84841783 V5 Robotics Training Guide

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This document contains proprietary information of DELMIA Corporation and is protectedby Federalcopyrightlaw. The copyright in this documentis ownedbyDELMIA Corporation, Auburn Hills,

Michigan,USA.

AnyuserofDELMIA Corporation software is authorized to view and print this documentsubject to the

following conditions:

1. The document maybeused for informationpurposes onlybytheuser.

2. Anyprint madeof this document, or portion thereof, must include this copyrightnotice, andbe

approved by the Education Services Department.

3. The information maynotbe disclosed to third parties or copiedorduplicated in anyform, in wholeor

in part, withoutpriorwritten consentofDELMIA Corporation.

4. The information in this documentis subject to change withoutnotice.

Anyproduct, process, or technologydescribed orexhibited in the document maybe subject to other

intellectualproperty rights reserved byDELMIA Corporation andarenotlicensed hereunder.

DELMIA Corp.

900 N. Squirrel Road,Suite 100

AuburnHills, 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 ofDELMIA Corporation.

Microsoft, Windows, andWindows NT are either trademarks or registered trademarks of

Microsoft Corporation in the United States and/or other countries. NT is a trademark of

Northern TelecomLimited. UNIX is a registered trademark in the UnitedStates and other

countries, licensedexclusively through X/Open Company, Ltd.


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1 I ntroductionStep 1 Delmia Working Contents PPR

Getting familiar with the DELMIA V5 software user interface

Step 2 Delmia V5 Software Settings Viewing all of the user interface menus and functions

Step 3 IGRIP Workbench and Toolbars Reviewing the Workbench and Toolbars

2 Process PreparationStep 4 Starting a Project

Reviewing the creation of our project

Step 5 Resources Product and Moving Reviewing the Resources and Product for our project

3 The ProjectStep 6 Open the Project and Inserting Robots

Getting familiar with the Project and Insert the robots

Step 7 Creating a Area / Floor for the project Using the AEC Workbench

Step 8 Placing and Assigning Robots Moving the geometries around the project

Step 9 Mounting a Weld Gun Using the mounting function to attach the weld gun to the robot

Step 10 Hide and Show Attachments Displaying/ Not Displaying the Attachment information

4 The Robotic Fu nctionaliti es

Step 11 Creating the Process Plan Getting familiar with the Project and creating the process

Step 12 Fastener Assignment Assigning welds to a process activity

Step 13 Assigning the Robot Resources to the Process Assigning the resources to the process for the flow

Step 14 Jogging a Robot Using the Jog function to move a robots axis

Step 15 Creating a Robot Task Create a Robot Task for the Robot


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Step 16 Jogging to the Weld Positions Use the Jogging icon to move to the weld positions

Step 17 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 Use the Weld Study Analysis for verification of welds to the robot

Step 19 Robot Controller Profiles Defining the Robot controller profiles

Step 20 Auto Placing Robots Using the Auto Place for the best position for the robots

Step 21 Robot Envelope

Creating a Robot envelope

Step 22 Reach function for the Placement of Robots Reviewing the Robots location and Reach.

Step 23 Reviewing the Teach Dialog box and Edit Weld Points Reviewing the project through simulation in the Teach a robot

Step 24 Tag Transformation for Weld Positions Using the Tag Transformation to move one of the welds

Step 25 Creating VIA Points in the Robot Path Creating via points within a path.

Step 26 Using the Add Tag Icon Edit the path, and add a tag

Step 27 Using Trace TCP in the Teach Dialog box Using the Trace function to view the path

5 The Weld Gun F unctionalitiesStep 28 Weldgun Actions

Reviewing the Weldgun actions

Step 29 Dress Operations Using the Dress Operations to copy the data to other weld points

Step 30 Using the Call Task Creating multiple programs, and calling them into one

Step 31 Robot Task Simulation Run the Robot Task

Step 32 Crash Analysis Using collision / clash function


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6 The Advanced F unctionali tiesStep 33 Adding a Icon to a Toolbar, Creating a Section

Reviewing the project through a section

Step 34 Modifications to the Path Modify a path for the robot

Step 35 Automatic Configuration of Singularity, Set Turn Numbers Editing the path for configurations automatically

Step 36 Multiple Resource Simulation Running multiple simulations at once

Step 37 Using the Pert Chart for Parallel Running Editing the Pert Chart

Step 38 The Process Simulation Running the process Simulation

Step 39 Adding Welds Tags to the Path Reviewing the projects paths

Step 40 Automatic Task Collision for Zones Using the Automatic Task collision for I / O zones and Interference Zones

7 Data I nformationStep 41 I / O Map and Monitoring

Monitoring the I / O configurations in the project

Step 42 Exporting I/O Information Exporting the data from the project

Step 43 Data Readouts and Documentation Exporting the data from the Project

Step 44 Listing Activities, or Products Resources Listing our objects in our Project

8 Advanced f unctionsStep 45 Clamping Functions

Using the Clamping functions to open close the clamps in the simulation

Step 46 Offline Programming Using the OLP functions for the project


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9 Auxiliary Device Fun ctionsStep 47 Setting up the Auxiliary Device

Using the data for the Auxiliary device to run

Step 48 Mounting a End Effector to a Robot Using the mounting function to attach the end effector to the robot

Step 49 Teaching a Robot on the Rail Teaching with the Rail

Step 50 Pick and Drop Actions Pick and drop the part

10 Remote Tool Center Point Procedur esStep 51 Creating a Remote TCP

Start setting up the project for a remote tool center point for the robot

Step 52 Creating a New Tag Group Create a tag group to associate the tags

Step 53 Creating Tags in the Group Create a tags in our group

Step 54 Creating a Robot Path Create a path for the robot to follow

Step 55 Creating a Pick and Drop Utilize the pick and place to grab the part for the ped welder

Step 56 Perform a SetTool for the fixed TCP Create a tag group to associate the tags

11 Exporting DataStep 57 Creating Movies and Pictures

Using the Image functions


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1 Working Contexts PPR.doc 1 of 3Copyright DELMIA Corp. 2004

This procedure describes the V5 software approach using the Process, the Products, and theResources. 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, alsowill have Active Tasks to be simulated.

