process..
This way everyone has the geometry in the

Same
same coordinates..
page
2. In the main menu, select Insert / Insert Resource. In

the Resources directory, select the robot riser, Riser
M.CATProduct, and Open. The riser appears.
6 Open Project insert robots.doc 1 of 6

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3. In the PPR Tree, Click on the Riser M; it highlights. Move the mouse over

one of the lines on the edge and click and hold the mouse. The pointer
becomes a hand. Move the mouse to drag the riser. Position this riser on
the side of the tooling, as shown.
Careful:
If you select the riser M
from the 3D view
window, depending on
what part you clicked on,
that is the only part that
will move….
4. Release the mouse button, and click anywhere in the 3D view to deselect Riser M. When
not selected, the riser is no longer the default color orange.
5. Follow the same procedure to insert the resource, Riser S, and place accordingly.
6. Snap the compass to Riser M. To do this, right-click on the compass and choose Snap

automatically to selected object from the contextual menu, Right-click again on the
compass and select Edit. Click on Riser M from the PPR Tree. Place these numbers in
the Parameters for Compass Manipulation dialog box, Apply and OK.

V5 I GRI P V5R16
7. Repeat the procedure for Riser S by clicking on the name in the PPR Tree.
8. Save as, this file in the Process directory, as Robotics1.CATProcess.

9. Reset the settings on the Compass. To do this, right-click on the compass and choose
Snap automatically to selected object from the contextual menu, this deactivates this
function.
10.In the Activity Management toolbar, click on the Catalog

Browser .
(Or in the main menu, click Insert / Catalog Browser .)
11.Select the Open file Icon.
This sample catalog comes

with the software, and like
a Department catalog, we
can shop for Robots,
Tooling, etc. New
Catalogs can be created
and customized as
desired…

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12.Check with the instructor for the path to the robot catalogs. (This location falls where they
loaded the software in the computer).
Note the po sit ion to pl ace each rob ot in the pro ject that w e are
step pin g th ro ug h. The layo ut pict ure is at th e end of this step
.
13.Select the ABB.catalog, and click the Open button. The Catalog Browser now shows all

of the robots in the catalog. Switch the view to Details.

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14.The Robot IRB_6400_24_150
is used in the project. Using the
Filter command, search for

all of the robots that start with
IRB_6400. Select the options
shown in the filter, click on
Apply, and the results appear in
the catalog browser. Click on
OK in the Filter box to close
this window. Click on the
IRB_6400_24_150 text in the
Catalog Browser.
15.The Robot now is attached to the pointer in the 3D view. Move the mouse and place the
first robot around (encompass) the station. Notice that the world position values are shown,
(if set in the options), or they appear in the command prompt field. The number changes as
the robot changes position in the world.
16.When the robot is correctly positioned in the world, click the left mouse
button, and another robot appears.
17.Move the mouse over the Riser M, and notice that the crosshairs change to

a box and line. Position the robot as shown, and click on top of the Riser M.
18.Another robot appears. Position this robot on Riser S, and the final robot on the seventh
axis rail, or gantry. Disregard the next robot, and Close the catalog Browser. This cancels
the command.
19. Go into the Catalog for Fanuc robots and insert the S-420iS robot. The project should
look similar to the example shown.

V5 I GRI P V5R16
Note the po sition of each robo t and its nu mb er in relation to the pro du ct. The Pos itions
ar e im p or tan t w hen s etti n g u p th e in ter ac ti on s b etw een th e r ob ots .
Seventh axis, or rail
IRB 6400_24 150.2
IRB_6400 24_150.3
S-420iS.1
IRB 6400 24 150.1
20.For viewing ease, keep the rotation of the mouse relative to the floor. To do this, select the
Tools / Options / Display / Navigation tab. In the navigation field, activate the
Gravitational effects during navigation option and the Z (axis) option.
Incorrect insertion in the PPR tree

21.In the PPR tools toolbar, click on the Remove from PPR icon, and then, in
the PPR tree, click on the item that you want to remove.

V5 I GRI P V5R16

Creatin g a A rea
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
In this step, an area or floor is created.
In the Plant Layout workbench a floor, is created, saved, and imported into the project.
1. In the main menu, select Start /

AEC Plant / Plant Layout.
2. In the Plant Layout toolbar,

select the Area command.
The Area Creation dialog box

appears.
7 creating a floor area.doc 1 of 4

V5 I GRI P V5R16
3. Change the X and Y lengths to 800in. To do this, Click inside the white text fields and
type in the numbers. In the 3D view, select in the window the origin of the area. Select
0,0,0. (If you move the mouse around, in the geometry window, you will see the coordinates
change).
4. In the View toolbar, select the Fit All In command. The entire floor is displayed in the 3D
view.
5. Change the name of Product 12. In the PPR

tree, right-click on Product 12 (you might
have a different name). In the contextual
menu, select Properties. In the Product tab of
the Properties dialog box, change the text in
the Part Number field to Plant Floor . Click on
the Apply and OK buttons.

V5 I GRI P V5R16
6. The plant floor is created. Right-click on the name Area 1 in the PPR Tree, and under
Properties, deactivate the Show area name option. Then click on the button Apply, and
Ok.

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7. Save the floor. In the main menu, select File/ Save as. Select 3 Geometry / Resources
and click the Save button.
8. Close this document (X in corner), and return to the current project. To insert the floor,
select Insert / Insert Resources, and select the Plant Floor.CATProduct file.

V5 I GRI P V5R16

P l ac i n g an d A s s i g n i n g
RH Body Side
Assembly the Res ou rc e: Rob ots
with Tooling
and Robotics
V5 IGRIP
In this procedure, the snap function is used to move robots and other components.
Robots, and the Robot Riser, are moved and positioned in the project. (Check the last pag e
in this step to see ho w the finish ed pr oj ect loo ks)
1. Select Robot IRB_6400_24_150.1, and move the

mouse over the green line shown in the image. Click
and hold the left mouse button down (changes mouse to
a hand) and drag the robot up. As the robot moves, the
position values change.
Select various lines, in the bounding outline around the
robot, and use the move functions. When completed, make
sure that the robot is up in the air. Click in a blank area in
the 3D view to deactivate this function.
2. In the Layout Tools toolbar, Click

on the Snap icon.
3. The Snap Options dialog box appears. Accept the defaults. In the far left corner, under the
bottom toolbar, the system prompts you to select an object to be moved. Select the Robot
IRB_6400_24_150.1 from the PPR Tree.
8 placing and assigning robots.doc 1 of 5

V5 I GRI P V5R16
4. The selected robot turns orange, For this snap function, we will

be using the Snap Option,
the Define Reference Plane Define Plane..
(From) dialog box appears and a
green compass is displayed on the
robot showing the current
orientation.
5. As you move the mouse pointer, a

small white rectangle is displayed
to show the selectable planes. A
line normal to the rectangle shows
the direction in which the snap will
be performed.
6. Move the white rectangle and line to the desired plane and orientation

as shown in this image and click the left mouse button. The green
compass moves to this location and orientation.
Note: This step does not need to be done if the green compass is initially
in the desired location and orientation.
7. Click OK in the Define Reference Plane (From). The reference plane

is set and the command prompt asks you to select an object to be
snapped to.
8. In the 3D view, click in the center of the top plane of Robot Riser

M. Orientate the rectangle and line as shown in the image. Right-click
the compass and click OK in the dialog box.
9. The Snap Options

Dialog appears. In the
Select field, click
Face. Click the OK
button to align the two
faces selected.

V5 I GRI P V5R16
Snap the rest of the robots, to the desired

locations, if required.
10. Next, the robots are rotated so they face

the fixtures. Right-click on the compass
to get the contextual menu, and select
Snap Automatically to Selected Object.
Click on the Robot S-420iS in the PPR
tree. Notice that the compass positions
itself to the center of the Robot.
11.Right-click on the compass again, and select the Edit function. The Parameters for

compass manipulation dialog box appears. In the Along Z, Angle, type in 90, and click on
the Apply button. The robot rotates to face the tooling.
Yes, it
gets
easier…
12.Another way to use this dialog box is to place 90 degrees in the Rotation increment values.
With the values set this way, the compass will rotate in 90-degree increments.

V5 I GRI P V5R16
13.When you are rotating the IRB_6400_24_150.1 robot, make sure that you select the

Robot first, then the Riser M, (hold down the CTRL button) that way it rotates both using the
Riser M’s compass. This places the robot and riser in front of the tooling.
14.Select the other robot IRB_6400_24_150.2, and rotate. The IRB_6400_24_150.3 make

sure to select the Riser S, then the Robot. This rotates them around the Robots compass.
15.For the ease of programming (creating the robot path), select the S-420iS robot and make
sure that it is placed at these coordinates.
16.In the Layout Tools Toolbar, select the Attach icon. You are prompted to
select the Parent first select the Riser Top as shown,
and then select the IRB_6400_1 (from the PPR tree).

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17.The Child Selection dialog box appears, select OK. The

Parent – Child relationship
appears.
18.In the Environment Tools toolbar, select Hide

Attachment and click on the text to hide right-click on the
text, and select Hide/Show from the contextual menu.
The layout of the Finished Project.

V5 I GRI P V5R16

Mo u nti n g a Weld Gun
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
This procedure shows how to mount a weld gun to the Robot.
In this procedure, two weld guns will be inserted and mounted on each of the robots.
1. From the main menu, select Insert / Resource and select the Weld Gun1.CATProduct

and the Weld Gun2.CATProduct in the Resources directory, under 3 geometries.
The weld guns are on top

of one another…
9 Mounting a Weld Gun.doc 1 of 3

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2. Select the Set Tool Icon from the Robot Management Toolbar.
3. The Robot Dressup dialog box appears. Select the Robot

IRB_6400_24_150.1 and Device Name under Weld Gun 1,
Click on the Rocker2#2.1 under the Weld Gun 1. The system
recognizes the device name not the product name, click on Apply.
Do not select ok yet … we Yes, if drawn with correct

need some adjustments!! orientation it should line up,
and you can click on the OK
with no adjustments…but..
4. The end effector’s orientation is incorrect on the robot. Manipulate the compass to turn

the end effector as shown (next picture).

V5 I GRI P V5R16
5. When completed, click on OK.
6. The Parent / Child relationship is displayed in the 3D view.
7. Follow the same procedure to mount the other weld gun. Use
the Set Tool command to mount the weld gun to robot S420iS.
8. Right-click on the Child / Parent Relationship, and select the

Hide/ Show command. (To hide the text and line). This will
make it easier to see all the geometry; the text and lines will not
interfere.

V5 I GRI P V5R16

Hide/Show
RH Body Side
Assembly Attachments
with Tooling
and Robotics
V5 IGRIP
This procedure shows how to use the Hide/Show function using the Text that shows the
Parent/Child Relationship.
In this procedure, commands in the Environment Tools toolbar are used to show and hide text.
The Swap visible space function is reviewed. This is another way to hide all at once (Double
Click on the Icon, and this keeps it active for more selections).
1. To make the parent / child relationship visible,

in the Environment Tools toolbar, select the
Show Attachment icon, and click on one of
the robots in the PPR tree.
2. Click on the icon again, and select the other
robot, so that both relationships are shown.
3. Double-click the Hide Attachments icon (icon
stays orange). Click on the text, to hide it. Hide
both relationships, and then click on the icon to
deactivate.
Where does it hide it? The text is placed in the swap visible
space3D view.
But…on some versions of the software, this is not available.
.
4. To view the data in the No Show area, click on the Swap visible space icon in the View
toolbar.
5. This 3D view has a green background indicating that this is the No Show area. A
component hidden in the product structure appears in low highlights in the PPR tree.
x10 hide show attachmts.doc 1 of 2

V5 I GRI P V5R16
6. Click on the Swap Visible Space icon to bring you back to the main 3D view.
7. If there is a lot of data and the view is confusing, use the Hide / Show command to place
some of the data in the No Show area. This area is for viewing only; and the main 3D view
is the active view where functions are available.
8. Try the Hide / Show command with some of the geometry. Pick the geometry from the
PPR tree or from the 3D view to see different results. Also, notice the icon in the PPR tree
when executing the Hide / Show command.
9. When completed, make sure all the geometry is visible, excluding the Parent / Child
relationships.
x10 hide show attachmts.doc 2 of 2

V5 I GRI P V5R16

Creatin g th e Pro c ess
RH Body Side
Assembly Plan
with Tooling
and Robotics
V5 IGRIP
This procedure describes how to create a process plan in DPM Fastening Process Planner.
There are two ways to create a Process: using customized activities, and using the standard
default activities. Later, a Process Flow chart will be automatically created.
In this exercise, a process plan will be created for the RH Body Side Assembly. The standard
commands in the Activities toolbar will be used.
Using the Resource Centric approach in the next step, the tasks will be assigned to activities.
Physical activities are imported into the process from a user activity library. Dress-up activities
such as viewpoint, visibility, and text message activities are created under the process node.
1. Open to the DPM Fastener Process Planner workbench. From the main menu, select Start
/ Digital Process for Manufacturing / DPM Fastening Process Planner .
2. In the Activities toolbar , scroll the mouse over each icon to see the activity names.
3. Select the Insert Station Activity icon and click in the PPR tree, the word Process.
x11 Creating the Process.doc 1 of 4

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4. The Create Activity dialog box appears. Click on the More >> button to see the Station
Activity Attributes. Change the Name to Station 1 and click on OK. Create another activity
and name it, Station 2.
When you insert a station activity in the PPR tree, it will always be a successor to another
station activity or a child of the main process. Stations activities children are other activities; it
cannot be a child of, say a clamping activity.
5. Using the commands in the Activities toolbar to create

the Stations (as shown). Make sure that you select the
previous activity when inserting the new one. This
will create your process that flows from activity to activity
correctly.
6. If you do not have the proper process…
Follow the steps below to

correct your process.

V5 I GRI P V5R16
1. In the Data Views toolbar, select the Open PERT Chart and click on the word Process in

the PPR tree.
The PERT Chart Window appears showing the Activities. Select an activity box with the left
mouse button and drag it to the desired location. The position of any activity in the PERT chart
can be modified after changing an activity's position, it will automatically snap to the center of
the nearest grid square when the mouse button is released.
2. To see the Text in the Activity boxes, from the main menu, select Window / Tile
Horizontally.
The names of the activities in the Pert Chart
are easier to see….
3. With a split view, when a activity is selected it highlights in both windows.
Click on the + sign to

view the activities
under the stations

process…

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Linking or Sequencing activities in the PERT chart
The chart may be created with the links in place or it may not have the links in place. This
procedure also explains how to modify existing links. The PERT chart appears below the PPR
tree. Each box represents an activity. Each box can be manipulated and moved within the
chart.
4. To delete the links, move the mouse over the

line, and right click for the contextual menu.
Select Delete. If needed, delete the links and
create new ones so they match the process
flow.
5. To create a link between two activities, click
on the Link icon. Click in the box that

you want to start the link, and then the box to
link to. If no other links need to be created,
click on the link command to deactivate it.
To zoom in or out, click in the

window (to make it active), and
select the mouse functions for
zooming…
Final Process
6. Close the Pert chart when completed.

V5 I GRI P V5R16

F as t e n er A s s i g n m en t
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
This procedure describes how to assign and view welds in a process welding activity, thereby
managing and validating these Weld points well in advance of production.
In this exercise, the DPM Fastener Process Planner workbench will be used to assign the
welds.
1. In the PPR tree, under Station 1, select

SpotWelding 1.
2. In the Fastener Management toolbar, select the Assign fasteners from Product to an

Activity command. In the PPR tree Products list, select Assembly Joints under the RH
Body Side Assembly.1.

If there is no welds showing under the fasteners available for assignment, make sure in
the Tools / Options / Digital Process for Manuf / DPM – Fastening Process Planner /
Commands / Activate Part Loading Constraints is deactivated.
x12 Fastener Assignmt welds.doc 1 of 3

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3. The Fastener Assignment dialog box appears. This displays the total number of welds and
what activity the welds are assigned. At this point, no welds are assigned. Notice that there
is a pull down window for in the List of Products with Fasteners and for the List of
activities. Hold the Ctrl key down and select the Welds 1,3,5. Use the arrow to assign
them to the s elected activity.
Welds are assigned and no longer available unless Allow Duplicate Weld Assignment is
toggled on. (This is in the tools / options / Digital Process for Manufacturing / Commands) This
would be toggled on if a parallel process were also being created. Welds can also be
assigned depending on what parts have been loaded prior to the welding activity selected in
the Process. Apply Part loading Constraints must be toggled on for this to take effect. We will
not be using that function.
4. With the Fastener Assignment dialog box still open, select Station 1 >Spot Welding .2
from the List of activities or the PPR tree.
5. Select welds 07, 09, 11, and 13 and click on the arrow to
move the welds and assign them to selected activity.
At this time select the accountability tab and confirm that
the odd welds have been allocated.
6. Notice that, while assigning welds the weld names

appear in the 3D view when they are selected, they
change color. Close the Fastener Assignment dialog
box when finished.

V5 I GRI P V5R16
Weld Information or Weld ID
7. To continue to view the weld names, position the geometry conveniently in the 3D view.
Select the Show Weld ID in 3D window button. Expand the ProductList in the PPR
tree and select the RH Body Side Assembly. A weld ID dialogue box comes up. Verify
that the All sub-products option is checked, and the Switch is yes, (double click on the
product name if it is not) This activates them on, and off using the Apply button. Click on
the Apply button a few times to see them turn on and off, then when they are off , Close.
8. The Assigned Weld information in the PPR tree.
9. Collapse the RH Body Side Assembly node in the

Productlist.

V5 I GRI P V5R16

As sign ing the Rob ot
RH Body Side
Assembly Reso ur ces to the
with Tooling Process
and Robotics
V5 IGRIP
This procedure describes how to assign products and resources to activities within the
process. There are four methods that can be used to assign products and resources to
activities:
Using the Assign a Product/Resource command (Activity Management Workbench)
This method allows you to define a relation from a list of relation types at the time of the
assignment
Using the Assign an Item and Assign a Resource commands (Activity Management
Workbench)
This method allows you to quickly assign a product or resource to an activity, without querying
for the relation type
Using the drag-and-drop method from within the PPR tree
Using the drag-and-drop method from the 3D viewer to the PPR tree
The purpose of a process and its associated activities is to transform items, which are
represented by a specific set of data. This data may refer to products, welds, other fasteners,
or points to inspect. Therefore, the more generic term "item" is used throughout the
application.
Because more than one resource is often needed for a particular activity, multiple resources
may be assigned to an activity.
In this procedure the robots will be assigned to the welding, loading, and unloading activities.
This creates a process that can be simulated.
L e t s Ta lk a n d Re vie w t h e d if f e r en t ch o ice s …
x13 Assign Resource to Process.doc 1 of 9

V5 I GRI P V5R16
Assigning a Product
To perform the procedures described:
• The products and resources to assign must have been previously imported to the
process (i.e., they are currently displayed in the ProductList and ResourcesList).
• The activities that make up the process have been created.
• The PPR tree for the process must be visible.
To view assigned resources on the PPR tree, the appropriate filter (Resources) must be
enabled.
We will review s ome of the ico ns :
Assigning a Product
Method 1: Using the Activity Management Toolbar.
1. Click on the Assign an item icon.
2. Select the product to be assigned from the ProductList of the PPR tree.
3. Select the activity in the PPR tree that the product is to be assigned to. The selected product will then be
shown in the Items folder of the selected activity. This is a way to assign a product so that it has no relation to
saving to the PPR Hub.
4. Click on the Assign a product/resource icon.
5. Select the product to be assigned from the

ProductList of the PPR tree.
6. Select the activity in the PPR tree that the

product is to be assigned to. The selected product
will then be shown in the Items folder of the
selected activity.
7. Select the type of relation for the process/product and click OK. The
product will then be shown in the Items folder of the selected activity:
(Use the 1 st option, they are explained below)

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Method 2: Using drag-and-drop from within the PPR tree
1. Use the mouse to select a product from the ProductList and drag it onto the desired activity. Products
dragged from the ProductList to an activity are automatically assigned as items.
Method 3: Using drag-and-drop from the 3D viewer to the PPR tree with Products
Selection mode
1. Click on the Products Selection icon from the Select workbench to activate the Product Select mode.
Products Selection mode allows for products to be easily selected from geometry displayed in the 3D viewer.
Without the Products Selection mode, clicking on the geometry in the 3D viewer selects only the individual
lines, planes, etc. that are part of a product, but does not select an entire product. When enabled, Products
Selection mode allows for the selection the entire product that a particular line or plane belongs to, and will
highlight the selected product in the PPR tree.
2. Drag the selected part onto the desired activity on the PPR tree.
Holding the CTRL key when clicking on the different products can make multiple part selections, and
dragging the part last clicked to the desired activity on the PPR tree.
3. Click on the Products Selection icon from the Select workbench to turn off Product Select mode.
Assigning a Resource
Method 1: Using the Activity Management workbench
1. Click on the Assign a Resource icon.
2. Select the product to be assigned from the ProductList of the PPR tree.
3. Select the activity in the PPR tree that the product is to be assigned to. The selected product will then be
shown in the Items folder of the selected activity. This is a way to assign a product so that it has no relation to
saving to the PPR Hub.
4. Click on the assign a product /resource icon.
5. Select an element of the ResourcesList on the

PPR tree.

V5 I GRI P V5R16
6. Select the activity in the PPR tree that the product is to be assigned
to. The Assignment Type dialog box is displayed when the activity is
selected:
7. Select the type of relation for the resource/product and click OK. The
resource will then be shown in the Resources folder of the selected
activity:
Method 2: Using drag-and-drop from within the PPR

tree
1. Use the mouse to select and drag a resource from the ResourcesList and drop it on an activity. Elements
dragged from the ResourceList to an activity will automatically be assigned as resources.
Method 3: Using drag-and-drop from the 3D viewer to the PPR tree with Products
Selection mode
1. Click on the Products Selection icon from the Select workbench to activate the Product Select mode.
Products Selection mode allows for products to be easily selected from geometry displayed in the 3D
viewer. Without the Products Selection mode, clicking on the geometry in the 3D viewer selects only the
individual lines, planes, etc. that are part of a product, but does not select an entire product. When
enabled, Products Selection mode allows for the selection the entire product that a particular line or plane
belongs to, and will highlight the selected product in the PPR tree.
2. Drag the selected part onto the desired activity on the PPR tree.
Holding the CTRL key when clicking on the different products can make multiple part selections, and
dragging the part last clicked to the desired activity on the PPR tree.
3. Click on the Products Selection icon from the Select workbench to turn off Product Select mode.

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Using the Assignment Type Dialog Box
Process created Product ~ This relation is an output

process. This relation should be selected when a product has
been finished after this process. The product may be a
completed part, a subassembly or a fully-assembled part e.g.
with a process or final assembly
Process processes product ~ This relation is an input

process. This relation should be selected when a product is
processed in a further process. The product may be a
subassembly or a part that has been processed and completed in previous processes and that is
not to be processed further, e.g. in a assembly process.
Process first processes product ~ This relation is also an input process. This relation should be
selected when a product is first processed by a process. The product may be a raw material from a
parts bin.
Process removed product ~ This relation is a disassembly process. Select this relation to
remove a product. E.g., safety equipment for an assembly part or an assembly part removed
directly.
Using the Assignment Type Dialog Box
Process Uses Resource ~ This relation is used for Labor,

Tools, Fixtures and any auxiliary Resource used/shared during
Processing.
• Defines the auxiliary Resources used by the Main

Resource, while doing this Process.
• This Relation indicated that the Resource is of type Labor

or Sub Resource (Tools & Fixtures) in Quest
• The Labor or Sub Resource Requirement of the Cycle

Process is assigned for this Resource Class
Process Runs on Resource ~ This relation is used for Main Resources such as Stations and
Machines
• Defines this is the Main Resource (like a Machine) o which the Process Happens.
• Since Quest world view is Resource Centric (of the same PPR data), the Process is added to
the Resource
Process Attaches Resource ~ This relation is used in the Quest software.
Process Detaches Resource ~ This relation is used in the Quest software.

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Unassigning a Product
1. Click on the Unassign an Item icon: (from the pull down toolbar)
2. On the PPR tree, select the activity that the item is assigned to. A dialog box
will be displayed which lists all products currently assigned to the activity:
3. Select as many items in the list as desired, and click the Unassign button to
remove those selected from the activity.
Unassigning a Resource
1. Click on the Unassign a Resource

icon.
2. On the PPR tree, select the activity

that the resource is assigned to. A
dialog box will be displayed which lists
all resources currently assigned to the
activity:
3. Select as many resources in the list as desired, and

click the Unassign button to remove those selected
from the activity.
During the assignment of products or resources, the system determines whether the current assignment
duplicates any that already exist. Each product or resource can only be assigned to a particular activity within a
particular process once.
The assignment of a product or resource differs from the use of copy and paste commands. Copy and paste
commands should never be used in place of assigning products or resources to operations; this will no t work.
The conventional method for assigning a product to a process (described in the previous section) utilizes either
the Assign an item command or the drag-and-drop method, and results in an assigned product having a "Process
processes product" relationship with the process that it is assigned to by default.

V5 I GRI P V5R16
In order to support the same relationships that are supported by the PPR Hub, DPM Process and Resource
Definition now also provides the "Process first processes product" relationship to indicate that a product is being
consumed by a process for the first time.
Assigning a product as Process first

processes product
To assign a product to a process as "process first

processes product," click on the First assign item
command located in the Activity Management

toolbar, pull down menu for Assign a item. With the First
assign item activated, select the product to be assigned to
a process: After the product has been selected, click on
the process to assign it to: If the Items (first use in
process) option is enabled in the Filter tab of the Tools -> Options page, Items assigned to a process as
"process first processes product" will appear in a folder titled "Items (first use)" under the process in the PPR tree,
as shown in the figure.
The Process consists of the

No w L e t s a ssig n o u r P r o d u ct a n d Re so u r c e s… activities that we have to do
in chronological order for
the project to flow..
Re t u r n t o t h e IGRI P Ro b o t T a sk De f in it io n
Workbench…
In this exercise, assign our product from the Product List view to the Process view.
In the PPR Tree, click so that the tree for the Stations is visible, and the ProductList tree.
1. Select the icon Assign a product/resource, and then select the Spot Welding.1 in

Station 1. Select the S-420iS.1 from the Productlist.

V5 I GRI P V5R16
2. The Assignment Type dialog box appears, and since this is a product has been finished
by the process select the Process Uses Resource, and OK.
3. Follow the procedure and assign the robots to the

Stations as shown in the PPR tree.
4. Open up one of the robot, and take a look at the tree

under the robots.
5. Notice the categories, and the Mounted devices. Notice

that under the Spot Welding 1 and 2, the category, Items
displays the welds that were assigned.

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How to unassign a Resource/ Product
In the Activity Management Pull down windows on each icon,

(black arrow) use the icon Unassign a Resource, and select that Note: the Resource has to be
unassigned first from a
resource, or select the Unassign a item for the Product. activity to remove it from the
PPR Tree.

V5 I GRI P V5R16

Jo gg ing a Rob ot
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
This procedure describes how to review the Robots joint movements.

This procedure explains how to jog a kinematics device.
•
For devices with forward kinematics defined, use joint jogging only
• For devices with inverse kinematics defined, use joint jogging or Cartesian jogging
In this exercise, the project will review the jogging functions of a robot.
1. In the View Toolbar , we will Hide /Show all of robots and risers, except S-420iS.1 and the

weld gun that is mounted. Swap Visible Space allows you to flip from your chosen objects
shown, vs. the hidden objects.
2. Another way is to Multi-select the required geometries, then right-click and select
Hide/Show.
x14 Jogging a Robot.doc 1 of 4

V5 I GRI P V5R16
3. The View that we see…
4. Select the Swap Visible Space Icon.
5. again to
The rest get
of the project
back to ourisRobot
shown. Select the Icon
with the Weld Gun.
6. Select the Jog a Device Icon. In the Robot

Management Toolbar.
7. The user can now select three different ways to jog a device at this time. First, we can
select the slide bars that are located on the dialog box. Second, we can use the device
manipulation arrows located on each individual joint of a device. Third, we will be able to
manipulate the compass in any direction to see changes based on the top of the device.
Try all three ways.

V5 I GRI P V5R16
8. Notice if you go past the limits, an Output Window appears, and the robot changes to
purple. This is a good time to play with the DOF controls, Linear Step, Angular Step and
to look in the Cartesian page as well. The Robot changes to Red for singularity.

V5 I GRI P V5R16
9. To return the robot back to the home

position, select the Predefined Position,
Home_1.
10.Close all windows when done.
11.When complete, Hide / Show all of the

geometries.

V5 I GRI P V5R16

Creatin g a Ro bo t Task
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
This user-friendly function makes programming a robot less cumbersome, this provides the
ability to take the fastener points assigned to a process activity and reuse them for creating a
robot task. Based on the amount of fasteners assigned prior to selecting this powerful function,
this will generate operations the robots will use in a matter of seconds.
This procedure explains how to create a robot task. A resource-oriented process dedicated
to robot programming, a task is a linear sequence of activities called operations. Each
operation can contain a motion activity (Move To) and a set of actions.
1. Select the Icon Create Robot Task from the Sequence toolbar.
This creates a Robot Path

from existing data to create
Weld Positions. But if this
data changes, this is not
reflected in the Robot Path..
Where does this information a new one must be created..
come from.. ?
Usually the customer supp lies
the weld locations, and they
are imported through the DPM
Fastening Process Planner
Workbench, and then allocated
to the Activity… we did that
previously
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V5 I GRI P V5R16
2. Click on Spot Welding.1. This function

automatically creates the robot program under
the robot program tree, with the weld positions
that we assigned previously.
3. Repeat this function for the Spot Welding 2.
x15 Create a Robot Task.doc 2 of 2

V5 I GRI P V5R16

Jo gg ing to Welding
RH Body Side
Assembly Positions
with Tooling
and Robotics
V5 IGRIP
This procedure describes how to move the robot to the weld locations to view the weld
orientation.
In this exercise, we will take a look at the orientation of the welding tags in relationship to the
weld gun.
1. In the Tools, Options, DPM Fastener Process Planner, turn on the Show the

Fastener (manuf) tag. This will give the coordinates for each weld.
The color can

also be changed
using the pull
down window..
x16 Jogging to Welding Posns.doc 1 of 3

V5 I GRI P V5R16
2. The XYZ Coordinates appear in the geometry window.
3. To see the weld names, switch to the (Start) DPM Fastener

workbench, and select the Show Fastener ID’s in 3D
window Icon, then the RH Body Side Assembly Product in
the PPR tree. Return to the IGRIP Robot Task Definition
Workbench.
Did this function in
previous steps..
4. Using our Robot Management Toolbar, select the Jog a

device icon, and select the Robot S-420iS.
5. The Jog Dialog box appears.

V5 I GRI P V5R16
Notice the orientation of the compass on the weld gun. This will be compared to the
orientation of each weld.
We will step through the welds using the compass.
6. Grab the red box of the compass and place it onto Weld

01. Make sure that the placement of the compass matches
the correct orientation from the weld gun.
7. Follow through on weld 3, and Weld 5. Notice that the

orientation of weld 5 is not correct. (Place the Robot back
at its home position). This will be corrected later.

V5 I GRI P V5R16

Edit ing the Heigh t of
RH Body Side
Assembly t h e R o b o t R is e r
with Tooling
and Robotics
V5 IGRIP
In this Procedure, we will be editing the height of the Riser M.
Using the different workbenches, we will edit the height of the robot riser, and save this new
height.
1. Open up the PPR Tree for the Riser M.
2. Under the Body tree, Double-click; Double-click, on the Pad.1. This takes you to the
Assembly Design workbench, then the Part Design Workbench.
To verify, check the top
right icon…
x17 Editing Riser Height.doc 1 of 4

V5 I GRI P V5R16
3. The Pad Definition dialog box appears. Change the Length from 60 to 22 inches,

Preview, and OK.
4. The body changes size. Now we will update the constraints.
5. To activate the part constraints, double-click, double on the name

Riser M to activate all of the components that make up the riser.
(The name should be blue) and we should be in the Assembly
Design Workbench.
If the software defaults to the Product Structure workbench,

click on Start / Mechanical Design / Assembly Design.

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6. Notice that there is a line from the body to the top.
7. In the main menu, select Edit / Update. This updates the

product with the new changes, and also moves the robot.
8. To save the changes to this riser, File/ Save As, and select the Riser M, in the Resources
Directory.

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9. To return to the previous IGRIP workbench, double-click on the word PROCESS in the

PPR tree. This returns us to the IGRIP workbenches. Make sure you are in the Robot Task
Definition Workbench.

V5 I GRI P V5R16

Cr eatin g a Wel d Stu d y
RH Body Side
Assembly An alysis and
with Tooling Reviewin g the Results
and Robotics
V5 IGRIP
This procedure explains how to analyze the reachable and feasible zones around the free
axis associated with a target such as a fastener. The definitions states yielded by analysis are:
Feasible: the target can be reached without an collision

Reachable: the target can be reached, but the robot and Weldgun collides with the products
or tooling.
Unreachable: the robot cannot reach the target.
In this exercise, use the Analyze Target Orientation to edit the positions of the welds
automatically.
1. for
In the Robot Management
Robot icon, Toolbar, SelectWelding.1 in
and then Select the Spot the Analyse the
Welds
Process Station. This would automatically select the weld items or
either the geometry or PPR tree, select the weld or tag group(s)
that is targets for analysis. The targets

appear in the dialog box.
2. Click on the Analysis Parameters tab.
3. Click in the Collision Objects box, and

select the Station.1 from the PPR tree.
4. Delete any target by selecting the line

containing the target and then pressing the
Remove Target button. Select the Analysis
Tab and review the functions listed below.
x18 Create weld study.doc 1 of 5

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Parameter Value
Check Clash Defines whether feasibility is needed
If this box is checked, the analysis will even if a fe asible solution is found and will compute
Check All the feasible zone. Otherwise, the analysis will stop after the first feasible solution and will not
compute the feasible zone.
Do Flip Enable/Disable the flip analysis (invert the Z axis).
AnalRobo tLabel Select the robot on which to do analysis
The algorithm will perform a clash analysis between the coupled robot and tool and the
objects defined in this list. You can select items for this list from either the PPR tree or the
Collision Objects geometry.
Any selected object can be removed from th is list using the Remo ve button.
The Z resolution defines the accuracy of the analysis. The TCP gets rotated by this angle all
Rotate Z
along the range of check.
This tolerance is used for safety check. If the robot+gun gets closer than this value to the
Tolerance
collision objects, the two groups are considered to be colliding.
Using the Start angle and End Angle editors, the user can define the range of checks for the
Start/End Angle
welds selected in the list

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SELECT ALL OF THE WELDS (HOLD

DOWN CTRL BUTTON)
For our example, we will use the settings
shown.
- No Do Flip
- Highlight all the welds (Ctrl)
Start angle –180 deg, End
Angle 180 deg
- Collision object, Station 1
- Rotate Z every 15 Deg
5. Select the Results tab.
The table below explains the buttons and

fields associated with the tab.
Parameter Value
This frame provides the feedback from the analysis. For each robot and target for an
activity, a status will appear after a computation. The possible status results are:
Target Report O = OK
UR = Unreachable
UF = Unfeasible
Sort by robot The default presentation of the data is sorted by robot name.
Sort by fastener By checking this option, the table is sorted by fastener or target name.
Displays the results on the viewer in pie form:

Red: Unreachable
Green: Feasible
Display pie Blue: Reachable
White: Not computed yet
Yellow: Feasible in flip mode
This button opens a save window. The computation data shown in the Target Report
Save
Frame is saved in a .txt file.
This button is active if at least one fastener is unfeasible (KO).
Check KO When this button is pressed, the current selection of robots and fasteners in the Path
and Target Tab gets modified as follows:

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All the unreachabl e and unfeasible fasteners get tested against all the robots that are
part of the station/line except the original one.
Users need then to replay the analysis to get a second report. This report will let
users know to which robots the fasteners can be re-assigned.
The X axis jumps to the middle of the nearest feasible area. This option minimizes the
Rotate Nearest changes of orientation for the welds.
This button can be checked at any time after the analysis has been performed.
The X axis jumps to the middle of the biggest feasible area. This option minimizes the
Rotate Biggest risks of collision for the robot.
This button can be checked at any time after the analysis has been performed.
Compute/Stop/Resume These buttons control the progress of the analysis.
6. Turn on the Display Pie Report, and Select all of the Activities, (CTRL), then click the
Compute button in the Analyze area. The robot moves to the positions, and the results
documented.
7. Click on the Weld 01. Using the Rotate X (Closest) we will position the Weld 01
orientation to the closest to the middle of the nearest feasible location. The Weld 01’s
orientation changes.
8. Select OK to close the dialog window.