If the user changes their mind, the Resource Assignment has to be modified, and theActive task designated, No Process redesign is required! Time saving, allows for

what if scenarios.

V5 IGRIP

Facil itated Projec t:

RH Body SideAssemblywith Tooling

and Robotics

Tit le Worki ng Contexts

ProcessProduct

Resources

This is where we create our projects process flow. This tells thestory of what activities we are going to do in this project.

We assign (link) from our ProductList and ourResourceList

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

e.g. car parts (steel, plastic), motors. 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.

Anything that is going to happen with this Resource is storedunder its name in the ResourceList. We then link the

whatever action to the activity in our Process. This way wecan have multiple whatevers and try the multiple ways in

our Process, with a click of the mouse.


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Process

Product


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Files are saved using these extensions.

Process/Product/Resource (PPR)tree

The PPR tree is a 2D view of the process. It appears in the same view as theInventory Space window. It lists all the parts, products and resources requiredto make a specific product, plus specific applications data. It also lists, inhierarchical form, the actions required to perform the process that produces theproduct.

In V5, PPR trees are stored in process documents and have a .CATProcessextension.

process A process is a series of actions or activities that alter parts. The end result of aprocess 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.CATProductextension.

The difference between a product and a resource consists in how they are usedwith in a process. The end-result of the process should result in the creation ofthe product or products listed in the PPR tree.

productstructuredocument

The product structure document is a key component in V5. It provides users witha way to organize product creation in a hierarchical format. Each productstructure document can contain parts, which make up assemblies, which, inturn, make up products.

Product structure documents have a .CATProductextension

Resource Resources consist of parts, which may or may not be grouped into assemblies.They appear in product structure documents; these documents have a.CATProductextension.The primary difference between a product and a resource consists in how theyare used within a process. The resources required during the process shouldbe listed in the resource branch of the PPR tree.Many resources appear in V5 catalogs. Resources imported from catalogscannot be broken down into discrete parts (e.g., selecting the mounting plate ofa robot selects the entire robot, not just the mounting plate.)

The PPR Tree appears when the workbench opens.


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

This procedure describes how to launch an IGRIP session and become familiar with the IGRIPworkbench toolbars.

The Training Manuals are divided into modules and steps. Depending on the class, eachmodule represents the configuration and each step in the module guides you through aprocedure. 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 selectStart / Programs / DELMIA, DELMIA V5.

2. In the menu bar, selectTools / Options.

3. SelectGeneral / Generaltab. In the save field,deactivateAutomatic Save.

V5 IGRIP



and Robotics

IGRIP

Software Sett ing s


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4. In theDocumenttab click onOther folders(make sure it says Yes under the Activecolumn). Click theConfigurebutton.

When creating a process, users may choose to obtain part geometry from another file. Theoriginal storage location of these files probably differs from the current location of files. WhenV5 attempts to read these files, it cannot find them because pointers inside of the data stillpoint to the original location. Configure this location to link to the directories where the projectis saved.

5. In theOther Folderswindow, search for the project and add the directory with theAddTreebutton. Click onOKto complete this setting.

The project is then added to thelinked document list. For thisproject, your teacher will detail

the path.


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6. In theEnvironment Toolstoolbar, the ToggleManipulation Handle Mode command can be

toggled On/Off. When toggledon, a green boxappears around the selected object. This boxmakes the object easier to grab and move.

7. Under theGeneral / Display / Navigationtab, deactivate thePreselect in geometry viewoption.

Objects can now be chosen from the PPR tree only. If this option isactive, objects in the 3D view are automatically selected by passing themouse over them. Selections, in this made may be made that are notwanted.

8. DeactivatetheDisplay manipulation bounding boxoption.

9. In the Navigation field, activate theGravitational effects during navigation option.SelectZ.

This option is especially useful for a project with a floor; you can rotate around and the floorstays level with the viewpoint.


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10.In theGeneral / Display / Performancestab note the settings for the 3D Accuracy, the 2DAccuracy, 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 asround not as an octagon.

11.Scroll down in the Performance tab to theMiscellaneousfield, and activateSave lineicelements in cache. This allows you to see wire frame geometry.


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12.TheGeneral / Display / Visualizationtab displays the color settings for the software. Forthis project, change the background to white. Click on the down arrow or click on the pull

down menu to see the available colors.

13.In theGeneral / Parameters and Measure/Unitstab, change the length of the units toinches.

The default color for aclash (collision) isorange. If the robots areorange, the clash isdifficult to see. Change

the clash color in theSelected elements field


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14.Use theGeneral / Parameters and Measure/ Report Generationtab to set the locationand report content options.

The default values are acceptable.

15.To hide constraints, in theGeneral / Parameters and MeasuretheSymbolsTab click onFilterbutton. The Constraint Filter dialog box appears. In the Filter field, selectHide Allthen click onOK.


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16.In theInfrastructure / Product Structure / Cache Managementtab / Cache Activationfield, activate theWork with the cache systemoption.

17.In theInfrastructure / DELMIA Infrastructure / Simulationtab, adjust the simulationsettings to match the options shown. Set the step size to 0.3 to make the simulation run

faster.


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18.Select theInfrastructure / DELMIA Infrastructure / Robot Analysistab. These settingsdetermine what system behavior when tool center point (TCP) limitations are exceeded

during a simulation. Additional options control TCP trace display in the 3D view.

The tablebelowprovides anexplanation ofthe TCP traceparametersthat you canset.

The optionstake effectimmediatelyand apply toallapplicationscontainingsimulationcommands.

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.

Delete path A simulation's path is deleted when a new simulation is run. Otherwise, each path

remains visible until the session ends.