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9. In the Robot Management toolbar, select the Teach a robot icon.
10.Using the Teach Dialog box, step through the robot task using the Operations buttons, and
then the Simulation Buttons. (Make a note, if in the simulation the Robot “flips” while going
to one position to another. If it does, later, we will use the Set Turn Numbers to fix… )

V5 I GRI P V5R16

R o b o t C o n t ro l l er P ro f i l es
RH Body Side
Assembly M o t i o n P ro f i l e
with Tooling A c c u ra c y P ro f i l e
and Robotics
V5 IGRIP
The software uses default settings for the Motion and Accuracy profiles to optimize cycle time
and increase the accuracy of robots as they perform their operations.
In this exercise, Motion and Accuracy Profiles will be created.
1. Expand Motion and Accuracy files for Spot Weld 1.
2. In the Robot Controller Toolbar, select Motion Profile Icon.

Select the Robot S-420iS.1 to add a new profile and Motion.1 has been created.
3. Double click to edit Motion.1.
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Motion profile A motion profile is created using the Create and Edit Motion Profile command The purpose of the
motion profile is to specify speed and acceleration values for the robot. One type of p rofile may set speed and
acceleration parameters appropriate to a particular kind of move (e.g., moving to weld point) while another may
set those parameters in a way appropriate to a different kind of move (e.g., a via point). The standard velocity vs.
time profile for a move is modeled as a trapezoid, with equal magnitudes assumed for acceleration and
deceleration. If the initial and final velocities are equal, this will result in equal acceleration and deceleration times.
Based on the distance between points and the specified TCP speed, the velocity/time profile may end up being a
triangle, i.e., the ma ximum speed may never be attained (see the following diagrams).
The mo tion
profile's dialog
box (after
clicking on the
More button)
allows users to
set the following
options:
Acceptable
Option Explanation
values
Name Text string The name that appears for the profile on the PPR tree and on all menu options
Absolute: Selecting absolute means that the speed value (which must be e xpressed in
terms of mm/seconds) is the average speed the robot will use.
Absolute
Percent: Selecting percent means that the robot will move a specified percentage of
Motion basis Percent
its maximum speed.
Time
Time: Selecting time means that the user provides a set time for the robot motion, and
the robot calculates its speed to perform the move within that time.
For absolute:
For straight line motion, this speed specifies absolute TCP linear speed.
For joint-interpolated motion, this value is divided by the maximum TCP linear
speed to obtain the percentage of maximum joint speed.
Speed value Numeric For percent:
For straight line motion, specifies percentage of maximum TCP linear speed.
For joint-interpolated motion, specifies percentage of maximum joint speed.
For time: The programmed duration of the move

For straight line motion, the percentage of the maximum TCP linear acceleration
Acceleration* Percent
For joint-interpolated motion, the percentage of the maximum joint acceleration
Angular
Percent For straight line motion, the percentage of the maximum TCP rotational speed
speed*
Angular
Percent For straight line motion, the percentage of the maximum TCP rotational acceleration
acceleration*
*Cannot be set when the motion basis equals time

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1. In our example, change the name to Custom Motion.1 the Speed value to 90%, and

Toggle between the Motion Basics to view the results. Click on Apply, OK when done.
2. Select the Accuracy Profile from the Robot Controller Toolbar.

Since the Robot is already selected, the results appear.
3. Double click on Accuracy.1.
Accuracy profile An accuracy profile is created using the Create and Edit Accuracy Profile command. The
purpose of the accuracy profile is to define the accuracy of a desired trajectory. When corner rounding is desired,
users can select between two different algorithms to affect it. When speed is selected accuracy mode, the
severity of the corner rounding effect is a function of the deceleration time. In the case of straight-line motion, if
the accuracy value is set to 1 00%, then motion to the next point begins at the start of the deceleration profile, i.e.,
the robot will not decelerate. This produces the maximum radius for corner rounding. If the accuracy value is set
to 50%, then motion to the next point will begin when half of the deceleration time has elapsed, i.e., the robot will
decelerate for half of the time required to come to a complete halt, and then it will start the next motion statement.
If the accuracy value is set to 0%, then the move will use the standard acceleration/deceleration profile. When the
distance is the selected accuracy move, the accuracy value defines the radius of a virtual sphere, centered at the
position to which the TCP is being moved. The corner- rounding motion begins when the robot's TCP reaches any
point on this virtual sphere. Therefore, when the value of distance is non-zero, the robot's TCP will never reach
the programmed
Type = Distance,"position.
and thenTo stopthe
enter within the vicinity
desired of ainpoint,
tolerance users Value."
"Accuracy can select "Flyby Mode = Off," "Accuracy
The accuracy profile's dialog box (after clicking on the More button) allows
users to set the following options:

V5 I GRI P V5R16
Acceptable
Option Explanation
values
Name Text string The name that appears for the profile on the PPR tree and on all menu options
On: Selecting On means that the robot moves near, but will not stop at, a specific
On
Flyby target (i.e., there will be no deceleration; the target is a via point).
Mode
Off Off: Selecting Off means the robot will stop at the point.
Distance: As it moves near its target, the robot will move within a "virtual" sphere that
has the target point as its center.
Distance
Accuracy Speed: The speed represents the extent to which the robot
Type
Speed decelerates as it rounds the corner. A speed of 0% enables the robot
to move exactly to the target point; a speed of 100% means the
amount of corner rounding will be very large.
Radius of the
target's
surrounding For d istanc e: The accuracy value represents the radius of the sphere.
sphere
Accuracy
Value For speed : A percentage of the deceleration speed at which corner
Percentage rounding should begin.
of
deceleration
In our example, change the name to Custom Accuracy.1 and the Accuracy Value to 90%,
and Apply, OK.

V5 I GRI P V5R16

A ut o Placin g Rob ots
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
This will review the Auto Place function for the robots that have been inserted.
This procedure explains how to compute a grid automatically, and the possible locations for a
robot performing a specific robot sequence. The command asks the user to define a grid in
which the robot might be positioned. The software checks the grid to find the place where the
robot can be placed and still reach the tags defined for the robot sequence.
1. Select the Auto Place icon, in the Robot Management

Toolbar.
2. Select the S-420iS robot. This is the robot that will be
analyzed (you can select either the 3D geometry or the item
from the PPR tree). The system prompts you to select a robot
sequence. Select as shown.
3. The grid definition dialog box appears and a white cross appears
on the geometry. Move the white cross to the place where you
want the first corner of the grid box. Click on the area, then
release the mouse button, and drag the mouse down, and click
again. This makes an area that the robot will auto place itself for
the best location. Select a similar area, as shown below, OK.
x20 Auto Placing a Robot.doc 1 of 4

V5 I GRI P V5R16
4. White “+”s appears
in the area, and the
Auto Place dialog box
appears.
The table below explains

the output categories.
CATEGORY MEANING
Analysis Mode
Partial Reach
The origin and z axis of the robot TCP is superimposed with the target.
(checked)
Partial reach
(unchecked) The robot TCP is p erfectly superimposed on the target.
(aka Full Reach)
Results
F ull All th e targets are full y reachab le
Not reachable At least one target cannot be reached
All targets can be reached, but only in partial mode (only seen if partial reach has been
Partial
checked).
The robot clashes while trying to reach the targets. This mode is activated using the
Clash
standard toolbars for simulation analysis.
5. Select the Compute button. The crosses on the grid change

color according to the definitions in the Auto Place box. (You
can alter these colors if you like by using the pull down menus
on the Auto Place box.)
6. Select a point on the grid; the robot jumps to this location.

V5 I GRI P V5R16
7. Select this “+” for a general location.
8. Select the OK button. The grid disappears. Once you have performed the auto place
command, the system remembers the data. If you select the auto place command again,
the grid will automatically appear with the reachable colors for each cross set .
9. Once the Position is set, select the Save Initial State Icon.
10.Also if required, you can select the Save Management, Save Result Icon to save the data.

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Robot Location

V5 I GRI P V5R16

Rob ot Envelope
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
This procedure explains how to create a workspace envelope around a robot. This envelope
defines a volume within which all the points are reachable with the selected tool profile. This is
primarily used to find out a reachable position for the product. The envelope becomes a saved
object on the PPR tree and can be shown or hidden.
In this procedure we will select the S-420iS Robot and create an envelope.
1. Select the Create Envelope command icon.

2. Select the robot S-420iS.
3. You can use the pull down menus to select the desired tool profile and mesh resolution.
The available mesh resolutions are coarse, medium, or fine. Using the defaults, Select
the Create button.
4. The envelope appears around the robot and in the PPR tree, as a Workspace under
Analysis Objects.
x21 Robot Envelope.doc 1 of 3

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The inner and outer reachable surfaces are created. The wrist joints are held at their current
position while generating the surface. By default the surfaces are created with the current Tool
profile in effect. It can be overridden by selecting another tool profile. The Travel Limits for the
first 3 positioning Joints in the kinematics’ chain are used to generate the limits of the surfaces.
Forward kinematics solution is used to generate the envelope
Workspace generation is limited to devices whose first three positioning joints fall into one of
the eight generic type arm kinematics classes.

Cartesian
SCARA
Cylindrical
Block
Bore
Articulated
Spherical
Pendulum
The singularity positions are not considered for the envelope creation.

V5 I GRI P V5R16
5. If you select the workspace with the Right Mouse Button, the context menu shown
below appears:
6. Robots with fewer than three joints are not considered.
7. Select Save Workspace, you can create a .cgr file containing the workspace data
8. Hide / Show the envelope when done.

V5 I GRI P V5R16

Reach Fun ctio n for the
RH Body Side
Assembly Placement of Rob ots
with Tooling
and Robotics
V5 IGRIP
This will demonstrate how to use the Reach function to place a robot in the project.
Using the Reach function, the robot will be positioned so that it will be able to reach the
welding points.
1. Using the Swap visible space icon,

right-click on the Parent Child
relationship and delete. Return to the
geometry window.
2. Create a link using the Attach icon between the Robot
IRB_6400-1, (Parent), and the Riser M (Child).
Hide this link.
3. Select the Reach Icon in
the Robot Management
toolbar.
4. The Selected Groups dialog box appears, Select Robot

IRB_6400_24_150.1, and the Robot Task 2, and OK.
x22 Reach Function for Placing.doc 1 of 2

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5. The Reachability Status box appears, and the compass snaps to the Robot. Move the
robot away form the fixture, and we see the Targets Status change.
6. Find a position that the Status is Reachable. Similar to the picture, and Apply, OK.
The coordinates for this Robot are:
x22 Reach Function for Placing.doc 2 of 2

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Review in g th e Teac h
RH Body Side
Assembly Dialo g B o x and edi tin g
with Tooling t h e W el d p o i n t s
and Robotics
V5 IGRIP
In this Procedure, the functions of the Teach Dialog Box will be reviewed.
In this exercise, Teach Dialog box functions will be reviewed.
1. In the Robot Management Toolbar, Select the Teach a

robot icon, and then select our S-420iS robot.
2. The Teach Dialog Panel appears, and the Robot snaps to

the Current Weld (Weld 01) shown in the Dialog box.
3. The Format shown for the Teach Dialog box is Compact. Select Table, and all the welds
appear with the supporting data.
This is like the

teach pendant
that moves the
actual Robot…
x23 Teach Dialog box.doc 1 of 4

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You have to grab the corner and expand this dialog box to see all of the options.
Users can make the robot jump to an operation by selecting it in the table. Note that the
options described above for inserting operations and modifying them also appear in the tabular
format of the teach dialog box. Also, the teach dialog box can be resized. The column
headings are:
Virtual node (VN)

Status (options are reachable, reachable but out o f limits, unreachable)
Type (of target)
Via point (or not)
Motion type
Orientation
Motion profile
Accuracy profile
Tool profile
Reference
Configuration
Turn number
PreAction
PostAction
Depending on the task and robot, not all column headings will contain data. Select the
operation to change. Because multi-selection is
supported, select more than one operation at a
time by using the CTRL key. Select a column
heading that you want to alter (in this case,
Motion Type). Click on the name in the title bar.
A dialog box appears; use the pull down menu to select a
different option (in this case, Linear Move).

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Select the OK button. The new motion type appears in the table associated with the correct
operation(s). A specialized use of the Teach command is documented in Teaching a Robot to
Follow a Curve (Path).
4. Make all of the Locations Linear moves.
5. Return back to the compact window. Click

on the Current Pull down box. Step
through, and edit Weld 05. Select the weld.
6. In our View / Render Style, Change the

view to Perspective. Zoom in and by
moving the compass check the new weld position if it is normal to the metal, and the Weld
gun clears the tooling and fixture.

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7. When the position is achieved, (if required) click on

Modify in the Insert Mode section.
8. Click on the different Operations buttons, and
the Simulation buttons.
9. Click on the Jog Panel radio button to activate,
the jog dialog box, and select the Home_1
under Predefined Position to return the robot to
its home position.
10.Close the windows when complete.

V5 I GRI P V5R16

Tag Transf or m ation for
RH Body Side
Assembly Weld Pos ition s
with Tooling
and Robotics
V5 IGRIP
In this Procedure, translate and rotate manufacturing frames with one command called Tag
Transformation.
In this exercise, the weld positions are verified, and edited where required.
1. Select Using the Teach a robot Icon, and stepping through the welds, of robot
IRB_6400_24_150.1, we notice that weld 11 and 13 have to be adjusted. Close the Teach
dialog box.
2. Click on the Tag Transformation Icon in the Tag toolbar.
x24 Tag Transformation.doc 1 of 2

V5 I GRI P V5R16
3. Select Weld 13, and holding down the CTRL key select Weld 11. The Tag
Transformation Dialog box appears and the compass snaps to the last selected weld.
Select the Options shown below and Grab the circular line, and rotate approximately 90
degrees. Notice that both weld locations move.
4. When the proper location is achieved, click on Close.

5. Move the robot to these locations
through the Teach a robot icon to verify
the gun orientation.
x24 Tag Transformation.doc 2 of 2

V5 I GRI P V5R16

Cr eatin g Via Poi nt s in
RH Body Side
Assembly o ur Rob ot Path
with Tooling
and Robotics
V5 IGRIP
Using the Teach Icon, create via Points for our Robot program.
This procedure explains how to create VIA Points. Using the Teach dialog box, inserting a
home position, and various positions needed to reach the weld locations, with out any
collisions.
1. Select the Icon Teach a Robot from the Robot

Management Toolbar, and select the S-420iS
Robot.
2. In the Teach dialog box, there is the insert Mode
section. Notice the Via Point box.
3. When opened, the Robot automatically snaps to the
first weld position in the program.
x25 Creating Via points.doc 1 of 6

V5 I GRI P V5R16
4. Grab the Compass and Back the Robot
out of the weld position, (so it will clear the
part) and using the Teach a robot, Insert
mode, select the options shown. (Before/Via
Point)
5. In the Current Pull down window, we see
Operation.4 appear.
6. Move to a position above this. Insert

another operation.
7. Then move to a pounce position, and create an Operation.

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8. Move to Weld 03, and then step the robot away from the part, and create a Via Point
location after weld 3.
9. Create another via location after that one that moves toward the next weld, going around
the clamping that is shown. Notice the red line showing the robot’s path.
10. Move to Weld 05, and using the compass,
back the robot from the weld and create a Via
Point after this welding location.
11.Select the Operation 6, (the Robot moves to
that location) and create a Via Position after this
location. These are the final positions back to the
pounce position. OK, when done.
The program should look like this.

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12.Right-click on the RobotTask.1 and select Properties to set up the sequence. In the

Operation Order Tab, Click on the Operation 10, and using the Arrow Down, move this
Operation to the end of the Robot Task.
13.Use the table below to determine which buttons to use to alter the sequence.
Move selection up
Move selection down
14.When the order is done, Click on Apply, Insert selection

OK.
Cut selection
Copy selection
Paste selection
Delete selection

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15. Using the Properties dialog box, click on the Naming tab. Click on the name in the

operation list, and in the Name Dialog section, type in the name. Click on Apply and it
changes the name. Change the names as shown. When done, click on OK.
16.The PPR tree has changed to represent the new

orientation of the RobotTask.
17.Click on the Teach a robot again, and make sure that

the robot is at pounce.
18.In the Simulation Toolbar, select Save Initial State.
st
What that does is store th e Robot at the 1 position, vs. the
home position for viewing the simulation. (So it does not
snap back there every time you run the simulation).

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19.Create 3 Via points only for Spot Welding.2, IRB_6400-1,

approach to the first weld for RobotTask2. (IRB 6400 –1), as
we did previously in the other program.
20.Right-click on the name, in the PPR tree, and in the

Properties, change the first operation to Pounce and Apply,
OK.
21.In the Simulation Toolbar, select Save Initial State.
What that does is store the 2 Robot at the 1st position, vs.

the home position for viewing the simulation. (So it does
not snap back there every time you run the simulation).

V5 I GRI P V5R16
Fa ci l i tate d P r o j e ct:
Usi ng the A d d Tag
RH Body Side
Assembly Icon
with Tooling
and Robotics
V5 IGRIP
The ability to reuse an existing tags in a Robot task, reducing the time to recreate a tag in the
exact same location as a previous tag. This is another way to add via points to the Robot
Task.
This procedure explains how to create a tag from the last position in the Robot Task program.
1. We will continue to add points to our RobotTask 2.
2. Select the Add Tag icon from the Sequence Toolbar.

3. Click on the RobotTask.2, and in the geometry window, select the
Pounce.
4. Operation 8 is created.
x26 Using Add Tag.doc 1 of 2

V5 I GRI P V5R16
5. Right-click on RobotTask.2, Properties, and the tab Naming, to reorder the sequence as

shown. Click on Apply, and OK.
x26 Using Add Tag.doc 2 of 2

V5 I GRI P V5R16

Us in g Trac e TCP in th e
RH Body Side
Assembly Teac h Dialog bo x
with Tooling
and Robotics
V5 IGRIP
Using the Teach Icon, run the simulation with the Trace TCP function on.
This procedure explains how to create a Trace of the Robot Program.
1. Select the Icon Trace TCP from the Robot

Management
Toolbar, and
select the S-420iS
robot.
2. In the Dialog box, click the TCP Trace Activation: to

ON.
3. Select the Teach a robot Icon, and Click on the

Track TCP to activate the function. Then using the
simulation, Run
the Simulation.
Make sure that
you are starting
from pounce
position. It draws
a line, showing the
Robot’s path.
x27 Using trace TCP.doc 1 of 3

V5 I GRI P V5R16
4. Go back to the Trace TCP Icon, and the path is in

the Dialog box.
5. The options as shown on the side. After clicking on the Path, they become available. The
options are: Delete, Hide/Show the path, and Export the points.
6. Clicking on the Export the Points, the information gets saved as an Excel worksheet.
Click on the Export icon, and save the path as shown below.
7. Opening the file, here are the results.

V5 I GRI P V5R16
8. Right-clicking on the line shows the name of the point, and the allotted time. Click again
on the icon, and use the Hide/Show for the Trace TCP.

V5 I GRI P V5R16

W e ld g u n A c t i o n s
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
Weldgun actions can be added to a simulation with user settings to match actual physical
weldgun movements.
This procedure explains how to use the weld gun settings for Retract, and Weld actions.
1. Select the Icon Retract Action from the SpotActionLib Toolbar,

and select the RobotMotion under Pounce in the RobotTask.2.
2. The Option dialog box appears, select After(Successor), and OK.

3. The Actions Configuration Dialog box appears. Notice that when you select the Predefined
states, Home_1, Home_2, Home_3, the weld gun moves to that position. Select Home_3,
and OK.
x28 Weld Gun Action.doc 1 of 2

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4. The finished retract function.
5. Now for the Welding, we will set up the gun

settings.
6. Click on the Weld Action icon, and select the

Robot Motion in Weld 01. The Options dialog box appears, select after(successors), OK,
and the Actions Configuration Dialog box appears.
7. On the Close Gun Tab, select Home_1.
8. In the Weld Time Tab, select .5 sec.

9. In the Open Gun Tab, select Home_2.
10.Select OK. This sets the gun movements for closing,
welding, and semi-open.
x28 Weld Gun Action.doc 2 of 2

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Dress Operation s
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
Weldgun actions can copied from one weld operation to many others within the same robot
task, thus helping increase the productivity of the user.
This procedure explains how to use the Dress Operations to copy from one to another.
1. Select the Icon Dresses Operations from the

Sequence Toolbar.
2. Select the Weld01, under robot S-420iS, it appears in the Dress Operations dialog box.

Select the other two welds with the CTRL button. Notice that the Apply becomes active,
click on the Apply.
Notice that the Weld functions are with the Weld Operations.
x29 Dress Operation.doc 1 of 2

V5 I GRI P V5R16
3. For the last weld, Weld05, we want the gun to open up all the way, so double-click on
the Weld under Weld05. The dialog box appears, in the OpenGun Tab switch it to
Home_3, and OK.
4. Follow through with the other Welding Activity with Robot IRB_6400_24_150.1.
x29 Dress Operation.doc 2 of 2

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Us in g a Call Task
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
This procedure explains how to create a robot task using the Call Task command. The Call
Task command enables you to select multiple tasks assigned to a robot, call them sequentially
within one task.
This procedure explains how we will set up a Call Task function.
1. Using our Menu select the Insert / Inserting a Resource function, and in the Resources

Directory select the Tip Dresser 1. CATProcess.
2. Place the tip dresser at location shown.
3. Select the New Robot Task Icon, and select the

Robot S420-iS. This creates a new Robot Task.
4. Right
changeClick on
the namethe RobotTask, andProgram.
to Maintenance in properties,
5. Create another RobotTask and call it Prog and Maint.
x30 Call Task.doc 1 of 4

V5 I GRI P V5R16
6. Select the Teach a robot icon.
7. In the Teach Dialog box, select the Maintenance
Program.
8. Click on the 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. 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.
10. Close the Teach Window.
11.Click on the Creates a Call Task Activity Icon, and
our Prog and Maint under the Tasklist under the
Robot.

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12.The Select Target Task Dialog box appears.
13.Select our RobotTask.1,Program.
select our Maintenance then click on the icon again, and the Prog and Maint, and
14.Notice that the order is reversed. Right click on the Prog and Maint, and in Properties
change the order so that the Maintenance program is the last one.
15.The finished RobotTask.
16.Switch to the workbench Start / IGRIP / Workcell Sequencing.

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17.Select the icon Set a Active Task, and select the Prog and Maint.
18.Run the simulation.

V5 I GRI P V5R16

Rob ot Task Sim ulation
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
Using the Robot Task Simulation, we will review the path created, and verify that the weld
guns open and close.
This procedure explains how to use the Robot Task Simulation.
1. The RobotTask that was created for that program has to be assigned to that
Activity. In the Resource Program, Select the Set an Active Task Icon, and
select Spot Welding.1.
2. The Active Task Dialog box appears, select the S-420is then RobotTask.1, and OK.
This is the Resource Centric

Approach. If you had
different RobotTasks, you
could flip between them…
with a click…..
3. Follow through with the same procedure and assign the Active Task to Spot

Welding.2.
x31 Robot Task Simulation.doc 1 of 3

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4. We see the Assigned RobotTasks name beside the

Robot Name.
There is two ways to run a Simulation,

through both workbenches. If we want to
run the whole Process, use the Workcell
Sequencing, and when we want to run the
robot program for one of the robots we use
the Robot Task Definition.
Workcell Sequencing Workbench Robot Task Definition
5. Click on the Process Simulation, and zoom into our workcell to view both of the robots.
6. Notice that the Process Simulation Toolbar appears. Click on the Run Icon, and the
word Process, and notice that it steps through each activity and runs that assigned
function.
7. When completed, click on the icon again to deactivate.

8. Return back to the Robot Task Definition Workbench.
9. Select the Icon Robot Task Simulation from the Simulation Toolbar.

V5 I GRI P V5R16
10.Select the S-420-iS Robot. The Select Task/Sequence appears. Select the RobotTask.1,

and OK. The Process Simulation and the Simulation Control toolbars appear.
11.Click on the Run Icon to run through the simulation.

12.Notice that the gun settings will take into effect, and open and close.
Remember this is only running the

simulation for that one Robot…. When
we want to run the simulation for the
Process Activities we have to go into the
Workcell Sequencing Workbench… we
will do this soon….
13.If the robot’s wrist spins when you run the simulation, disregard this, as
later in the project we will correct this automatically. Using Set Turn Numbers.

V5 I GRI P V5R16

C l as h A n al y s i s
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
Perform a clash analysis on the stationary aspects of the setup of the project, and on the
dynamic interaction between each moving object.
This procedure explains how to use the clash detection to determine in any clashes exist in
our project. The collision or clash checked is between the weld gun and robot, and the tooling
and the geometry.
1. Select the Icon Clash from the Simulation Analysis

Tools toolbar.
2. The Check Clash Dialog box appears. For the name,
leave as interference.1. For the Type, we will do a Contact + Clash, and Between two
selections.
3. For the Selections, Selection.1 is activated, so select the Weld Gun 2, and the Robot S-

420iS. Select these from the PPR tree, that way all of the components making up the
resource will be
selected. As
they are
selected, they
highlight.
x32 Clash Analysis.doc 1 of 15

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4. Click in the Section2 window (activated it is blue), and select the RH Body Side

Assembly (1), and the Station.1.
5. The Finished Check Clash dialog box. Click on Apply.
6. The Check Clash dialog box opens showing all of the Results and Conflicts. This is
reviewed later, click on Apply to review the Check Clash Dialog box. Click on OK when
done.

V5 I GRI P V5R16
No Conflicts shown. We will do an example to have a conflict
7. Select the Analysis Configuration Icon.

8. In the Analysis Configuration, we see the
Available clashes.
9. Select the Clash, and use the arrow over to
place it into the Selected category.
10.The type of analysis mode that we are going to
do select from the pull down menu Highlight.
11.Click on OK. The Analysis Mode activation box
appears, select Yes.

V5 I GRI P V5R16
12.Using the Robot Task Simulation, run through the

path again. Hopefully you will have no collisions.
13. We will move a Via point so that we

create a collision. In the RobotTask.1,
click on Operation 7, as the tag point is
highlighted in the geometry window.
14.Click on the tag point in the geometry

window. This activates the tag point.
15.Grab (left mouse click, and hold) onto the “X” axis, and move towards the center of the
part (knowing that the weld gun will hit). When done, click anywhere in the blank screen to
disable this function.
To see better, we went into

tools/options/ Display /
Visualization, Selected Elements,
and changed the color to blue…

V5 I GRI P V5R16
16.Notice that the under the Tag List, the ViaPoint is highlighted. Each
RobotTask has a TagGroup. This topic is reviewed later.
17.In the Analysis Configuration dialog box, Change the settings from

highlight to interrupt. Run the path again, and the Robot will stop
when it comes into contact.
18.To review what created the contact, close the Simulation icon,

and double click on the Interference Results.1 in the PPR tree
under Applications.
19.The Check
Clash dialog box
appears, and
click on Apply
the data is
updated in the
List by Conflict
tab.

V5 I GRI P V5R16
20. The Status column is showing that they are

not inspected. Click on the 1st clash in the
list. Follow through with the rest of the
clashes. The column for status now should
show Relevant.
21.The Preview window appears, and shows the

collision. You can use the zoom; rotate tools to
analyze the collision.
22.If this data is to be exported, click on

the Export As Icon. Click Save. You can
stipulate what directory you want it saved, or
set the default in Tools/Options (Select
PARAMETERS & MEASURE from the tree, then REPORT GENERATION tab to set the
location and report content options)
23.This file is opened at the end of this step to show the results.
24.Following the previous procedure, move the Via location back to the original
position.
25.Run the Simulation again, and make sure the path is collision free, and close all windows.

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This is the Results of the clash file.
Created by les
1 / 22 / 2004, 11: 5 6: 49
Clash Publish
Interference.1
Clash Computation Specification

S electio n Mod e Compu ta tion Mod e
Between Two Selections Clash + Contact
Products Selected
Selection 1 Selection 2
Weld Gun 2 (Weld RH Body Side Assembly (RH Body
Gun 2.1) Side Assembly.1)
S-420iS (S-420iS.1) Station 1 (Station 1.1)
Computation Result
Product(s) selected: 4 (clash: 4, contact: 0, clearance: 0)

Clash
Interference Product 1 Product 2 Type Value Status
Comment

V5 I GRI P V5R16
- Relevant
ROCKER2#2:BRACKET1 10166934pp
Clash 0.135107
(ROCKER2#2:BRACKET1.1) (10166934pp.1)
in
- Relevant
ROCKER2#2:BRACKET1 10166934
Clash 2.051933
(ROCKER2#2:BRACKET1.1) (10166934.1)
in
- Relevant
ROCKER2#2:HOLDER3 10166934pp
Clash 0.220399
(ROCKER2#2:HOLDER3.1) (10166934pp.1)
in
- Relevant
ROCKER2#2:HOLDER3 10166934
Clash 0.751606
(ROCKER2#2:HOLDER3.1) (10166934.1)
in
Result Description - 1
Interference resume
Clash
Product 1 Product 2 Type Value Status
Comment
ROCKER2#2:BRACKET1 10166934pp -0.135107 Relevant

Clash
(ROCKER2#2:BRACKET1.1) (10166934pp.1) in

V5 I GRI P V5R16
Return to global results
Interference resume
Clash
Product 1 Product 2 Type Value Status Comment
ROCKER2#2:BRACKET1 10166934 -2.051933 Relevant

Clash
(ROCKER2#2:BRACKET1.1) (10166934.1) in

V5 I GRI P V5R16
Interference resume
Clash
Comment
ROCKER2#2:HOLDER3 10166934pp -0.220399 Relevant

Clash
(ROCKER2#2:HOLDER3.1) (10166934pp.1) in

V5 I GRI P V5R16
Interference resume
Clash
Comment
Relevant
ROCKER2#2:HOLDER3 10166934 -0.751606
Clash
(ROCKER2#2:HOLDER3.1) (10166934.1) in

V5 I GRI P V5R16

V5 I GRI P V5R16
This procedure describes how to turn on a view to see the violation in a preview window and
access additional data about the violation. Users can temporarily halt the simulation to
observe the violation and then return to the simulation. This option works for dynamic clash
analysis also.
The Tools->Options->Digital Mockup->DMU Space Analysis->DMU Clash options must be
set so that, in the Results Box section, First line automatically selected is checked.
A simulation must be running. From the Interference Window, select the portion of the
collision you want to see.
1. Run the Simulation again, with these settings;
When a collision appears, click on the warning and the simulation halts.

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The Check Clash dialog box appears.
Select the clash to view by double clicking on it. The preview window appears. To return to
the simulation, press the OK button on the Check Clash dialog box, then the run button on the
Process Simulation player.

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When a line is selected in the Interference Window, the Process Simulation player shows the
same time as the one in the Interference window.
If the simulation is ended by deselecting the Process Simulation command or closing the
Process Simulation player, the Interference Window becomes grayed out. The preview window
and the Clash Check dialog box are saved in the Applications node of the PPR tree.

V5 I GRI P V5R16

A d din g a Ic on to a Too lb ar
RH Body Side
Assembly Creating a Sectio n
with Tooling
and Robotics
V5 IGRIP
Insert a icon into a toolbar to perform a section and review the sectioning options.
This procedure explains how to use the Customize icon, and create a section.
1. To Insert an Icon into the Robot Management Toolbar, In the Menu bar, select Tools /
Customize.
2. The Customize Dialog box appears, and scroll down in the Toolbars tab, and Select Robot
Management, and Add commands.
3. The Commands list appears, scroll down and select

Sectioning, and OK.
4. Close the Customize list window.
x33 Icon toolbar for Section.doc 1 of 3

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5. The Sectioning Icon appears in the Robot Management

toolbar.
6. Click on this icon to activate Sectioning. Our screen changes as shown.
7. Notice there is a large yellow plane, and a coordinate system in the center. When the
mouse is moved around the yellow plane area, Grab the green arrow, and drag the plane
over the tooling. In the Preview window the latest section is shown.

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8. Select the Volume cut icon in the

Sectioning Definition box, and the
results are shown in the Process
window. Notice that the objects have
been cut in half
9. Using the Sectioning Definition

dialog box, click on the Results tab. A
few of these will be discussed, the rest
refer to online documentation.
10.Click on the Export As Icon, and save the file in the Process Directory.
11.Opening the section up,

it shows a representation
of the section, in a 2D
state.
12.Click on OK, and close
the Preview Window,
and right click on
Section.1 and
Hide/Show.

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Mod ificatio ns to the
RH Body Side
Assembly Path
with Tooling
and Robotics
V5 IGRIP
Quick modifications to the path will be done, using the Teach a Robot icon.
This procedure explains how to use the settings that were previously created for Accuracy
and motion, and activate them in the Robot Program.
1. Select Teach a Robot Icon and select the S-

420iS robot. In our Teach dialog box, select in the
Format field, Table.
2. Highlight all the weld points, (hold down the ctrl

button) and select Motion from the legend. The
Parameter Selection box appears Select Custom
Motion.1, and OK.
x34 Modifications to the Path.doc 1 of 2

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3. Repeat this function for Accuracy.
4. The new Program.
5. When completed, select OK, and run the simulation.
x34 Modifications to the Path.doc 2 of 2

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A u t o m a ti c C o n f i g u ra t i o n
RH Body Side
Assembly of Sing ularity
with Tooling
and Robotics
Set Turn Num bers
V5 IGRIP
Operators are always facing the task of trying to remove the singularity from their robot
programs as they do feasibility studies. Set Turn Numbers allows automatic configuration of
turn numbers for smooth robot motion.
Now if you were lucky enough not to set your robot in a position where the robots wrist
doesn’t spin uncontrollably then this function will not have to be performed.
1. In the Sequence toolbar, select the Set
TurnNumbers icon. Select the S-420iS robot.
2. The Set TurnNumbers dialog box appears with Cartesian Target Type selected. Leave
the default settings and select Set.
The command will run the robot through

the path automatically, and configure the
turn number s to the correct positions
3. Select Teach a Robot icon and run through the path to see the corrections.
x35 Auto Config Set Trn Nbrs.doc 1 of 1

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M u l t i p l e Re s o u r c e
RH Body Side
Assembly Simulation
with Tooling
and Robotics
V5 IGRIP
The Multiple Resource Simulation command enables users to select tasks associated with
more than one resource (e.g., multiple robots or multiple stations) and simulate those tasks
simultaneously, even though the tasks run sequentially in the process document.
This procedure explains how we view running our Robots at once.
1. In the Workcell Sequencing workbench, Click on the Icon.
This command serves as a lead-in to the Process Simulation command. Once invoked, the
Multiple Resource Simulation command, the Multi Resource Simulation dialog box appears.
2. Select the Robots as shown.
3. The dialog box lists all the resources in the PPR tree that have tasks associated with them.
Use the pull down menu to select the tasks to run simultaneously. (Remember that NONE
is an option for each resource's pull down menu.) Once the tasks are selected, click on the
OK button, the toolbars associated with the Process Simulation command appear.
4. Click on the Run icon.
x36 Multiple run process.doc 1 of 1

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Th e Pert Ch art
RH Body Side
Assembly
with Tooling Run nin g a Proc ess in
and Robotics
Parallel
V5 IGRIP
Using the Pert Chart, the activities will be maneuvered to find the optimum sequence for the
station or worcell.
This procedure explains how to edit our Process so that both robots will start at the same
time.
1. Select the Open PERT Chart from the Data Views toolbar. The

command prompt asks; what Process or Activity, select Station 1.
The Pert window appears showing the process activity flow of the
Station 1. Notice the links between the activities.

Therefore Spot Welding 1 has to finish before Spot Welding 2 can start.
2. Right click on the link or line between Spot Welding 1, and Spot Welding 2, and delete.

3. Click on the Grey Box for Spot Welding 2 and move it below Spot Welding 1.
x37 Pert Chart.doc 1 of 2

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4. In the Activity Management, click on Link the selected

activities, and select Clamping 1, and Spot Welding 2.
The linking activities dialog box appears, click OK
Unhighlight the icon, and then do the same for Spot
Welding 1 and Unclamping.
The finished Pert Chart.
5. Close this window. (Second X in the right top corner).

6. Run the Process Simulation again, and both robots run at the same time.
The New PPR tree.
x37 Pert Chart.doc 2 of 2

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R u n n i n g t h e Pro c e s s
RH Body Side
Assembly Simulation
with Tooling
and Robotics
V5 IGRIP
In this procedure, using the Resource Centric Approach, a RobotTask will be assigned to
each Robot, and run through the simulation from beginning to end.
This procedure explains how run through the complete Process using the Simulation Icon.
1. For our PPR tree, select View / Tree Expansion / Expand First Level.
2. Open up our Process Station.1 and both of the Spot Welding Activities.
These procedures were done in

previous steps; make sure that you
have them assigned….
3. In our Resource Program toolbar, select the Set an Active Task icon.