Showlegends

Text appears when a point/line/axis is (pre)selected by the user. The text containsinformation related to the current point. The text can contain any of the following data(if selected):

Name Time X axis Y axis

Z axis Yaw Pitch

Roll


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19.Select theDigital Process for Manufacturing / Treetab. In theHierarchy treefield,select all the items as shown.

20.Select theDigital Process for Manufacturing / DPM Fastening Process Planner /

Commandstab. In theFastener Assignmentfield,Activate duplication assignment.


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21.Click on theDPM Fastening Process Planner / Fastener Visualizationtab. To see thecoordinates, activate theShow the fastener(manuf)/tagoption to see the coordinates.

22.Select theIGRIP/Robot Task Displaytab. 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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23.Click onOK. Use the tasks contextual menu to activate the task display. The task displayis not updated automatically.

24.UseUpdate All Tasks in the Sequence toolbar torefresh the visualization.

Option Role

Cartesian Target These options are for tag, weld, and Cartesian targets.

Show X, Y, Z Values/ShowY, P, R Values

Checking these boxes causes these values to be displayed when themouse is moved over the target.

Joint Target These options are for joint and home targets.

Show Joint Values/Show

Auxiliary Axes Joint Values

Checking these boxes causes these values to be displayed when the

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.


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25.Select theIGRIP/Teach Dialog Settingstab. No changes need to be made for thisproject, however, the following changes are possible:

Select items from the Data included in the table box field and move it to the AvailableData 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 andselection that is used.

The options list order determines the order in which the data fields appear in the teachtable.

Activate the Show Task visualization option to automatically display the task visuallywhen teaching a task.

26.Set up the system forOffline Programming. To do this:

a. Remove any Java version earlier than version 1.4b. To determine the Java version installed on your computer:

i. open a command promptii. type java version in the directory where Java is installed


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c. Download the latest version of Java fromwww.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\binf. Go to theTools / Options / Offloading Programmingtab. In the Java

Executable field, insert the path, c:\jdk\bin\jave.exe
http://www.java.sun.com/http://www.java.sun.com/


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27. In theAEC Plant / Generaltab, change theGrid stepvalue to 0.5 in. This value affectsthe manipulation handle (used for easily moving a geometry); the manipulation handle

snaps to the value set.

28.Change theDepth Effectvalue. To do this, in the main menu, SelectView / 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 displaythe center of the field of visions center.


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29.To change thesizeof thePPR tree, click on the line connecting the directories, and in theView toolbar click on the zoom in or out.

Click on the line again to get back to the 3D view. To display, or hide the PPR tree, select theF3key on the keyboard.

To deactivate the zoom capability, go to theTools / Options / General / Display / TreeManipulationtab andunchecktheTree zoom after clicking on any branchoption.

30.To find an object in the PPR tree, right-click on the object in the 3D view and chooseCenter Graphfrom the contextual menu.

The size changes


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31.In the main menu bar,selectView / Toolbarsto

view the list of toolbars.

32.Another way to view the toolbars is to

drag them from their docking position.To do this,dragthemove handleofthe toolbar to the center of the

geometry window.

33.Some of the toolbars have toolbars imbedded inthem. Use theblack arrowto expand the toolbar,and then select the move handle and drag it.

Keyboard Shortcu ts

Use this keyboard key

(or combination)...

To...

Escape Exit the current dialog box (when there is one)

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 graph one page down

Ctr l+ Page Up Zoom In the graph

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 + Tab Swap active document windows

Alt + Enter Run the Properties... command

Ctrl + C Run the Copy command

Ctrl + F Run the Search... command

Ctr l+ G Run the Selection 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 shortcutClicking 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 wantwithout having to click on the icon several times.

Call outs are used throughout the project to give tipsand expand explanations.

Expanded explanations,examples, information,

or facts


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Open, and review a Workbench.

Compass

Minimize / enlarge

/ close / Window

3D viewWindowsizebuttons

Current

workbench

Some toolbars arehidden. Place themouse over thearrows and drag thetoolbar into the 3Dview

Text windowfor commandor function

Command promptor other information Toolbar

Software version /File name

Workbench mainmenu bar

PPRtree

Expand /

collapse

Click online to

adjust PPRtree


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Other Basic Techniques

Sometimes when rotating or panning,the geometry disappears from view. Toregain view, right-click the geometry in thePPR tree and select Reframe On from thecontextual window. The geometryreappears 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 toadjust the size and location of the PPR tree.

The 3D Compass

Use a graphic manipulator referred to as the3D compassto perform a number ofmanipulations on objects created and managed by certain applications (for example, ProductStructure, Assembly, FreeStyle Shaper, DMU Navigator, etc.).

The 3D compass is also used to manipulate viewpoint representations ("cameras"), whichcapture viewpoints.

The 3D compass is always active. Show and hide the compass by toggling the View /Compasscommand. Note that hiding the compass doesnotdeactivate 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 closeto the Z-axis is thefree rotation handleused for freely rotating the compass and thedocument's objects at the same time.The red square is thecompass manipulation handleyou use to drag the compass and placeon objects to be manipulated. You can also rotate objects around this point.The base of the compass, the XY plane, is theprivileged plane. This concept is not useful

when simply using the Select command. It is only useful when using application commandsthat use manipulators, which require working planes.


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Reviewing the Compass Functions

Right-click on an object to display its contextual menu. From this menu, select SnapAutomatically to Selected Object. In the 3D view or in the PPR tree, select an object. Thecompass immediately snaps to that object.

1. To reset the compass to its default position, from the main menu selectView / ResetCompass.

2. Tomove the compass, place the mouse pointer over the red box, and click the left mousebutton or LMB. The pointer changes to a grasping hand. Drag the mouse and compasstoward an object in the 3D view. The compass snaps to that object.

3. In the contextual menu, selectEdit. The parameter forCompass Manipulation appears.The current coordinates of thecompass manipulation handle(red square), with respect to thecenter of the world, aredisplayed in the axis fields for

the Position option.

CoordinatesSet the coordinate values to moveand rotate objects.

IncrementsSet the incremental values fortranslation and rotation.