4. Verify in Spot Welding 1, 2 have tasks assigned.
x38 The Process Simulation.doc 1 of 2

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5. Using the Process Simulation Icon, run through the Process Activities.
Notice as the simulation is going through each Activity, it is highlighted in orange. Click on
pause to stop the process simulation after Spot Welding 2. Deactivate the icon. This will also
allow for all activities with programs to run as long as the set an active task has been activated
for all the robots with programs.
To run through Station.1, only, double click on Station 1 and the Process simulation will
ONLY run through that Activity, Station 1.
x38 The Process Simulation.doc 2 of 2

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A dd in g Weld Tags to
RH Body Side
Assembly th e Path
with Tooling
and Robotics
V5 IGRIP
Using the Teach toolbar, new weld tags will be added to an existing path, to make the project
more complex with robot paths overlapping.
This procedure explains how we will add weld locations to the existing path.
1. Return back the Robot Task Definition Workbench (Start / IGRIP).
2. In the Robot Management toolbar, select Teach a robot, and select the S-420iS robot.

The welds 8 and 10 are added to the RobotTask.
3. Using the Teach a robot icon, move the robot to the Operation (5) after Pounce. (Your

number might be different).
x39 Adding Weld tags.doc 1 of 4

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Switch to the DPM Process Planner workbench,

and select
How do I seeagain…
weld names the
4. Grab the compass and place it onto weld 8. The robot moves to that location. Check

the orientation of the weld. When acceptable use the settings shown and Insert.
If the robot will not

reach, you might
have to move it
over… so move it,
then Save Initial
State..
IF you do not
save…Robot will
“Pop” back to the
original spot ..
5. Move to this new tag point. Follow this same procedure for Weld 10. Add via points that
are required to go around the geometry.

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6. In the PPR tree, change the names to the correct weld numbers. Right-click on the name
in the PPR tree, in Properties, and change the operation name.
7. Run the Robot Task Simulation.

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8. When you are satisfied with your simulation, using the Dress Operations icon, select
Weld01, (shows in the Reference window), holding the CTRL down, click on Weld08, and
10. Apply, and OK.
9. Return to the IGRIP Workcell Sequencing Workbench.
10.Double-click on the word Process in the PPR Tree,

11.Run the Process Simulation (deactivate the icon when completed.)
For this example we added the welds

12.The Robots collide! to the beginning of the RobotTask,
but they could have been added to the
This will be fixed using I / O states… end of the program, but then we could
not utilize our Interference and I / O
zones..

V5 I GRI P V5R16

A u t o m a ti c Ta s k
RH Body Side
Assembly Collision
with Tooling
and Robotics
V5 IGRIP
This feature has an automatic computation of interference zones based on robot collisions.
This command analyzes a selection of robot tasks and automatically inserts within the tasks
the needed IO instructions to model the interference zones.
In this exercise, the Automatic computation is used to create the interference zones for the
welding robots.
1. Using the Interference Zones Toolbar ,

select the Automatic Task Collision
Analysis.
2. The task Collision dialog box appears and

the 2 tasks.
3. Select RobotTask.2, and then

RobotTask.1. Selecting the RobotTask.1
second means this will be the robot that will
be managing the I/O’s that are
automatically created. (Click on the arrow
down to select the tasks).
We are going to set up the I / O States

between the two welding robots… as we had
the collision (clash) problems pr eviously…
x40 Automatic Task Collision.doc 1 of 6

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4. The Results as shown. Click on the

Next button, so that we are on the
Result And Analysis tab.
5. Interval Distance 4 in (100 mm),

Collision Tolerance 4 in (100mm),
Interval Rotation 90 deg,
and click on Drop Mark
at check Interval. Click
on the Compute button.

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6. In the Geometry window the robots step through the programs and place squares where
there is interference. (drop mark at check interval what was highlighted in the Analysis box)
7. When the computation is done, use the scroll bar at the bottom to view the results for each
of the positions.

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8. Select the Interlock Map tab; select the Set/Wait button, and Update Interference Zone

bar , and Close. This imports all of the I/O waits and sets into the RobotTask.
9. For the interference zones to be set between the robots, follow through the same
procedures, but select the Enter/Clear button, and Update Interference Zone.
(We will not do this in this exercise)

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The two RobotTask programs.

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10. Run the simulation again, and the robots will wait for one another.

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I/O Map and Mon ito ri ng
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
This will review the I/O Connections that was set up using the Automatic Task Collision.
This procedure describes how to view I/O Mapping, which is a static representation of the I/O
connections within one or more robot tasks, and I/O Monitoring, which is a dynamic
representation of the I/O connections as robot simulation takes place.
1. Using the IO Management toolbar, select the IO Map and

Monitoring icon.
2. The dialog box below appears.
3. Select the robot task or tasks for which you

want to see the mapping. The names of the
tasks appear in the dialog box. Click on the
Station.1 in the PPR tree.
4. Select the Display IO Map
Information bar.
x41 IO Monitoring.doc 1 of 4
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If multiple tasks appear in the dialog box and you decide you do not wish to view the mapping
for them all, you may select one or more tasks and press the Remove Selected Tasks button.
5. The IO Map and Monitoring Dialog box appears.
6. Select Sort by Task Name.
7. Checking the Graphic Display of IO Map box enables the IO map in the 3D view.
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8. When completed, exit the IO Map and Monitoring mode by selecting the IO Map and
Monitor command (which is highlighted in orange) or you can press the Close button on
the IO Map and Monitoring dialog box.
IO Monitoring
To use IO Monitoring, select the IO Map command,
then the Display IO Map Information button,
and then the Process Simulation command.
The Run the simulation
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9. As the simulation runs, the Force Selected Wait IO button becomes available, which
enables a force selected wait IOs to release waiting.
10.Close all when completed.
V5 I GRI P V5R16

E x p o rt i n g I/O
RH Body Side
Assembly I n f o rm a t i o n
with Tooling
and Robotics
V5 IGRIP
This procedure describes how to export IO information. The data can be exported in one of
two formats:
Excel spreadsheet
Text file (tabs serve as the delimiters between data; consequently, this file can be
opened as an Excel spreadsheet even after it is saved as text.)
Two kinds of information are available:
IO details: This includes information about the inputs and outputs defined for the
resource involved, IO name, IO number and the interference zone name (if any).
IO map: This includes information pertaining to the IO mapping between different IO
items belonging to the resource involved. This data is provided in the form of output ->
input connections.
Users can choose to get both or either kind of IO data. The different types of data can
appear in different files or in the same file
In this exercise, the export IO function is used for the S-420iS robot.
1. Select the Export IO Info icon.
2. The dialog box appears. Select what is shown, and OK.
x42 Exporting IO Info.doc 1 of 2

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3. The save window appears, type in the name, and save it in the Process folder.
4. Open that file, and we see the IO data. (Yours may be different depending on the
RobotTask)
x42 Exporting IO Info.doc 2 of 2

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Data Reado uts and
RH Body Side
Assembly Documentation
with Tooling
and Robotics
V5 IGRIP
With the robot programs completed, create cycle time data readouts and graphics.
Using the Data Readout functions create documentation from this project.
1. Select the Data Readout from the Simulation Analysis Tools, and select the Display

Icon in the Options toolbar.
2. Select the S-420iS robot, and all of the

information is displayed.
3. In the Options toolbar, deactivate the icon, and

activate the Sensor Icon. This will show you
more of the data relating to the robot.
x43 Data Readouts.doc 1 of 6

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4. Use the Select All, and the

Observed changes to Yes.
5. Select the Process Simulation
Icon.
6. Select the Run button, and when

complete click on the Spreadsheet
Tab.
7. Click on the Outputs, Graphic choice.
To save this data,

click on the File, and
save it into a
directory.

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8. The Data is displayed graphically. Close all windows when completed.
9. For documentation for the projects select the generate

documentation Icon.
10.The Process documentation dialog box appears.
11.For the script, go to the Intel_a\code\command and select the

DocumentGeneratorHtml_WNT.CATScript, and Open.

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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.

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14.A dialog box appears showing that the

documentation is being created, once
the documentation has been
generated, go ahead and select OK.
15.Open up our files in the HTML directory.

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16.Close all
windows
after done
reviewing.

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L i s t i n g A c t i v i t i es
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
This procedure describes how to view non-hierarchical lists of:
•
Products
Resources
• Unassigned products
• Associated activities of a product
• Associated activities of a resource
• Hyperlinks
Using the Icons we will check our relationships with some of the objects. When viewing the
product list, any existing sub-parts are also shown.
Listing Products or Resources
1. The system prompts you to select a process. Select either the List Products or List
Resources icon. Select a single activity, or select the top-level process to view a list of
all resources or products assigned to all processes.
2. A dialog box displays the products (or resources, if the List Resources command was
selected) used by the selected activity, as well as the type of assignment the product or
resource has.
x44 Listing Activities, etc.doc 1 of 3

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3. Click on the List Resources and select the word Process in our PPR tree.
For a long list of results, the list can also be sorted alphabetically by clicking on a column
heading (Activity, Products, or Type of Assignment).
Listing Unassigned Products
The List Unassigned Products command generates a list of products, which are not currently
assigned to any activity.
Select the List Unassigned Products icon from the Data Views toolbar.
A dialog box lists any products that are not assigned to an activity:
Double-click an entry in the list to highlight it and center its view within the PPR tree.

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Listing Associated Activities of a Product or Resource
The List Associated Activities of Product and List Associated Activities of Resource
commands allow you to select a product or resource from the PPR tree and list all activities
that have the selected item in their ProductList or ResourcesList.
Select the List Associated Activities of Product or List Associated Activities of Resource
icon from the Data Views toolbar
1. Select a product or resource from the PPR tree. A dialog box appears with a list of activities
that use the selected product or resource, and indicates the relation type for the product or
resource.
2. Click on the List Associated Activities of Resource and select the S-420-iS robot in
our PPR tree.
Double-click any entry in the resulting list of activities to highlight the selected activity and
center its view within the PPR tree.

V5 I GRI P V5R16

C l am p i n g fu n c t i o n s
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
This will review Clamping procedures, opening and closing for the project.
In this procedure, set the clamping functions for one of the clamps in Station 1.
1. Click on the Creates a Predefined Move Activity icon.
2. Click on the Clamping.1 in Station 1 in the PPR tree. The

Option dialog box appears, Select After, and OK.
We have two units that

have the joints set up … to
keep the file size small..
one will be used..
x45 Clamping functions.doc 1 of 3

V5 I GRI P V5R16
3. Click on the Resource L-125-R.1 in the PPR tree, or the 3D view.
4. Select the Device Predefined State Closed, Duration 1.
5. The MoveDevice.1 appears below the Clamping. Click on it, and drag it up into

Clamping.1.
6. Click on the icon again, and select Unclamping. Use the settings Opened, duration 1,

and OK.
7. Grab the MoveDevice, and release it into the Unclamping.1.

V5 I GRI P V5R16
8. Click on the Open PERT Chart, in the Data Views.
9. Set the Links as shown, for Clamping and Unclamping, and

then close the window.
10.Run the simulation.
11.To show the simulation starting with the

clamp open, click on the Save initial state,
OK.

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O f f l i n e P ro g ra m m i n g
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
Delmia OLP is a robotic solution for off-line programming of complex, multi-device robotic
resources. This helps to reduce man-hours while greatly improving program accuracy.
In this exercise, the S-420iS robot is utilized. Create a download program from a RobotTask.
1. In the OLP toolbar, select the Offline Programming command.

Select the S-420is RobotTask.1.
2. The software generates the Robot Program, and the robot
program dialog box appears.
x46 Offline Programming.doc 1 of 4

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3. Behind the scenes, an XML file has also been created, and this has been created in a
directory on the C: drive. Go to c:\documents and settings\”User”\Local Settings\Temp.
Uploading
1. Preparing for an upload of an off-line program.
2. Go back to the Robot Task Definition Workbench.
3. Create a Robot Task inside of the Robot, so select New Robot Task icon and select the
robot IRB_6400_24_150.1.

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4. Select the Upload Robot Program.
5. Select the New RobotTask. The Uploading dialog

window appears, select the Robot Base Coordinates,
and OK.
6. The new RobotTask is populated with an existing

program. For this example we will use the one that we
created. (also copy in the Misc folder under 3
geometry)
Make sure that the Files

of type are XML Files…

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The Robot has the New RobotTask.1

V5 I GRI P V5R16

Setting up the
RH Body Side
Assembly A u x i l i a ry D ev i c e
with Tooling
and Robotics
V5 IGRIP
Using the Define Auxiliary device Icon, the user will set up the links with the robot and the rail.
This procedure explains how to set up the devices with the rail, and jog the robot.
1. In the Robot Task Definition workbench, use the Snap Surface function in the Layout

Tools toolbar, move the robot onto the rail (if not done previously).
2. In the Layout Tools toolbar, select Attach
and select the slide plate of the rail then pick

the robot from the PPR tree in order to select the
entire device. In the child selection, select OK.
3. Hide the Link in the Geometry window.
4. Select the Icon Define Auxiliary devices in

the Robot Controller toolbar.
x47 Auxiliary Device.doc 1 of 3

V5 I GRI P V5R16
5. The Define Auxiliary devices dialog box appears, select the robot, the rail, and click on
Apply, Close. (Select from the PPR tree)
6. The Auxiliary Device appears in the List of

auxiliary devices, then Close.
7. Select the Jog a device Icon in the Robot
Management toolbar.

V5 I GRI P V5R16
8. A new tab appears in the Jog dialog box, Mechanism.1. Move the DOF control button, or
use the Home Positions. When done, return the robot to the home position under
Predefined position.
9. When done, close.

V5 I GRI P V5R16

Mou ntin g a End
RH Body Side
Assembly Effec to r to a Rob ot
with Tooling
and Robotics
V5 IGRIP
In this Procedure, insert the End Effector and attach to the Robot.
In this exercise, insert the grippers into our project and attach one to the robot
IRB_6400_24_150.2.
1. In the Tools / Insert, select Insert Resource. In the Path select …3Geometries /

Resources / PedGripper.CATProduct, and Station_Gripper.CATProduct.
2. The names appears in the PPR tree, and the gripper appears beside the Fanuc robot.
Grab and move the gripper over beside the Pedistal welder .
3. Move the Station Gripper close to the Robot IRB_6400_24_150.2. (Gripper under the

area, floor)
x48 Mount End eff.doc 1 of 3

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4. Select the Set Tool icon in the Robot Management

toolbar.
5. The Robot Dressup dialog Box appears. Following the command prompt, select the
robot and the name appears under the Robot. Then select the Device, and the gripper
appears. You can select from the geometry window. When done, click on Apply this
places the end effector onto the robot.
Do not select OK yet … some

adjustments need to be made!!
Yes, if drawn with correct

orientation it should line up,
and you can click on the OK
with no adjustments…but..
6. The end effector’s orientation is incorrect on the robot, so grab the lines on the
compass and turn the end effector as shown.

V5 I GRI P V5R16
7. When done, click on OK.
8. The Parent Child relationship appears in the 3D view. Right-click on the line or text, and
Hide / Show.
Later we will attach the other end effector, as that will have to be done differently.

V5 I GRI P V5R16

T ea c h i n g t h e Ro b o t o n
RH Body Side
Assembly a Rail
with Tooling
and Robotics
V5 IGRIP
Using the Rail, teach a program for the pick and the place for the part.
Assign the Resource to the Activity, and create a Path.
1. Select the Teach a robot icon in the Robot Management

toolbar, and Select the IRB_6400_24_150.2.
2. From the Teach Dialog box, Toggle on

the Jog Panel.
3. Using these degrees set the robot as shown below.
x49 Teaching the Rail.doc 1 of 5

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4. Close the Jog window, and click on Insert in the Teach dialog box.

5. Click on the Save Initial State.
6. By grabbing and using the compass,

swing the robot over the geometry as
shown. Click on Insert in the Teach
dialog box.
7. Lower the end effector so that it is in

a general position over the part. Click
on insert.
8. If preferred, click on the Tooling in

the PPR tree, and Hide/show. When
hidden, note the icons are grayed out.

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9. Lower the end effector so that it is in position to pick up the part, Click on Insert.
Please note, we do not have to

be accurate, just make sure it is
close for the functionality…
10.We should have 4 Operations now.

Create Operations from Operation 1,
2, and 3. Click on OK. (The first three
operations)
11.Right click on the RobotTask.2, and in Properties, change the Operation names. And
reorder them.
This is so that the

robot backs out of
the tooling the same
way that it entered.

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Required tabs
12.Run through the RobotTask simulation.

13.Select Teach a robot again, and select the robot, and the last Operation.
14.In the Teach dialog box, select the Jog button, and in the Jog dialog box, select the
position, Middle in the Mechanism.1 tab.
15.The robot moves to the middle of the Rail. Click on Insert in the Teach dialog window.
16.Close, OK these windows, and run the simulation.

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17.Also we can use the Reach function for the robot on the rail.
18.Select the Icon Reach,

and select the RobotTask.
19.Select the Show Rail Analysis button, and the Rail

Analysis section Appears, when done, OK.

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Pick and Dro p
RH Body Side
Assembly O p e ra t i o n s
with Tooling
and Robotics
V5 IGRIP
Just like weldgun actions, gripper actions can also be created and these are picking, and
drop which are available for the user to incorporate in to the simulation.
These procedures explain how we will assign Pick and Drop functions to the Robot.
1. In the PPR Tree, expand the RobotTask.3.

2. Select the Pick Action icon.
3. Click on Operation.4, and in that operation, select the
Robot Motion, and in the Options dialog box, OK.
4. The Dialog box appears; select Close for

the Device Predefined State.
5. Click on the PickPart tab, and select the items shown from the PPR tree, and OK.
x50 Pick and Drop.doc 1 of 3

V5 I GRI P V5R16
6. With the Drop Action icon, select the last operation, and select as

shown. (even though this is in the middle of the rail, we will drop it
there)
7. If not done previously:

In the Activity Management Toolbar, Click on Assign a
resource. Click on the Unloading activity, then the robot
IRB_6400_24_150.2.
8. With the completed path, assign that path to the robot to

use in our project. Switch over to the workbench Workcell
Sequencing.
9. In the Resource Program Toolbar, select the Set an Active Task

icon.
10.Select our Robot under Unloading.1, and the Active Task dialog box

appears. Select RobotTask.3, and OK.