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Conventions used in the online documentation

Certain conventions are used in CATIA, ENOVIA and DELMIA documentation to help yourecognize and understand important concepts and specifications. The following textconventions 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-clickCtrl-clickCheck (check boxes)

DragDrag and drop (icons onto objects, objects onto objects)

DragMove

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.


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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-handmargin.

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.


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3 workbench toolbars.doc 1 of 10Copyright DELMIA Corp. 2004

This procedure describes how to launch an IGRIP session and get familiar with the IGRIPworkbench 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 Definitionprovides all the tools required to perform robotic feasibility studies and programming in anenvironment where product data and manufacturing resources can be integrated into a single3D model. This model performs the basis for the development of robotic processes. RobotTask 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 thoseprograms while checking for interferences. The output of Robot Task Definition is a workcellmodel that is ready for the next step: development of a complete manufacturing simulation withsynchronization of all resources.

These models can consist of a combination of multiCAD product models, legacy DELMIA D5devices, and general CATIA V5 and V4 resource models. Robot Task Definition interacts withV5 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. Userscan 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 developand 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. Thesetools add the following capabilities:

basic measuring of distances and anglescollision and band width analysis.

It is expected that tool designers and simulation engineers will make excellent use of thisproduct.

V5 IGRIP



and Robotics

IGRIP

Workbenches andToolbars


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Workcell Sequencing

This workbench is a powerful 3D simulation tool used to simulate robotic manufacturingprocesses. It builds upon the workcell model developed in Robot Task Definition, Human TaskSimulation, or DPM Assembly Process Simulation. With Workcell Sequencing, the user cancoordinate and review the functioning of multiple resources as they work in tandem.

The interface is intended to enable task synchronization among any programmable resourcessuch as robots or human models. The tools are synchronized using IO technology. WorkcellSequencing allows it to link the resource programs to the process planning, and so creates abridge between the resource-centric programming and the high-level manufacturing processdescription.

Design and manufacturing engineers can use Workcell Sequencing to see simulations ofrobotic 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 onStart / IGRIP Robot Offline

Programming.

To view the toolbars horizontally, drag them by their move handle, redock them in the toptoolbar docking area, and drag them into the 3D view. Some of the toolbars have toolbarsimbedded in them. Use theblack arrowto expand the toolbar, and then select the movehandle and drag it.


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Workbenches and Toolbars

Robot Offline Programming

______________________________

_________________________________ ___________________________________

_________________________________ __________________________________

Select Off-Line

Programming

Calibration

PPR Tools


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________________________________ _________________________________

_______________________________ ____________________________________

Simulation

Activity Management

Team PDM

Data Views


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________________________________ __________________________________

_______________________________ __________________________________

Environment Tools

View

Standard

Simulation Analysis

Tools


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________________________________ ____________________________________

________________________________ __________________________________

The V5 General command toolbars appear in every workbench from this point on only toolbarsspecific to Workcell Sequencing, Robot Task Definition, and Device Building are covered.

Analysis

Knowledge

Layout Tools

Simulation Activity


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Workcell Sequencing

__________________________

________________________ ____________________________

________________________ ____________________________

________________________ ____________________________

OLP

PPR Tools

IO Import/Export Resource

IO Management

RRS Connect


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________________________ __________________________

Robot Task Definition

__________________________

______________________ ___________________________

Interference Zone

Device Motion

Tag Spot Weld Action


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_________________________ __________________________

________________________ __________________________

_________________________

Activity Management Sequence

Robot Management

Robot Controller

Simulation Activity Creation


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Device Building

________________________

_____________________ __________________________

_____________________ ________________________

Workbench

Device Building Device Building

Frames of Interest

Device Jog


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4 Starting a Project.doc 1 of 2Copyright DELMIA Corp. 2004

This describes how to start a project from the beginning. The products and resources consistof 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 inyour process. The end result of the process should be the creation of a finished productconsisting of the products listed in the PPR tree. The resources used in the process to createthe final product should be listed in the resource branch of the PPR tree.

This procedure has:

In addition to loading resources using the Resource Context command (as described in thisprocedure), 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 theIGRIP Robot Task Definition workbenchselectStart / IGRIP. The workbench openswith a new process document.

Loading productsLoading resources

V5 IGRIP



and Robotics

Starti ng the Pro ject

Another example is if the software is open,

and we want to start a new project. Close,

or save the existing window (X) then we

have a blue screen, (no workbench

selected) for this example;closethe

Process window,(X).


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4 Starting a Project.doc 2 of 2Copyright DELMIA Corp. 2004

2. To start a new process document, selectFile/ Newand theNewdialog box appears. Scroll down, selectProcess,and

clickon theOK.

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. Clickon theClosebutton forProcess2.

The workbench icon

always appears in this

corner (unless moved)Move the mouse over theicon to display the

workbench name.


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5 Resources Product and moving.doc 1 of 6Copyright DELMIA Corp. 2004

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

.CATProduct extension.

Products and resources differ in how they are used in a process. Products that are used tocreate the end-result of a process should be listed under the ProductList section of the PPRtree. Resources required during the process itself should be listed in the ResourceList branchof the PPR tree. The PPR tree serves as a tool to organize the digital manufacturingenvironment.

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 anumber of resources (which are embedded inside the ResourceList), The relationshipsbetween the activities (or operations), products and resources are both accessible and editableinside 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 PPRenvironment (as the sections which follow describe). However, a process can be createdwithout these elements and then completed later as those elements are brought into theenvironment at a later stage in the process design project.

In this procedure, a product (RH Body Side Outer) and resources (tooling, tooling bases, robotrisers) are inserted into the process.

1. In the main menu bar selectInsert / Insert Product.

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Products and

Resources


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2. TheImport Windowdialog box appears. Select theProductfolder from the3 Geometryfolder, andOpen.

3. Tooling is added next from the main menu.

SelectInsert / Insert Resource.

The Product appears

in the PPR tree and

the 3D view.


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4. The Import window appears. Go up one directory, select theResourcedirectory, and thenselect theStation.CATProduct.ClicktheOpenbutton.

5. TheStationappears in the 3D view.


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6. Using theViewtoolbar select the different Icons to change the 3D view.

7. Open the Quick view and View mode toolbars and try different commands. Also use themouse to zoom in, out, and rotate.

8. Insert a resource. From the Resources direcrory, select theFixture Base.CATProduct.

9. The bounding outline, and the compass is used to move the fixture base into position.Clickon theFixture Base Stn1. Notice that the text in the PPR tree is highlighted orange(default color), and, in the 3D view, the base is highlighted.


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10.Movethemouseover to one of theedges of the base. The side that you selected itmoves in that direction.

11.The base can be rotated with thecompass. To do this, right-click on thecompass and, from the contextual menu,Select Snap Automatically to Selectedobject.

12.In the 3D view,clickon theBase.Grabthe circular line on the compass and movethe mouse to rotate the base.

13.To beexact,right-clickagain onthecompass, and selectEditfromthecontextualwindow. The

Parameters for compassmanipulation dialog boxappears.

14.Typein 90in theAlong X /Anglefield and click on theApplybutton.

15.Grab the compass, as shownbelow, andmovethebase close

to thestation fixture.


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16.Try to place the base under the stations risers. Later the snap function is introduced for

more exact placement.

17.Closethis file. A different file with a complete setup will be used in the next step.

View the base from different

positions to ensure that it is placed

correctly


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6 Open Project insert robots.doc 1 of 6Copyright DELMIA Corp. 2004

The Robot Task Definition workbench, allows you to test for robot reach and access in acomplex manufacturing workcell. It provides tools for the development of robot programs andfacilities 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 completemanufacturing 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 selectFile / Open, andselect the3Geometry / Process /Robotics.CATProcess.ClicktheOpenbutton.

2. In the main menu, selectInsert / Insert Resource. IntheResourcesdirectory,selectthe robot riser,Riser

M.CATProduct,andOpen. The riser appears.

V5 IGRIP



and Robotics

Open ing a Pro jec t &

Insert ing Robots(Removing from PPR Tree)

Some of the data hasalready been set up. You

will step through theinserting process..

This way everyone has the geometry in the

same coordinates..Same

page


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3. In thePPR Tree, Clickon theRiser M; it highlights. Move themouse over

one of thelines on the edgeandclick and holdthe mouse. The pointerbecomes a hand.Movethemousetodragthe riser. Position this riser onthe side of the tooling, as shown.

4. Releasethe mouse button, andclick anywherein the 3D view to deselect Riser M. Whennot selected, the riser is no longer the default color orange.

5. Followthe same procedure toinserttheresource,Riser S,and place accordingly.

6. Snapthe compass toRiser M. To do this,right-clickon thecompassand chooseSnapautomatically to selected objectfrom thecontextual menu, Right-clickagain on thecompass and selectEdit.ClickonRiser Mfrom the PPR Tree. Place thesenumbers intheParameters for Compass Manipulation dialog box,ApplyandOK.

Careful:

If you select the riser M

from the 3D view

window, depending onwhat part you clicked on,

that is the only part that

will move.


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7. Repeatthe procedure forRiser Sbyclickingon thenamein the PPR Tree.

8. Save as, this file in theProcessdirectory, asRobotics1.CATProcess.

9. Reset the settings on the Compass. To do this,right-clickon thecompassand chooseSnap automatically to selected objectfrom thecontextual menu, this deactivates this

function.

10.In the Activity Management toolbar,clickon theCatalogBrowser.

(Or in the main menu,click Insert/Catalog Browser.)

11.Select theOpen fileIcon.

This sample catalog comes

with the software, and like

a Department catalog, wecan shop for Robots,

Tooling, etc. NewCatalogs 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 theyloaded 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 roug h. The layo ut pict ure is at th e end of this step.

13.Select theABB.catalog, andclicktheOpenbutton. The Catalog Browser now shows allof the robots in the catalog. Switch the view toDetails.


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14.TheRobot IRB_6400_24_150is used in the project. Using the

Filtercommand, search forall of the robots that start withIRB_6400. Select the optionsshown in the filter,clickonApply, and the results appear inthe catalog browser. Click onOKin theFilterbox to closethis window. Clickon theIRB_6400_24_150text in theCatalog Browser.

15.The Robot now is attached to the pointer in the 3D view. Move the mouse and place thefirst 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 asthe robot changes position in the world.

16.When the robot is correctly positioned in the world,click the left mousebutton, and another robot appears.

17.Move themouseover theRiser M, and notice that thecrosshairs changetoa box and line. Position the robot as shown, andclickon top of theRiser M.

18.Another robot appears. Position this robot onRiser S, and the final robot on theseventhaxis rail, or gantry. Disregard the next robot, andClosethe catalog Browser. This cancelsthe command.

19. Go into the Catalog forFanuc robotsand insert theS-420iSrobot. The project shouldlook similar to the example shown.


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Note the po sition of each robo t and its numb er in relation to the pro du ct. The Pos itions

ar e imp or tan t w hen s ettin g u p th e in ter acti on s b etw een th e r ob ots .

20.For viewing ease, keep the rotation of the mouse relative to the floor. To do this,selecttheTools / Options / Display / Navigationtab. In thenavigation field,activatetheGravitational effects during navigationoption and theZ (axis)option.

Incorrect insertion in the PPR tree

21.In the PPR tools toolbar,clickon theRemove from PPRicon, and then, inthe PPR tree,clickon theitemthat you wantto remove.

IRB 6400 24 150.1

IRB 6400_24 150.2

IRB_6400 24_150.3S-420iS.1

Seventh axis, or rail


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7 creating a floor area.doc 1 of 4Copyright DELMIA Corp. 2004

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, selectStart /AEC Plant / Plant Layout.

2. In the Plant Layouttoolbar,select the Area command.

The Area Creation dialog boxappears.