V5 I GRI P V5R16
The finished Task.
11.Click on the Process Simulation to see the competed project.
If there are any positions that are not satisfactory, use the Teach a robot icon, and edit the
positions.

V5 I GRI P V5R16

Step s in c reati n g a
RH Body Side
Assembly Rem ot e TCP fo r the
with Tooling Ped Weld er
and Robotics
V5 IGRIP
This procedure describes how to review functions for a Remote Tool Center Point for the
Pedestal Welder. There is different ways to do this function, this is the “best practice” way.
In this exercise, we will go over all the procedures for a Pedestal

Welder. We do not use the
Set Tool function
for the Ped
1. To do a remote Tool Center Point for the Gripper select Welder…
the Snap function.
2. The command prompt asks what

to snap, select the Gripper from
the PPR tree. (This way you get all
components). Click on OK.
3. Then select the face of the
robot plate, and select the
Mode: Define Plane, and define
the reference plane, select the
Plane of the robot face plate.
x51 Remote TCP for Ped Welder.doc 1 of 2

V5 I GRI P V5R16
4. The gripper snaps to that location. Use the Manipulator snapped object section in the
dialog box, and grab the line on the compass, and place as shown. Click on OK when
done.
5. Using the Attach Icon, select the 6th axis of the robot and then the gripper

from the PPR tree. Click on Enter on the keyboard.
6. Select the Jog a Device Icon. In the Robot Management

toolbar and jog the robot to make sure that the gripper also
moves.
If the robot moves out of the

axis limits, the robo t changes
color, move the position back
into the limits, and continue…
x51 Remote TCP for Ped Welder.doc 2 of 2

V5 I GRI P V5R16

Cr eatin g a New
RH Body Side
Assembly Tag Gro up
with Tooling
and Robotics
V5 IGRIP
A tag group is a collection of tags that are grouped so that they can be manipulated together.
Tags can only be created in a tag group. Once a tag group has been created, then insert tags.
In this exercise, we will create a new Tag Group.
1. Select the New Tag Group, icon.
2. The Tag Group dialog box appears.
3. Enter the name of the tag group PED_WELDER

(or you could accept the default name).
4. Does the tag group need to be associated with a device or product? Yes. Click on the A
Pillar Inner (Shown below in PPR tree), and the geometry name appears in the Owner
Name.
Make sure you select the A Pillar Inner
from the RH Body Side Assemb ly.2
x52 Creating a New Tag group.doc 1 of 2

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An explanation of where to find the tag group on the PPR tree appears below. Select the
device or product, either from the 3D inventory space or from the PPR tree. The name of the
selected device or product appears in the owner name field; the path to the file containing the
item's data appears beneath.
The lock icon in the dialog box indicates that the product data is stored in a read-only file.
Do you want the link mode to be local or modify reference?
If you select locally, a positional link between the item and the tag group is created. If the
object moves, the tag group will follow. The data is entirely created within the
.CATProcess document and the .CATProduct file containing the device is not affected.
If you select modify reference, then the .CATProduct file containing the product data will
contain the new tag group. The tag group will be created as a child of the selected object,
and you will need to save the .CATProduct file.
5. Select the link mode Locally and click OK.
The new tag group appears on the PPR tree.
Where it is stored is shown below.
Owner Link Location on PPR Tree
The tag group appears under the tag

list, which always appears in the
none --
resources list. (see "APWelds.1" in
the image above).
Note there are two other Tag Groups
that are hidden in the TagList…
Ped_Welder ex.1
Ped Path ex.1
The tag group appears under the tag These can be used instead of creating
yes local list (see "Weldgroup.2" in the image your own… but we will create one,
above). and use one of these for our project.
The other s are from our previous
Robot Tasks..
The tag group appears under the

modify
yes product's name (see "WeldGroup.1"
reference
under "Product2" above).
x52 Creating a New Tag group.doc 2 of 2

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Cr eatin g Tags in a
RH Body Side
Assembly Group
with Tooling
and Robotics
V5 IGRIP
This procedure describes how to create tags. Tags are created within previously created tag
groups. Individual tags or tag groups can then be assigned to robot sequences.
There is three ways to create the tags.

Creating tags that are snapped to the geometry
Creating tags that are located at the 0,0,0 coordinate
Creating tags at the local origin of a product
In this exercise, we will use the function Creating Tags that will be snapped to the geometry.
1. With the new Tag Group created, select the New Tag Icon.

2. Select the newly created Tag Group, Ped Welder . The Define Plane dialog box appears.
Select the Define Plane icon, if not already selected. Place 2 welds as shown.
Position
for two
welds
If needed, hide all of the

tooling and other parts…
x53 Creating Tags in a Group.doc 1 of 3

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3. Place the crosshairs on the part, and

when in correct position, click on the
mouse. This stores the position, (turns
green).
4. Zoom in to get a better view, and when
completed, click on OK.
5. Follow the same process for another weld. The finished results.
6. Change the
tags name by
selecting the tag
on the PPR
tree, selecting
Edit-
>Properties
from the menu
bar, and
selecting the
Tag tab from the
Properties
dialog box, or
Right-click on
the name, and
select
Properties.

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Tag type Purpose
Manufacturing Used to define a manufacturing target
Design Used, for example, to create joints between parts
Used to define the tool action point of a device. This is used when mounting
Tool
the device. (See Mounting a Device on a Robot.)
Used to define the base of a device. This definition of base is used when
Base
mounting the device. (See Mounting a Device on a Robot.)
Custom For user-specific purposes.
7. Enter the desired tag name, the tag type, as shown and select the Apply button. The table
below explains the tag types.
Finished Tag list.
If it is not to accurate view…
If the view is not clear, click on the eyes and

change the Level of detail… try out each to
see the difference
There are two different measures of detail: level of

detail (LOD) and pixel culling. To s ee more detail, set
pixel culling lower and LOD higher; to see less detail,
set pixel culling higher and LOD lower.

V5 I GRI P V5R16

Cr eatin g a Ro bo t Path
RH Body Side
Assembly
with Tooling
and Robotics
V5 IGRIP
This procedure explains how to create a task. A resource-oriented process dedicated to

robot programming, a task is a linear sequence of activities called operations. Each operation
can contain a motion activity (Move To) and a set of actions.
In this exercise, we will use Tag Groups to create the Robot Task, or Path.
1. Select the New Robot Task Icon, and select the

IRB_6400_24_150.3.
2. The command prompt asks you for a robot select it in the

geometry window, and a RobotTask .4 appears in the
Robot PPR tree.
3. In the TagList, Right Click on the Tag lists, and Hide /

Show, the Ped_Welder ex.1.
4. Select the Add Tag Icon. This will allows to assign

a Tag Group.
x54 Creating a Robot Path.doc 1 of 2

V5 I GRI P V5R16
5. Click on the RobotTask, under Program in the IRB_6400_24_150.3

then on the Ped_Welder ex 1 in the PPR tree. This is a path that was
created for the moves for picking and placing the part.
This has taken a bunch of

tags and has created the
basic program for our
Robot.
Now we can take a look at
the program… on our way
to the final program…
6. Select our Teach a robot icon, then the robot, select the

format to Table. If needed, Highlight them all, (hold down shift
and select the first, then the last), and click on the word
CONFIG in the table menu and change to config_1, and make
sure the Motion type is JOINTMOVE.
Run the simulation. Next we will add the Pick and Place so the Robot picks up the part,
comes close to the ped welder, and then places the part and returns to home position.
x54 Creating a Robot Path.doc 2 of 2

V5 I GRI P V5R16

Cr eatin g a Pic k an d
RH Body Side
Assembly Dro p Ed it th e
with Tooling O p e rat i o n P o s i t i o n s
and Robotics
V5 IGRIP
This procedure explains how to create a Pick and a Place, and edit some of the Operations
for the Robot Program.
In this exercise, we will use the RobotTask Path.
1. In the PPR tree, expand the RobotTask.

2. Click on the Teach a robot icon in the Robot Management
toolbar.
3. The Dialog box appears. Using the Operations Steps
buttons step the program to the position where the robot is
picking up the part.
4. Select the Pick Action Icon.
5. The Icon asks for which Operation, Click on the Operation that
we stepped to, in the RobotTask.4, and select After , and OK.
x55 Pick and Drop for Ped.doc 1 of 3

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6. Select the Picking Object, the gripper from the PPR tree, and the dialog box appears, and
select Home for the Device Predefined State.
For the ease of the project,

and viewing the end
effectors are very simple,
and we are more concerned
in the functions than the
intricacy.
7. Click on the PickPart tab, and select the gripper from the PPR tree, and the part from

the 3D view, then OK.
8. Using the Teach a robot icon, move to the drop position, knowing

this Operation number, Click on the Drop Action Icon, and select
the Operation (10). Select After (Successor), and OK.

V5 I GRI P V5R16
9. The Actions Configuration dialog box appears, select as shown, OK.
10.The Drop action appears in our RobotTask.
11.Using the Teach a robot icon, run the simulation, then place the Robot at the First

Operation, and click on Save Initial State icon. Very Important!
What that does is store the Robot at the 1 st position, vs. the
home position for viewing the simulation. (So it does not
snap back there every time you run the simulation).

V5 I GRI P V5R16

Perform ing a SetTool
RH Body Side
Assembly fo r th e Fix ed TCP
with Tooling
and Robotics
V5 IGRIP
This procedure describes how to set up the spot welds for the Remote Tool Center Point.
In this exercise, we will use the previous tags, and insert them in to the path, and utilize the
Remote TCP, and assign that RobotTask to the robot in the process.
1. With the Robot at the Home position, set the tool to the robot,

and assign the FIXED TCP. Select the Set Tool, icon.
2. The Robot Dressup dialog window appears. Select the Robot IRB_6400_24_150.3 and

the device select the Ped Welder (no not the gripper). In the Mode function, click on
Fixed TCP, and Click the Coordinate system at the Weld cap. Click on OK when all
selections are completed.
x56 Performing a Set Tool.doc 1 of 6

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3. The two weld positions that were created will now be added
to the path. Select the Add Tag Icon. This allows us to add
a tag, or a tag group.
4. Under the Robot, Program select the RobotTask.4, and

then under the TagList, Ped_Welder.1, and they appear in the
RobotTask.1 at the end of the path. (Also you could use the
Ped_Welder ex.1)
5. Using the Teach a Robot icon, step through the program to

where the robot is in front of the Ped Welder .
6. Remember this Operation Number (7) for the next steps…

V5 I GRI P V5R16
7. Right-click on the two new

operations, and in the
properties, general, llabel.
Rename them to Weld 1,
and Weld 2.
8. Right-click on the
RobotTask.1, and in the
Properties, select the
Operation Order Tab. Click
on the Weld 1, 2, and
reorder them after the
operation that we adjusted
previously.
9. Select the Teach a robot icon, and in the Teach dialog box, select Table.

V5 I GRI P V5R16
10.Set up the variables for the two weld positions. Holding down the CTRL Key, select the

two welds. Click on the top table name for the Tool and CONFIG, and change
accordingly.
Notice that the ones following also change, as they had the default setting, and were not set;
therefore they accepted the ones that were changed above.

Follow through with the same procedure, and set those to the default setting as
shown.
11.To view, run the simulation.

V5 I GRI P V5R16
12.If your locations are off, use the Teach dialog box, and modify the two weld positions.
13.If the gripper is spinning a few times and that is not required,
click on the Set TurnNumbers icon, and click on the
RobotTask. If not, then continue on #15
14.When the Set TurnNumbers dialog box

appears, select the defaults, and click on Set.
This automatically sets up all of the
configurations if they are spinning from one
tag to another.
15.Run the simulation again to see the changes

if this function was required.
The default value for all turn numbers is 0. This

command looks at each operation within a task and
its target and computes the turn number based on
the shortest angle computation.
16.Next, add gun actions to the two welds. Click on the Weld

Action icon, select the RobotMotion under Weld.1 and select
the options as shown, and OK.
17.Click on the ped_welder.1 under WELDER_PEDISTAL. For the close gun select

Home_1, weld time .5 Open Gun Home_2 and OK. Follow through the same steps for
Weld 2.

V5 I GRI P V5R16
18.Assign this RobotTask.1 to the Robot in the Activity Process. Switch to the Workcell

Sequencing Workbench. (Start/)
19.Expand the process so that we have Station 2, Spot Welding and the resources shown.
Click on Set an Activethis
select what RobotTask Task icon,
robot is and click on
to perform in the SpotWelding.3.
the activity. This will allow you to
This way if you have

multiple programs for
20.That active task is now assigned to the robot. that Robot, select the
one that you want that
activity to perform… or
try different Robot tasks
in a snap !
21.Now using the Process Simulation, run through the completed process.

V5 I GRI P V5R16

Creatin g Mov ies an d
RH Body Side
Assembly P i c t u re s
with Tooling
and Robotics
V5 IGRIP
In this exercise using the Image selections, and the project, capture images and create a
movie.
With the completed project, capture images, create a movie, and view the created files.
1. In the Tools Menu, the Image / Capture ~

Album ~ Video. Select the Capture Icon.
2. For the ease of viewing, right-click on the

TagList, and Hide/Show all.
3. The Capture toolbar appears. One of these

icons will be activated by default.
Make sure this icon

is activated.
The command
active activated
when displayed byby default
the in the
toolbar. WhenCapture
a Parttoolbar depends
or Assembly on the type
document of document
is active, the Pixel
command is activated. When viewing the specification tree in a document, the Vector
command is activated.
4. Click on the Options icon to see the capture icons dialogue box.
x57 Creating Movies, Pict.doc 1 of 16

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5. In the Capture Options dialogue box click

on the General tab. Locate the window
labeled Banner. Enter a text annotation
there that will appear on the captured
document.
6. Check the Capture Only Geometry option

to capture the geometry without
background. Note that this option cannot be
used for vector images.
7. The Pixel tab sets the following options, provided

the Pixel mode is activated. (Otherwise, the tab is
grayed):
8. Select the White background, and in the album,

select .tiff .
Some of the settings
check the White Background option if you want the capture to be taken on a white background
check the Capture White Pixels as Black option if you want to print white pixels as black on the
resulting capture
check the Anti-Aliasing option to modify the appearance of lines in order to make the jagged edges
look smoother
check the Constant Size Capture option if you want the captured images to be the same size when
displayed to a scale of 1:1, whatever their resolution
set the Rendering Quality factor which determines the quality of output:
Low (screen): the quality of the output matches the screen resolution
Medium
Highest
Custom.

V5 I GRI P V5R16
The higher the setting, the greater the quality of the capture. Use the Preview icon to
compare captures made with different rendering quality factors.
If selected, Custom value, the More... button will be activated to access the Image size
dialog box:
This dialog box enables the print Width, Height and Resolution:
First, choose the Resolution, either in pixels/inch (.dpi) or in pixels/cm. The highest the
resolution, the longer the capture generation (and with a price to pay in performance)
Define the print Width and Height.
The values indicated in the Pixel Size group box are displayed for information only to
give an idea of the image size in pixels, according to the Print Size defined.
Click the Album... button to define the preferences for storing the images captured in the
album:
• Select the desired file format from the pull down list.
• Select the compression type:
§ Packbits (default option)
§ No compression (if you do not want to compress the file)
§ JPEG
§ HUFFMAN
§ Fax Group 4

V5 I GRI P V5R16
Select the JPEG compression type, the Quality slider is activated to define more
precisely the compression quality (from 0 to 100 %). the higher the value, the
better the quality.
9. Click on the Vector tab.
10.Set the Semantic Level to Low. In the Save

as Properties window, enter CGM.
(Explained further in this step) Click on the
Properties button, and the Advanced
Configuration dialogue box appears.
Ø There are four tabs available on the Advanced Configuration dialogue box.
Ø Verify with your instructor which tabs are applicable for your application.
11.Once satisfied with your parameters, click OK in the Advanced Configuration dialogue box,
and in the Capture Options dialogue box.
12.Click the Capture icon to capture the screen image and store it in the Album. A
progress bar will appear while the captured image is generated. Once the captured image is
generated, the Capture Preview window opens:
13.Zoom into our tooling, and click on the Capture Icon.

V5 I GRI P V5R16
14.The Capture Preview window opens.
15.This window provides a preview of the captured image that will be stored in the album
when clicked on the Album icon.

V5 I GRI P V5R16
This window also enables the following icons to:
cancel the image (and close the Capture Preview window)
save the image under another name and/or another format. To do so, click
the Save As icon, give a name to the image then navigate to the desired location
before clicking OK to confim the save. Refer to Saving Images to Other Formats for
detailed information
print the image by clicking the Print icon to open the Print dialog box. Refer to
Customizing Print Settings Before Printing Your Documents for detailed information
copy the image to the clipboard
open the album.
16.Click the Album icon to store the image in the album.
17.Click the Open Album icon or select the Tools / Image / Album... command to display
the album.
The album is displayed, listing the current contents of the album.
18.In the Album dialogue box, double-click on the Capture_000. Click on the last two icons,

and review their functions.

V5 I GRI P V5R16
Zoom the
the size ofimage in thisimage
the original Print Preview box for better visualization. In this example, this is 34%
in the album.
At the bottom of the preview window, the text annotation entered in the capture options
dialogue box at the beginning of the exercise is shown.
19.Select the Select Mode Icon. This allows us to select a window

around the object to be imaged.
20.Zoom into a clamp and click over the top of

the clamp, and drag the mouse to the lower
corner, see illustration. (We have hid the
floor so the screen captures have a white
background).
21.Click on the Capture and save the
selected Picture in the album, and open
the Album

V5 I GRI P V5R16
22.There are the two pictures that we have taken.
23.The Erase icon is just what it implies. Simply highlight the desired capture in the
Album dialogue box to be erased, and click on this icon.
24.Click on the blue circle with lower case i This icon allows the user to edit the
properties of the picture. Look closely at the dialogue box below. Click on the memory tab to
see additional options. Take some time to experiment with the options. Close the box when
done, OK.

V5 I GRI P V5R16
25.Now click on the last icon on the right. This icon allows the user to modify a picture.
Look closely at the dialogue box that appears. Take some time to experiment with the
options. Close the box when done.

V5 I GRI P V5R16
Finally, take another look at the Capture toolbar.
This is the Save As icon
Select a format from the list.
The formats you can save to depend on the format (pixel or vector) in which the
image was originally saved.
For pixel images, the formats are:
HP/RTL (UNIX only)
JPEG Fair Quality (*.jpg)
JPEG Medium Quality (*.jpg)
JPEG High Quality (*.jpg)
JPEG Lossless (*.jpg): very few applications (MS Office, MS Photo Editor) recognize
the JPEG format without
loss of information).
TIFF True Color (*.tif)
TIFF Indexed Packbit (*.tif)

TIFF True Color Packbit (*.tif)
TIFF Indexed (*.tif)
TIFF Grey Scale Packbit (*.tif)
TIFF BW Packbit (*.tif)
RGB (SGI Format) Not Compressed (*.rgb)
Windows Bitmap (*.bmp) (Windows only)

For detailed information about JPG and TIFF format, browse the following Internet
sites:
http://www.jpeg.org and http://www.ijg.org
http://www.partners.adobe.com/asn/developer/PDFS/TN/TIFF6.pdf

V5 I GRI P V5R16
A bitmap is a set of pixels arranged in lines and columns and is fully described
by its width and height, its color depth (bits per pixel) and its compression
scheme. The format common format is true color (24 bits per pixel). An
additional color component, called Alpha component, may be used to define
the transparency of each pixel. The bitmap format generally supports
compression (either lossless or lossy). Some of these bitmaps are coded on 8
bits and the pixels are indexed on a color table, called the palette.
The advantage of bitmap files is that they can reproduce complex scenes (for
instance photographic or photo-realistic images) that could not be reproduced
using basic geometrical shapes.
The following table summarizes information about bitmap files and the various
formats you can use to save your images in the album:
Bit depth Compression Maximum

size in Comments
1 8 16 24 32 None RLE JPEG ZLIB CCITT pixels
Standard
bitmap
BMP X X X X X X X 2G*2G storage on
MS-
Windows
Very few
applications
JPEG X X X X X 64K*64K support the
lossless
JPEG mode
Successor
PNG X X X X X X 2G*2G of the GIF
format
Supported
RGB X X X X X X X 64K*64K by very few
applications
Very
popular and
general
format
TIFF X X X X X X X X 2G*2G
recognized
by most
imaging
applications

V5 I GRI P V5R16
For vector images, the formats are:
Windows Metafile (Windows only)
PostScript: PostScript is a page description language that supports text, vector graphics and
bitmaps. It is device-independent and implements an industry standard for communicating
graphic information between applications and hardware devices such as printers.
For detailed information about PostScript, browse the following Internet site:
http://www.partners.adobe.com/asn/developer/PDFS/TN/PLRM.pdf
PDF: Portable Document Format is a platform-independent page description file format

designed for platform exchange. It may contain text, vector graphics and bitmaps.
For detailed information about PDF, browse the following Internet s ite:
http://www.partners.adobe.com/sn/developer/acrosdk/DOCS/PDFRef.pdf
Vector files contain geometrical descriptions of the image elements. These elements may be
lines, dots, rectangles, circles, polygons, splines, text with font information or bitmaps (only in
metafiles) and are used to reconstruct the final image. Each element has its own attributes
specifying its size, its relative position in the whole image, its color and filling type.
The advantage of vector files over bitmap files is that image scaling does not affect
image appearance. When zooming bitmap files, pixels become visible as shown in the
example below:
Vector image Bitmap image
The following CGM vector formats are supported:
CGM ISO
CGM CALS
CGM ATA.

V5 I GRI P V5R16
CGM (Computer Graphics Metafile) is an ANSI/ISO standardized platform-

independent format used for the interchange of vector and bitmap data. CATIA Version
5 supports the CGM Version 1 and Version 3 standards. CGM Version 3 adds vector
primitives such as Bezier and Nurbs, improved font and text support as well as bitmap
compression. The CGM-ATA and CGM-CALS profiles which are specific subsets of the
Version 3 standard are also supported.
For detailed information about CGM formats, browse the following Internet site:
http://www.cgmopen.org
The table below summarizes the purposes of the above mentioned formats:
Purpose Printing/Plotting Data Exchange
Format
HP-GL/2-
X
RTL
PS X
EPS X
PDF X
CGM X
On UNIX only, and if you save to a vector format, click the Options... button to set further save
options associated with saving rasterized images:

DPI: resolution in dots per inch (DPI)
width
height
and click OK or Cancel.

Note that high quality images require longer computation time.
Click the Save button.
You do not need to open the album first to save images to other formats. The Save As...
icon is also available by selecting the Tools->Image->Capture... command and clicking
the Save icon in the Capture toolbar, allowing you to save to a file directly (without
saving the image in the album).

V5 I GRI P V5R16
Ø This is the Print icon
Ø This is the Copy icon
Ø Theseicons perform the functions they imply.

You can save the image to a database.
You can print the file.
You can copy to a clipboard.

V5 I GRI P V5R16
Creating a Movie
1. Close all previous windows and select from the Tools / Images.

2. The Video Recorder dialog box appears.
3. Click on the Properties, and

Select the Open Icon, and select
the (where the path is to) 3
geometry / Movie Pic. Click on the
Movie tab, and change the frames
per second to 20. When done, OK.
4. To run the Process simulation,
make sure that you are in the
Workcell Sequencing
Workbench, and select the
Process Simulation Icon.
5. The Process Simulation dialog box appears, change the run speed to .5.

V5 I GRI P V5R16
6. Click on the Record (Red Button) on the Video Recorder box, and then click on Run in
the Process Simulation box.
7. The Process is simulated, and when completed, click on the Stop button to stop the
recording. When competed, close all of the dialog boxes.
8. In the Explorer , open up the directory
where the movie was stored.
9. Double click and watch your simulation.

Device Bui ldi ng V5R16

IGRIP
Ped Welder W o rk b e n c h e s a n d
T o o l b a rs
Device Building
This procedure describes how to launch an IGRIP Session and get familiar with the IGRIP
Workbench Toolbars.
This exercise will show the user interface menus and toolbars.
Device Building provides a complete set of tools for modeling mechanical systems that are
typically used in the manufacturing process. Such systems include robotic end-effectors
(grippers, weldguns, etc.), positioning devices, stamping presses, milling machines, lathes,
and tracked vehicles. The target is generic modeling of forward-kinematic devices that can
only be driven in joint coordinates.
Device Building allows the user to define a mechanical system in terms of rigid bodies (called
parts) and articulated joints. The parts may originate from CATIA, DELMIA, or other CAD
sources. The joints may characterize a combination of mechanical constraints (such as
rotation about a fixed axis) and geometric constraints (such as following the surface of a part).
Finally, the mechanical system may include closed-kinematic loops, where a collection of parts
forms a closed chain.
After a device has been created, the user may define a set of predefined positions (called
"home positions") and a timetable to be used when moving between them. Tools are provided
to directly manipulate the joints of a device and observe the resulting configuration. Basic
display attributes such as color, display mode, etc., will also be set at the device level.
For those dealing with legacy data, Device Building can load all CATIA V4 kinematic models
and most Deneb/DELMIA device files. The user may perform a variety of analyses on these
models, but cannot directly modify them or save the results to disk.
It is expected that tool designers and simulation engineers will make excellent use of this
product.
1. Start a V5 Robotics Session

click on Start / IGRIP / Device
Building.
x58, Prismatic Joint 1 BIW WorkBench and Toolbars.doc 1 of 2
Let’s go into the Device Building and review the Toolbars.
x58, Prismatic Joint 1 BIW WorkBench and Toolbars.doc 2 of 2

Openi n g the Project
Ped Welder Insert ing a Too lb ar
Device Building
This procedure describes how we will open our project, and Insert a toolbar from another
workbench.
We will open our Ped Welder, and create the working environment.
1. Go to 3 Geometry \ Ped Welder , and Open Ped Welder.CATProduct
x59, Prismatic Joint 2 Opening a Project, in serting Toolbars.doc 1 of 3
2. We are starting with this example as if we have positioned all the parts needed to create
the Ped Welder, already in position.
3. We see that all the parts that are needed to create the Ped Welder are positioned in the
PPR Tree at the Root Level; this is necessary in order to create a joint mechanism in V5.
4. Right Mouse click on the Compass and select Snap Automatically to Selected Object.

This will allow the user to select an object and have the Compass snap to the objects zero
design position.
5. Insert a new Toolbar into Device Building Workbench from

another Workbench.
6. In the Menu, select Tools / Customize menu bar.
a. Pick the Toolbars tab

b. Select New…
c. Select Plant Layout
d. Select ArrPslGenDesignTB, “OK”.
e. Close. (The Toolbar appears)

A ttachi ng Parts
Ped Welder
Device Building
This procedure describes how we will use the attach function to create sections.
We will use our Ped Welder, and start creating the Mechanism.
1. Select the Right mouse button, select Cylinder10 from the PPR Tree or graphically and
pick Hide/Show.
2. This will allow us to view the Piston10 that is located inside the Cylinder.
3. We need to attach Holder18, Shank21, and Cap1 as Children to Piston10, so

as Piston10 (Parent) moves vertically up and down we will have all the parts
moving in unison.
x60, Prismatic Joint 3 Attaching Parts.doc 1 of 2
4. Select from the New Toolbar: Attach.
5. Select Piston10 as the Parent then (hold down Ctrl button) pick

Holder18, without selecting OK from the pop-up window, select
Shank21, and Cap1 in that order as Children of Piston10, and then
click on OK.
6. In the relationship created, the Green line is the Parent and the red represents the
Children.
7. Now we can test the Attach function by selecting Piston10 and the Compass moves to the
zero design position of the part. Now move the Compass in any direction, and the parts are
attached and move with the Piston.
8. To move back to the original position, select Undo , and reset the Compass
(view/reset compass).
x60, Prismatic Joint 3 Attaching Parts.doc 2 of 2

Creatin g a Fram e fo r
Ped Welder the Pisto n
Device Building
This procedure describes how we will create a Frame for the Piston.
We will create our frame for the mechanism.
1. Now that we have the parts attached to the Piston, we can create a joint axis that will lead
us to creating a Prismatic joint for the Ped Welder.
2. Select from the Frames Toolbar, the Frames of Interest Icon, and then
select
be usedPiston10. What is being created is a storage area for different Frame Types that can
on a device.
3. Click on the Frames of Interest.1 from the PPR Tree and notice that

the Compass will jump to the zero design position of the Piston.
4. Select Frame Type then Frames of Interest.1 under

Piston10. Select the type of frame that you want to create in this case
select Design.
x61, Prismatic Joint 4 Creating a Frame for the Piston.doc 1 of 3
5. Select from the Define Plane dialog box: Define Plane using Compass
6. Now if we zoom in on the Compass we can see that

the (w) axis, it’s lying down horizontally and we need
to have it point vertically.
7. Do not select OK at this point; we need to modify

the compass position.
8. We need to change the Compass position so that the (w) axis faces vertically. If we don’t
change the position of the (w) axis then the joint will run horizontally instead of vertically, as
we need it.
9. Important note : Prismatic as well as Revolute Joints are based on the position of the
(w) axis. Prismatic will move along as well as the Revolute will rotate around the (w)
axis.
10. Double click on the Compass and we

get a Compass Manipulation Box.
11.Type in 90 degrees under Rotation

Increment for Along V and click either
rotation arrow to rotate along the
(v) axis in order to rotate the Compass
with the (w) axis pointing upward.
12.Close the Compass Manipulation Box.
13.Now that we already have selected Define Plane

using Compass go ahead and select OK.
14.We can see that a Frame is created at the

Compass or the zero design position of the Piston.
Ped Welder Cr eatin g a Fram e fo r th e B ase
Device Building
This procedure describes how we will create a Frame for the Base.
We will create the frame for the Base of the Ped Welder. This is the similar procedure that
we previously created.
1. Now we need to create a Frame for the part that will not move, which in this example is the
base of the Ped Welder.
2. Select the Frames of Interest and then select

base.
3.
4. Select Frame Type and select the Frames of

Interest located under base.
5. Since we already have the Compass in the location

that we need it to be, go ahead and make sure Define
Plane with Compass is selected along with Design
frame and select OK.
6. Now we have two frames that are in the exact same

position for two different parts.
7. Now we can see if we open each Frames of Interest

that we have Design frames that are unique to the
base and the Piston.
x62, Prismatic Joint 5 Creating a Frame for the Base.doc 1 of 1

Creatin g a Jo int fro m a
Ped Welder Axis
Device Building
This procedure describes how we will create a Joint.
We will create a joint from the frames.
1. In the Device Building Toolbar, and use the Arrow Down to

display the Kinematic Joints Toolbar, Pull this toolbar out.
2. Select the icon Joint from Axis and

the Joint Creation using Axis box
appears.
3. Select New Mechanism and give it a

name or the default is fine.
4. Under Joint Type select Prismatic.
x63, Prismatic Joint 6 Creating a Joint from Axis.doc 1 of 2
5. Under Axis 1 select Design1 frame from base\Frames of Interest then under Axis 2

select Design1 frame from Piston10\Frames of Interest.
6. So the dialog box should look like this and select OK.
7. Go to the PPR Tree and open Applications

there the data is stored for the Mechanism that
has been created.
x63, Prismatic Joint 6 Creating a Joint from Axis.doc 2 of 2

Setting the Jo int Lim its
Ped Welder and Jog gin g
Device Building
This procedure describes how we will set the Joint limits for the Ped Welder.
We will create the limits.
1. To complete the final pieces for a kinematic device we will do the following.
2. Select the Fixed Part icon, the New Fixed Part Dialog box

appears, (accept the defaults) and click on the base in the PPR
Tree.
3. Double click on Prismatic.1 from Joints.
4. We get the Joint Edition dialog box. Here we will set the defaults for the motions.
x64, Prismatic Joint 7 Setting the Joint Limits.doc 1 of 2
5. Toggle on the Length Driven button. Input 0mm

into Lower Limit and 100mm (or 4.5in) Upper Limit.
Click on OK. We get the confirmation Information
box. Select OK.
6. Right mouse button, select Cylinder10 and select Hide/Show to

view cylinder again.
7. Now we can select Jog Mechanism and select the Ped

Welder.
Jog using the command.1 pull bar , or type in numbers. (Notice the Mechanism moving)
Reset then Close when completed.
x64, Prismatic Joint 7 Setting the Joint Limits.doc 2 of 2
Ped Welder C rea t i n g H o m e P o s i t i o n s
Device Building
This procedure describes how we will create home Positions for the Piston.
We will create home Positions for the Ped Welder.
1. Make sure the Ped Welder is reset (open) from the previous step.
2. Select the Home Positions Icon from Device Attributes

Toolbar.
3. The Home Position Viewer dialog box appears. Select New.
4. The Home Position Editor dialog

box appears, and Type Open
under Home Position Name, and
click on OK.
x65, Prismatic Joint 8 Creating Home Positions.doc 1 of 2
Select New again and move Command.1 slider to 100mm (or 4.5in) or type 100mm (or
4.5) and type in Closed then pick OK.
5. Now Home Positions have been

set. (Close this window)
6. Now we can Jog the Mechanism with the new Home Positions by selecting
in the Jog Dialog box, the Open or Closed predefined Position.
x65, Prismatic Joint 8 Creating Home Positions.doc 2 of 2
Fa ci l i tate d P r o j e ct:
Creating Too l Center
Ped Welder Point
Device Building
This procedure describes how we will create the Tool Center Point for the Ped Welder.
We will create the Tool Center point for the joints created.
1. Select Close from Home Position and zoom in on the

Welding Caps.
2. Open Frames of Interest under base in the PPR Tree. (Make sure that the compass
does not have the snap automatically to selected object highlighted)
3. (Click on the + sign to open)
4. Select Frame Type and the select Frames

of Interest under base and pick Tool.
5. Select Define plane at center of circle
x66, Prismatic Joint 9 Creating a tool center point.doc 1 of 2
6. Pick three points around the circle to place the plane and select
OK. (The color of cap may need to be changed for better
visibility).
7. In the Measurement Toolbar, Select Measure
Between and pick surface of Cap1 and Cap2.
8. Select Tool1 and move it between Caps for new position of TCP.
x66, Prismatic Joint 9 Creating a tool center point.doc 2 of 2

Openi n g a Projec t
Rocker Gun
Device Building
This procedure describes how we will open our project, and create a revolute joint.
We will open our Rocker Gun and create the working environment.
1. Go to 3 Geometry \ Weldgun.
2. Open Rocker Gun.CATProduct.
x67, Revolute Joint 1 Opening a Project.doc 1 of 2
3. We are starting with this example with all the parts positioned as to create the Rocker
Gun.
4. We see that all the parts that are needed to create the Rocker Gun are positioned in the
PPR Tree at the Root Level; this is necessary in order to create joint mechanisms in V5.
If we are not at the Root Level, creating a mechanism will not work.
5. RMB click on the Compass and select Snap Automatically to Selected Object. This

will allow the user to select an object and have the Compass snap to the objects zero
design position. If we click on ROCKER1:CAP7_1.1, we see the compass snap to the
cap.
6. Click on the Compass again, and remove the Snap Automatically to Selected

Object, and view reset the Compass.
x67, Revolute Joint 1 Opening a Project.doc 2 of 2

A ttachi ng Parts
Rocker Gun
Device Building
This procedure describes how we will use the attach function to create sections.
We will create sections from attaching parts. This will create the moving mechanism.
1. We need to attach the Shanks, and Caps as Children to each Holder, so as the Holders
(Parents) rotate we will have all the parts moving in unison.
2. Select from the New Toolbar: Attach.
x68, Revolute Joint 2 Attaching Parts.doc 1 of 2
3. Select HOLDER1 as the Parent then pick SHANK1, The Child Selection dialog box

appears, without selecting OK continue and select CAP7_1 in that order click on OK.
Repeat the same steps for HOLDER2, SHANK2, and CAP7.
4. red
So would
we canrepresent
see the relationship we have just created. The Green line is the Parent and the
the Children.
5. Now we can test the Attach function by selecting HOLDER1 and the Compass moves to

the zero design position of the part. Now move the Compass in any position and we see the
parts are still attached and moving with the HOLDER.
6. To move it back to its original position, simply select
Undo
x68, Revolute Joint 2 Attaching Parts.doc 2 of 2

Rocker Gun Hol der 1
Device Building
This procedure describes how we will create a frame for Rocker Holder 1.
We will create a frame for Rocker1 Holder1.
1. Now that we have the parts attached to the HOLDER1 we can go ahead and create a joint
axis that will lead us to creating a revolute joint for the Rocker Gun.
2. being
Select the icon Frames
created is a storageofarea
Interest
for different Frame Typesthen
thatselect HOLDER1.
can be used on a What is
device.
x69, Revolute Joint 3 Creating a frame for the Holder.doc 1 of 4
3. With the Snap automatically to selected object highlighted on the compass, Select

Frames of Interest.1 from the PPR Tree and notice that the Compass will jump to the zero
design position of the HOLDER1.
4. Select Frame Type then the Frames of Interest.1 under

HOLDER1. Select the type of frame that you want to create in this case select
Design.
5. Select from Define Plane dialog box: Define Plane using Compass
6. Now if we zoom in on the Compass we can see in this view that the (w) axis is pointing
vertically and we need to have it point Horizontally. Do not select OK at this point; we
need to modify the Compass position.
7. We need to change the Compass position so that the (w) axis faces horizontally. If we
don’t change the position of the (w) axis then the joint will revolve incorrectly crashing into
the Bracket.
8. Important note: Prismatic as well as Revolute Joints are based on the position of the
(w) axis. Prismatic will move along as well as the Revolute will rotate around the (w)
axis.
9. Double click on the Compass

and we get a Compass
Manipulation B ox.
10.Type in 90 degrees under
Rotation Increment for Along U and
click either rotation arrow to
rotate along the (u) axis in order to
rotate the Compass with the (w)
axis pointing horizontally.
11.Close out the Compass

Manipulation Box. Now that we
already have selected Define Plane
using Compass go ahead and
select OK.
12.We can see that a Frame is created at the Compass or the zero design position of
HOLDER1.
13.Note: The user Compass and the actual Design Frame

may not visually match at this time after the selection of OK.