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Creating a Area


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3. Changethe X and Y lengths to800in. To do this,Clickinside the white text fields and

type in the numbers. In the 3D view, select in the window the origin of the area. Select0,0,0. (If you move the mouse around, in the geometry window, you will see the coordinateschange).

4. In theViewtoolbar, select theFit All Incommand. The entire floor is displayed in the 3Dview.

5. Changethe name ofProduct 12. In the PPRtree,right-clickon Product 12 (you mighthave a different name). In the contextualmenu, selectProperties. In the Product tab ofthe Properties dialog box, change the text inthe Part Number field toPlant Floor. ClickontheApplyandOKbuttons.


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6. The plant floor is created.Right-clickon the name Area 1 in the PPR Tree, and underProperties,deactivatetheShow area nameoption. Thenclickon the buttonApply, and

Ok.


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7. Save the floor. In the main menu, selectFile/ Save as. Select 3 Geometry / ResourcesandclicktheSavebutton.

8. Closethisdocument(X in corner), and return to the current project. To insert the floor,selectInsert / Insert Resources, and select thePlant Floor.CATProductfile.


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8 placing and assigning robots.doc 1 of 5Copyright DELMIA Corp. 2004

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 ein this step to see ho w the finish ed proj ect loo ks)

1. Select Robot IRB_6400_24_150.1, and move themouse over the green line shown in the image. Clickandholdthe left mouse button down (changes mouse toa hand) and drag the robot up. As the robot moves, theposition values change.

Select various lines, in the bounding outline around therobot, and use the move functions. When completed, make

sure that the robot is up in the air. Click in a blank area inthe 3D view to deactivate this function.

2. In the Layout Tools toolbar,Clickon theSnapicon.

3. The Snap Options dialog box appears. Accept the defaults. In the far left corner, under thebottom toolbar, the system prompts you to select an object to be moved. Select theRobot

IRB_6400_24_150.1 from thePPRTree.

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Placing and Ass ignin g

the Resou rce: Robots


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4. Theselectedrobot turnsorange,

theDefine Reference Plane(From)dialog box appears and agreen compass is displayed on therobot showing the currentorientation.

5. As you move the mouse pointer, asmall white rectangle is displayedto show the selectable planes. Aline normal to the rectangle showsthe direction in which the snap will

be performed.

6. Movethewhite rectangleand line to the desired plane and orientationasshownin thisimageandclicktheleft mousebutton. The greencompass moves to this location and orientation.

Note: This step does not need to be done if the green compass is initiallyin the desired location and orientation.

7. ClickOKin theDefine Reference Plane (From). The reference planeis set and the command prompt asks you to select an object to besnapped to.

8. In the 3D view,clickin thecenter of the top plane of Robot RiserM. Orientate the rectangle and line as shown in the image. Right-clickthe compass andclick OKin the dialog box.

9. The Snap OptionsDialog appears. In theSelect field, clickFace. ClicktheOKbutton to align the twofaces selected.

For this snap function, we will

be using the Snap Option,

Define Plane..


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Snap the rest of the robots, to the desiredlocations, if required.

10. Next, the robots are rotated so they facethe fixtures. Right-clickon thecompassto get the contextual menu, and selectSnap Automatically to Selected Object.Clickon theRobot S-420iSin the PPRtree. Notice that the compass positionsitself to the center of the Robot.

11.Right-clickon thecompass again, and select theEditfunction. The Parameters forcompass manipulation dialog box appears. In theAlong Z, Angle, type in 90, and click ontheApplybutton. The robot rotates to face the tooling.

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.

Yes, it

getseasier


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13.When you arerotatingtheIRB_6400_24_150.1robot, make sure that youselecttheRobot first, then theRiser M, (hold down theCTRLbutton) that way it rotates both using the

Riser Ms compass. This places the robot and riser in front of the tooling.

14.Select the other robotIRB_6400_24_150.2, androtate. TheIRB_6400_24_150.3makesure to select theRiser S, then the Robot. This rotates them around the Robots compass.

15.For the ease of programming (creating the robot path), select theS-420iSrobot and makesure that it is placed at these coordinates.

16.In the Layout Tools Toolbar, select theAttachicon. You are prompted toselect theParentfirst select theRiser Topas shown,and then select theIRB_6400_1(from the PPR tree).


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17.The Child Selection dialog box appears, selectOK. TheParent Childrelationship

appears.

18.In the Environment Tools toolbar, selectHideAttachmentand click on the text to hideright-clickon thetext, and selectHide/Showfrom the contextual menu.

The layout of the Finished Project.


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9 Mounting a Weld Gun.doc 1 of 3Copyright DELMIA Corp. 2004

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, selectInsert / Resourceand select theWeld Gun1.CATProductand theWeld Gun2.CATProductin theResourcesdirectory, under 3 geometries.

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and Robotics

Mounti ng a Weld Gun

The weld guns are on top

of one another


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2. SelecttheSet ToolIcon from the Robot Management Toolbar.

3. The Robot Dressup dialog box appears. SelecttheRobotIRB_6400_24_150.1 andDevice NameunderWeld Gun 1,Clickon theRocker2#2.1under the Weld Gun 1. The systemrecognizes the device name not the product name,clickonApply.

4. The end effectorsorientation is incorrecton the robot. Manipulate thecompasstoturnthe end effector as shown (next picture).

Do not select ok yet we

need some adjustments!!

Yes, if drawn with correct

orientation it should line up,

and you can click on the OKwith no adjustmentsbut..


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5. When completed, click onOK.

6. The Parent / Child relationship is displayed in the 3D view.

7. Follow the same procedure to mount the other weld gun. UsetheSet Toolcommand tomountthe weld gun to robot S420iS.

8. Right-clickon theChild / ParentRelationship, and select theHide/ Showcommand. (To hide the text and line). This willmake it easier to see all the geometry; the text and lines will notinterfere.


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x10 hide show attachmts.doc 1 of 2Copyright DELMIA Corp. 2004

This procedure shows how to use the Hide/Show function using the Text that shows theParent/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 (DoubleClick on the Icon, and this keeps it active for more selections).