Rocker Gun t h e B ra c k e t
Device Building
This procedure describes how we will create a Frame for the Bracket.
We will use our Rocker Gun and create the frame for the Bracket.
1. Now we need to create a Frame for the part that will not move, which in this example is the
BRACKET1 of the Rocker Gun.
2. Select the Frames of Interest and

then select BRACKET1.
3. Select Frame Type and Frames of Interest located under BRACKET1.

4. Since the Compass is in the location that we need it to be, go ahead and make sure Define
Plane with Compass is selected along with Design frame, and select OK.
x70, Revolute Joint 4 Creating a Frame for the Bracket.doc 1 of 2
5. We previously rotated the Compass to place the (w) axis horizontally, go ahead and rotate
again to match the previous Frame. Now we have two frames that are in the exact same
position for two different parts.
6. Now we can see if we open each Frames of Interest that we have Design frames that are
unique to the BRACKET1 and HOLDER1.
7. Repeat the same steps: Creating a Frame, and Frame type for HOLDER1 now for
HOLDER2.9 (make sure that you rotate the compass for the frame type)
x70, Revolute Joint 4 Creating a Frame for the Bracket.doc 2 of 2

Creatin g a J oin t fr om a
Rocker Gun Axis
Device Building
This procedure describes how we will create a joint from our axis.
We will use our Rocker Gun and create the Joint.
1. In the Device Building Toolbar, and use the Arrow Down to display

the Kinematic Joints Toolbar, Pull this toolbar out.
2. Select Joint from Axis and Joint

Creation using Axis box appears.
3. Select New Mechanism and give it a name or

the default is fine.
4. Under Joint Type select Revolute.
5. Under Axis 1 select Design1 frame from BRACKET1\Frames of Interest then under Axis

2 select Design1 frame from HOLDER1\Frames of Interest.
x71, Revolute Joint 5 Creating a Joint from the Axis.doc 1 of 2
6. The dialog box should look like this and select OK.
7. Select Joint from Axis again but don’t select New Mechanism, we are adding to
the Mechanism already created earlier. Under Joint Type select Revolute again\Under Axis
1 select Design1 frame from BRACKET1\Frames of Interest then under Axis 2 select
Design1 frame from HOLDER2\Frames of Interest, the dialog box should look like this and
select OK.
8. Go to the PPR Tree and open the Applications branch and we see the two joints created.
x71, Revolute Joint 5 Creating a Joint from the Axis.doc 2 of 2

Setting the Jo int
Rocker Gun Lim its, and Jo gg ing
Device Building
This procedure describes how we will set our Joint Limits for the Rocker Gun, and Jog and
verify them.
We will use our Rocker Gun and set our limits for the joints created.
1. To complete the final pieces for a kinematic device will do the

following. Select Fixed Part.
2. The New Fixed Part Dialog box appears. The defaults are shown as
Mechanism 1, which is correct, and select the BRACKET1.
3. Double click Revolute.1 from Joints. We get the

following dialog box.
4. Toggle on Angle
Driven. Input 0
degrees into Lower
Limit and 6 degrees
Upper Limit.
x72, Revolute Joint 6 Setting the joint limits, and jogging.doc 1 of 4
5. So it should look like this, then OK.
6. Repeat for Revolute.2 Input –6 degrees into Lower Limit and 0 degrees for Upper Limit

7. So it should look like this.
8. And we get this result, Click on OK.
9. Now we can select Jog Mechanism and select the Rocker Gun.
10.Using the slide bars we can see if the angles are correct.
11.We can see there is a collision with the HOLDERS and we need to modify both of them so
that we have a correct Open position.
12.So double-click again Revolute.1 and Revolute.2 and flip the numbers for the degrees
since we created the Rocker Gun in the closed position we want the degrees to work for us
and open the HOLDERS to an Open position. (Note now +6 degrees)
13.Select Jog Mechanism and positions are correct.

Creating Hom e
Rocker Gun Positions
Device Building
This procedure describes how we will create Home Positions.
We will open our Rocker Gun and create the Home Positions
1. See Prismatic Joint Creation Manual and apply Rocker Gun
x73, Revolute Joint 7 Creating home positions.doc 1 of 1

Other Com m ands
Clamp
Device Building
Í½±°»æ
This procedure describes the remaining commands for Device Building Workbench.
Ð ±½»¼ »æ
We will review the toolbars
Mechanism Properties that’s what it is. It will give you the properties of the mechanism
you just created or want to view.
Home Positions we just covered. Creation of multiple jog positions.
Time Table . Edit the time that each jog position will take.
Travel Limits . Another way of editing the travel limits that we see in the Jog panel
instead of double-clicking the Joint from the PPR Tree.
Tool Tips These

simulation. . Select the weld
Tool Tips gunspecify
that you caps that
willyou
not want during aduring
be included weldgun search
collision or creating a
analysis.
Mechanism Dressup . If there are still parts that have not been added to your
mechanism, this will help you add them.
x81, Pris, rev 7 Other Commands.doc 1 of 2
Update Positions . This will place constraints (O rings) that make up a joint at the origin of
creation.
We see that the Piston on the left is in the Close position, which is the modified position. On
the right after selecting Update Positions and picking the device, the piston is set back to the
original creation point, in this case it’s the Open position.
Import Delmia D5 Component . This will allow us after certain user options have been
set to bring in D5 legacy components for use in DELMIA V5.
x81, Pris, rev 7 Other Commands.doc 2 of 2

Creating Hom e
Rocker Gun Positions
Device Building
Í½±°»æ
This procedure describes how we will create Home Positions.
Ð ±½»¼ »æ
We will open our Rocker Gun and create the Home Positions
1. See Prismatic Joint Creation Manual and apply Rocker Gun
x73, Revolute Joint 7 Creating home positions.doc 1 of 1

A d d i n g T o o l Ce n t er
Rocker Gun Point
Device Building
Í½±°»æ
This procedure describes how we will add the Tool Center Point to the Rocker Gun.
Ð ±½»¼ »æ
We will add the Tool Center Point.
-Adding Tool Center Point-
See Prismatic Joint manual, and apply to Rocker Gun
x74, Revolute Joint 8 Adding Tool Center Point.doc 1 of 1

Openi n g ou r Proj ect,
Clamp and Setting Opt io ns
Device Building
Í½±°»æ
This procedure describes how we will be creating a clamp with a Prismatic and a Revolute
Joints.
Ð ±½»¼ »æ
We will open our Clamp, and set the options for Gravitational effects.
1. Select the file folder 3 Geometry \ Tooling, and open Training_Clamp_1.CATProduct.

To find the files easier, change the Files of Type to CATProduct.
2. Once again we are starting this example
with
Clampthealready
parts needed to create the
in position.
3. We see that all the parts that are

needed to create the Clamp are
positioned in the PPR Tree at the Root Level; this is necessary in order to create joint
mechanisms in V5.
x75, Pris, rev 1 Opening our Project and setting options.doc 1 of 2
4. RMB click on the Compass and select Snap Automatically to Selected Object. This will

allow the user to select an object and have the Compass snap to the objects zero design
position.
5. To change the plane of rotation, Go to the Tools menu bar

and select Options.
6. Select Display
7. Select the Navigation tab
8. Go to Gravitational effects during navigation, Select Y
9. OK
10.The Compass
changes orientation,
and in the geometry
window the geometry
rotates around the Y-
axis.
x75, Pris, rev 1 Opening our Project and setting options.doc 2 of 2

Creating Desig n
Clamp Frames for Prism atic
Joints
Device Building
Í½±°»æ
This procedure describes how we will be creating Design Frames for Prismatic Joints.
Ð ±½»¼ »æ
We will use our Clamp, and set the Design Frames.
1. Select the Frames of Interest icon, then Select L-110R:L-110-

R_pstn.pdb.
2. Now and a placeholder for Frame Types has been created. Click on the Frames of
Interest, and the compass snaps to the cylinder.
3. Select Frame Type and select the Frames

of Interest, just created.
x76, Pris, rev 2 Creating Design Frames for Prismatic Joints.doc 1 of 2
4. The Compass is already located and oriented in the correct direction select OK and a new
Design frame has been created and also populated in the PPR Tree.
5. Now that we still have the Compass located at the piston zero design position we will
create another Design frame for the Bracket that will be our fixed part.
6. MAKE SURE THAT THE COMPASS DOES NOT LEAVE THIS LOCATION, OR YOUR
AXIS WILL BE IN THE WRONG LOCATION
7. Create another Frame of Interest for L-110R:L-110-R_0.pdb and Frame Type (Design)

and select OK.
8. We have created the Design frames for both the Piston and Bracket that will be used for
Prismatic joint, and now we will create the Design frames for the clamps that will be used for
revolute joints.
x76, Pris, rev 2 Creating Design Frames for Prismatic Joints.doc 2 of 2

Creating Desig n
Clamp Frames for Revol ute
Joints
Device Building
Í½±°»æ
This procedure describes how we will be creating Design Frames for Revolute Joints.
Ð ±½»¼ »æ
1. Select L-110R:L-110-R_1.pdb and select Frames of Interest we see

that the Compass jumps to center of the circle of the part.
2. Create a Frame Type and select Design. Once again we are seeing that

the Compass doesn’t need to be rotated since it is positioned and oriented
in the proper angle. Select OK.
x77, Pris, rev 3 Creating Design Frames for Revolute Joints.doc 1 of 4
3. For the L-110R:L-110R_0.pdb, we need to create a Design Frame Type for the Bracket

again and place it at the Compass position.
4. Click on the Frame type Icon, and click on the Frames of interest, and OK.
We see that confusion could occur if we didn’t keep track of all our design frames, so we have
the opportunity to rename frames now.
5. RMB click on Design 1 from L-110R:L-110-R_0.pdb and go to Properties then the Tag

tab and rename to Piston Design 1, rename Design 2 to Clamp Arm 1 Design 2.
6. So the name of the Design Frame for the Bracket at the Piston location is different from the
Design Frame located at the first Clamp Arm (Design 2)
7. Rename the remaining Design frames to match the image.
8. Click on the L-110R: L-110-R_2.

NOTICE THE COMPASS IS ON THE OTHER AXIS
9. Create a new Frames of Interest and Frame Type for L-110R:L-110-R_2.pdb. Change

the name after the next Frame type created, (If you change the name now, it will not
recognize the compass, and default out)
10.Click on a new Frame Type then click on L-110R: L-110R_0.pdb, rename to match image

below.
11.MAKE SURE THAT THE COMPASS IS STILL ON THE AXIS AS PREVIOUS PICTURE
12.At this point edit your PPR Tree so it looks like the image below.

Creatin g Pris m atic and
Clamp Revolu te Jo ints fro m
Desig n Fram es
Device Building
Í½±°»æ
This procedure describes how we will be creating Joints from Design Frames.
Ð ±½»¼ »æ
1. Go to Kinematic Joints Toolbar , embedded in the Device

Building Toolbar. (Use the black arrow down)
2. Select Joint from Axis and Joint Creation using Axis box

appears.
3. Select New Mechanism and give it a name or the default is fine.
x78, Pris, rev 4 Creating Prismatic and Revolute Joints from Design Frames.doc 1 of 3
4. Under Joint Type select Prismatic.
5. Under Axis 1 select Piston Design1 frame from L-110R:L-110-R_0.pdb\Frames of

Interest. Then under Axis 2 select Piston Design1 frame from L-110R:L-110-
R_pstn.pdb\Frames of Interest.
6. So the dialog box and PPR Tree should look like this and select OK.
7. Again, under Joint Type select Revolute. Match the image below with your dialog box
and PPR Tree again and select OK.
8. Repeat revolute joint for Clamp Arm 2 Design3 in the Frames of Interest for the Bracket
and Clamp Arm 2 Design1 in the Frames of Interest for the Clamp.
9. After this is complete following the examples from above the Joints branch under
Mechanisms should look like this. One Prismatic joint and two revolute joints.

Editin g the J oin ts, and
Clamp Jogging
Device Building
Í½±°»æ
This procedure describes how we will use the Editing Tool.
Ð ±½»¼ »æ
We will edit our Joints and jog them to verify the Clamp.
1. We need to edit each joint in order to have kinematics; we will do this by the doing the
following. Double-click Prismatic.1 and we have a dialog box appears. Fill out the
length driven, and Joint limits in dialog box as we see it in the image.(100 mm or 3.94in)
Select OK.
2. Double-click Revolute.2 and match your dialog box once again with the data below.
x79, Pris, rev 5 Editing the Joints.doc 1 of 4
3. Repeat again for Revolute.3 and match your dialog boxes with the image below.
4. So now we have edited each joint with increments that we need in order for the joints to
move in certain millimeters and degrees. We can see also that in the Mechanism branch of
our PPR Tree the Commands branch is populated with our edits.
5. Now we need to have a Fixed Part so that we are able to have a device that will have
kinematics.
6. Select Fixed Part and select the Bracket graphically.

Now we get the pop-up
we see below.
7. Select the Mechanism.1, which at this time is our only mechanism. We are able to select
different mechanisms when needed or create a new as you can see from the image. Now
select the Bracket and we get the Information box below.
8. You are now ready to jog the Mechanism . We get the Jog panel with three different
Commands that are the joints we just created.
9. Now as we use the Slide bars we see that the edits we made are incorrect so we can go
ahead and edit these joints again just by double-clicking the joints in the PPR Tree.
10.Change to the images below or you can

experiment yourself.
11.Now Jog the device again and see your edits work for you.

Creating Hom e Posi tion s
Clamp
Device Building
Í½±°»æ
This procedure describes how we will create Home Positions for our Clamp.
Ð ±½»¼ »æ
We will create with our clamp Home Positions.
1. Select Home Positions Ico n, and select New. The Home Posture Editor Opens, in

the Home Position area, Type in Open and select OK.
x80, Pris, rev 6 Creating Home Postions.doc 1 of 2
2. Select New again and move

Command.1 slider to the right, and
type in Closed then pick OK.
3. The Home Positions have been set.

Close all the windows.
4. Now we can Jog Mechanism with Home Positions.

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5/23/2018 84841783V5RoboticsTrainingGuide-slidepdf.

Copyright1985-2004 by DELMIA Corporation

IGRIP , Virtual NC , ENVISION , UltraArc , UltraGRIP , UltraSpot , UltraPaint , DELMIA V5 ,

Step 2 Delmia V5 Software Settings

Step 3 IGRIP Workbench and Toolbars

Step 5 Resources Product and Moving

Step 7 Ø Creating a Area

Step 8 Placing and Assigning Robots

Step 9 Mounting a Weld Gun

Step 10 Hide and Show Attachments

4 The Robotic Fu nctionaliti es

Step 12 Fastener Assignment

Step 13 Assigning the Robot Resources to the Process

Step 14 Jogging a Robot

Step 15 Creating a Robot Task

Step 16 Jogging to the Weld Positions

Step 18 Create and view a Weld Study Analysis

Step 19 Robot Controller Profiles

Step 20 Auto Placing Robots

Step 21 Robot Envelope

Step 24 Tag Transformation for Weld Positions

Step 25 Creating VIA Points in the Robot Path

Step 26 Using the Add Tag Icon

Step 27 Using Trace TCP in the Teach Dialog box

5 The Weld Gun F unctionalities

Step 29 Dress Operations

Step 30 Using the Call Task

Step 31 Robot Task Simulation

Step 32 Crash Analysis

6 The Advanced F unctionali ties

Step 34 Modifications to the Path

Step 35 Automatic Configuration of Singularity, Set Turn Numbers

Step 36 Multiple Resource Simulation

Step 37 Using the Pert Chart for Parallel Running

Step 38 The Process Simulation

Step 39 Adding Welds Tags to the Path

Step 40 Automatic Task Collision for Zones

Step 42 Exporting I/O Information

Step 43 Data Readouts and Documentation

Step 44 Listing Activities, or Products Resources

Step 46 Offline Programming

9 Auxiliary Device Fun ctions

Step 48 Mounting a End Effector to a Robot

Step 49 Teaching a Robot on the Rail

Step 50 Pick and Drop Actions

10 Remote Tool Center Point Procedur es

Step 52 Creating a New Tag Group

Step 53 Creating Tags in the Group

Step 54 Creating a Robot Path

Step 55 Creating a Pick and Drop

Step 56 Perform a SetTool for the fixed TCP

Facilitated Projec t:

In this approach, the user will have the ability to:

This is where we import all of our Products. They would mostly be

This is where we import all of our Resources. This could be chairs,

1 Working Contexts PPR.doc 1 of 3

1 Working Contexts PPR.doc 2 of 3

Files are saved using these extensions.

Product structure documents have a .CATProduct extension

The PPR Tree appears when the workbench opens.

1 Working Contexts PPR.doc 3 of 3

Facilitated Projec t:

2 DPM - IGRIP settings.doc Copyright DELMIA Corp. 2004 1 of 22

The project is then added to the