1. To make the parent / child relationship visible,in the Environment Tools toolbar,selecttheShow Attachment icon, andclickon one oftherobotsin the PPR tree.

2. Click on the icon again, and select the other

robot, so that both relationships are shown.

3. Double-clicktheHide Attachmentsicon (iconstays orange). Click on the text, to hide it. Hideboth relationships, and then click on the icon todeactivate.

.

4. To view the data in the No Show area,clickon theSwap visible spaceicon in theViewtoolbar.

5. This 3D view has a green background indicating that this is the No Show area. Acomponent hidden in the product structure appears in low highlights in the PPR tree.

V5 IGRIP



and Robotics

Hide/Show

Attachments

Where does it hide it? The text is placed in the swap visible

space3D view.

Buton some versions of the software, this is not available.


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x10 hide show attachmts.doc 2 of 2Copyright DELMIA Corp. 2004

6. Clickon theSwap Visible Spaceicon 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 placesome of the data in the No Show area. This area is for viewing only; and the main 3D viewis the active view where functions are available.

8. Try theHide / Showcommand with some of the geometry. Pick the geometry from thePPR tree or from the 3D view to see different results. Also, notice the icon in the PPR treewhen executing theHide / Showcommand.

9. When completed, make sure all the geometry is visible, excluding the Parent / Childrelationships.


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x11 Creating the Process.doc 1 of 4Copyright DELMIA Corp. 2004

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 standarddefault 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 standardcommands 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 activitiessuch 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, selectStart

/ Digital Process for Manufacturing / DPM Fastening Process Planner.

2. In theActivities toolbar, scroll the mouse over each icon to see the activity names.

3. Select theInsert Station Activityicon andclickin thePPR tree, the wordProcess.

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Creating the Process

Plan


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4. TheCreate Activitydialog box appears. Clickon theMore >>button to see the StationActivity Attributes. Change theNametoStation 1andclickonOK. 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 anotherstation activity or a child of the main process. Stations activities children are other activities; itcannot be a child of, say a clamping activity.

5. Using the commands in the Activities toolbar tocreate

the Stations(as shown). Make sure that you select theprevious activity when inserting the new one. Thiswill create your process that flows from activity to activitycorrectly.

6. If you do not have the proper process

Follow the steps below to

correct your process.


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1. In theData Viewstoolbar, select theOpen PERT Chartandclickon the wordProcessinthe PPR tree.

The PERT Chart Window appears showing the Activities. Select an activity box with the leftmouse button and drag it to the desired location. The position of any activity in the PERT chartcan be modified after changing an activity's position, it will automatically snap to the center ofthe nearest grid square when the mouse button is released.

2. To see the Text in the Activity boxes, from the main menu, selectWindow/ TileHorizontally.

3. With a split view, when a activity is selected it highlights in both windows.

The names of the activities in the Pert Chart

are easier to see.

Click on the + sign to

view the activities

under the stationsprocess


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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. Thisprocedure also explains how to modify existing links. The PERT chart appears below the PPRtree. Each box represents an activity. Each box can be manipulated and moved within thechart.

4. To delete the links, move the mouse over theline, and right click for the contextual menu.SelectDelete. If needed, delete the links andcreate new ones so they match the processflow.

5. To create a linkbetween two activities, click

on theLinkicon. Click in the box thatyou want to start the link, and then the box tolink to. If no other links need to be created,click on the link command to deactivate it.

Final Process

6. ClosethePert chartwhen completed.

To zoom in or out, click in the

window (to make it active), and

select the mouse functions for

zooming


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x12 Fastener Assignmt welds.doc 1 of 3Copyright DELMIA Corp. 2004

This procedure describes how to assign and view welds in a process welding activity, therebymanaging and validating these Weld points well in advance of production.

In this exercise, the DPM Fastener Process Planner workbench will be used to assign thewelds.

1. In the PPR tree, underStation 1, selectSpotWelding 1.

2. In the Fastener Management toolbar, select theAssign fasteners from Product to anActivitycommand. In the PPR tree Products list, selectAssembly Jointsunder theRH

Body Side Assembly.1.

V5 IGRIP



and Robotics

Fastener Assignm ent

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.


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3. The Fastener Assignment dialog box appears. This displays the total number of welds andwhat activity the welds are assigned. At this point, no welds are assigned. Notice that there

is apull down windowfor in theList of Products with Fastenersand for theList ofactivities. Hold theCtrlkey down and select theWelds 1,3,5.Use thearrowto assignthem to the selected activity.

Welds are assigned and no longer available unless Allow Duplicate Weld Assignment istoggled on. (This is in the tools / options / Digital Process for Manufacturing / Commands) Thiswould be toggled on if a parallel process were also being created. Welds can also beassigned depending on what parts have been loaded prior to the welding activity selected inthe Process. Apply Part loading Constraints must be toggled on for this to take effect. We willnot be using that function.

4. With the Fastener Assignment dialog box still open,select Station 1 >Spot Welding .2

from theList of activitiesor the PPR tree.

5. Select welds 07, 09, 11, and 13and click on the arrow tomove the welds and assign them to selected activity.

At this time select the accountability tab and confirm thatthe odd welds have been allocated.

6. Notice that, while assigning welds theweld namesappearin the3D viewwhen they are selected, theychange color. ClosetheFastener Assignment dialogboxwhen finished.


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Weld Information or Weld ID

7. Tocontinueto view theweld names, position the geometry conveniently in the 3D view.

Select the Show Weld ID in 3D window button. Expand the ProductList in the PPRtree andselecttheRH Body Side Assembly. A weld ID dialogue box comes up. Verifythat theAll sub-products optionischecked, and theSwitchisyes, (double click on theproduct name if it is not) Thisactivatesthemon, and offusing theApplybutton. ClickontheApplybutton a few times to see them turn on and off, then when they areoff,Close.

8. The Assigned Weld information in the PPR tree.

9. CollapsetheRH Body Side Assemblynode in theProductlist.


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x13 Assign Resource to Process.doc 1 of 9Copyright DELMIA Corp. 2004

This procedure describes how to assign products and resources to activities within theprocess. 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 theassignment

Using the Assign an Item and Assign a Resource commands (Activity ManagementWorkbench)

This method allows you to quickly assign a product or resource to an activity, without queryingfor 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 arerepresented 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 theapplication.

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.

Lets Talk and Review the dif f erent ch oices

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and Robotics

Assign ing the Robot

Reso urces to theProcess


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Assigning a Product

To perform the procedures described:

The products and resources to assign must have been previously imported to theprocess (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 beenabled.

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 beshown in the Items folder of the selected activity. This is a way to assign a product so that it has no relation tosaving to the PPR Hub.

4. Click on the Assign a product/resource icon.

5. Select the product to be assigned from theProductList of the PPR tree.

6. Select the activity in the PPR tree that theproduct is to be assigned to. The selected productwill then be shown in the Items folder of theselected activity.

7. Select the type of relation for the process/product and click OK. Theproduct will then be shown in the Items folder of the selected activity:(Use the 1st 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. Productsdragged 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 ProductsSelection 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 individuallines, planes, etc. that are part of a product, but does not select an entire product. When enabled, ProductsSelection mode allows for the selection the entire product that a particular line or plane belongs to, and willhighlight 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, anddragging 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 beshown in the Items folder of the selected activity. This is a way to assign a product so that it has no relation tosaving to the PPR Hub.

4. Click on the assign a product /resource icon.

5. Select an element of the ResourcesList on thePPR tree.


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6. Select the activity in the PPR tree that the product is to be assignedto. The Assignment Type dialog box is displayed when the activity isselected:

7. Select the type of relation for the resource/product and click OK. Theresource will then be shown in the Resources folder of the selectedactivity:

Method 2: Using drag-and-drop from within the PPRtree

1. Use the mouse to select and drag a resource from the ResourcesList and drop it on an activity. Elementsdragged 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 3Dviewer. 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. Whenenabled, Products Selection mode allows for the selection the entire product that a particular line or planebelongs 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, anddragging 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 acompleted 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 isprocessed in a further process. The product may be asubassembly 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 beselected 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 removeddirectly.

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 MainResource, while doing this Process.

This Relation indicated that the Resource is of type Laboror Sub Resource (Tools & Fixtures) in Quest

The Labor or Sub Resource Requirement of the CycleProcess 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 boxwill 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 toremove those selected from the activity.

Unassigning a Resource

1. Click on the Unassign a Resourceicon.

2. On the PPR tree, select the activitythat the resource is assigned to. Adialog box will be displayed which listsall resources currently assigned to theactivity:

3. Select as many resources in the list as desired, andclick the Unassign button to remove those selected

from the activity.

During the assignment of products or resources, the system determines whether the current assignmentduplicates any that already exist. Each product or resource can only be assigned to a particular activity within aparticular process once.

The assignment of a product or resource differs from the use of copy and paste commands. Copy and pastecommands should never be used in place of assigning products or resources to operations; this will not work.

The conventional method for assigning a product to a process (described in the previous section) utilizes eitherthe Assign an item command or the drag-and-drop method, and results in an assigned product having a "Processprocesses product" relationship with the process that it is assigned to by default.


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In order to support the same relationships that are supported by the PPR Hub, DPM Process and ResourceDefinition now also provides the "Process first processes product" relationship to indicate that a product is beingconsumed by a process for the first time.

Assigning a product as Process firstprocesses product

To assign a product to a process as "process firstprocesses product," click on the First assign item

command located in the Activity Management

toolbar, pull down menu for Assign a item. With the Firstassign item activated, select the product to be assigned toa process: After the product has been selected, click onthe process to assign it to: If the Items (first use in

process) option is enabled in the Filter tab of theTools ->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.

Now Lets assig n ou r Prod uct and Resourc es

Return to th e IGRIP Robo t Task Definit ion

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 theStationsis visible, and theProductListtree.

1. Selectthe iconAssign a product/resource,and thenselecttheSpot Welding.1 in

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

The Process consists of the

activities that we have to do

in chronological order for

the project to flow..


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2. TheAssignment Typedialog box appears, and since this is a product has been finishedby the processselecttheProcess Uses Resource, andOK.

3. Follow the procedure andassigntherobotsto theStationsas shown in the PPR tree.

4. Openup one of therobot, and take a look at the treeunder the robots.

5. Notice the categories, and the Mounted devices. Noticethat under the Spot Welding 1 and 2, the category,Itemsdisplays 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 thatresource, or select the Unassign a item for the Product.

Note: the Resource has to be

unassigned firstfrom a

activity to remove it from the

PPR Tree.


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x14 Jogging a Robot.doc 1 of 4Copyright DELMIA Corp. 2004

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 theView Toolbar, we willHide/Show all of robots and risers,except S-420iS.1and theweld gunthat is mounted. Swap Visible Spaceallows you to flip from your chosen objectsshown, vs. the hidden objects.

2. Another way is to Multi-select the required geometries, then right-click and selectHide/Show.

V5 IGRIP



and Robotics

Jogg ing a Robot


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3. The View that we see

4. Select theSwap Visible SpaceIcon.

5. The rest of the project is shown.SelecttheIconagainto get back to our Robot with the Weld Gun.

6. Select theJog a DeviceIcon. In the RobotManagement Toolbar.

7. The user can now select three different ways to jog a device at this time.First, we canselecttheslide barsthat are located on the dialog box. Second, we can use thedevicemanipulation arrowslocated on each individual joint of a device. Third, we will be able tomanipulate thecompassin any direction to see changes based on the top of the device.Try all three ways.


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8. Notice if you go past the limits, an Output Window appears, and the robot changes topurple. This is a good time to play with theDOF controls,Linear Step,Angular Stepandto look in theCartesianpage as well. The Robot changes to Red for singularity.

5/23/2018 84841783 V5 Robotics Tr

84841783 V5 Robotics Training Guide

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