Robot Expert Quick Start Guide

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RobotExpert Quick

Start Guide

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Copyright Notice

Proprietary & Restricted Rights Notice

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Table of Contents

Getting Started ... 7

Initial Setup ... 8

Convert CAD Files ... 13

Convert .co Component(s) ... 16

Insert a Robot or Part from File ... 19

Basic Tasks ... 21

Manipulating the View ... 22

Pick Level and Pick Intent ... 22

View Tools ... 22

Zoom Tools ... 23

Object Viewing Modes and Options ... 24

Viewing Modes ... 24

Viewing Options ... 26

Blank and Display Objects ... 28

Relocate Robot, Tool, or Part ... 29

Placement Manipulator ... 29 Relocate ... 31 Fast Placement ... 32 Measurements ... 33 Point-to-Point Distance ... 33 Minimal Distance ... 35

Recording Information in Snapshots... 37

Attaching Parts to a Resource ... 46

Mount Tool ... 51

Modeling and Kinematics ... 53

Basic Modeling ... 54

Creating a Solid Box ... 56

Scaling Objects ... 57

Creating a Solid Cylinder ... 57

Uniting Objects ... 58

Creating Curves ... 58

Creating Fillets ... 59

Creating Chamfers ... 60

Revolute Curve to Create Solid ... 61

Duplicating Objects ... 62

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Table of Contents

Robot Jog and Reachability ... 73

Designing and Managing Processes ... 82

Basic Process Planning ... 83

Create Arc Mfgs ... 91

Create a Continuous Operation with Project Arc Seam... 94

Create Arc Mfgs using Modeling Capabilities ... 105

Continuous Robotic Path Planning and Simulation ... 110

Creating Collision Sets ... 110

Performing Torch Alignment... 113

Configuring Robot External Axes ... 114

Performing Robot Configuration ... 116

Tracking the Robot TCP ... 118

Using the Robot Viewer ... 119

Arc Torch Alignment ... 121

Robotics ... 126

Apply Path Template Action ... 127

Off Line Programming ... 131

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Introduction

This quick start document describes common procedures used in the RobotExpert application. It gives step-by-step guidance and is designed to get you up-and-running quickly. Further details about all the commands referred to in this document are available in the RobotExpert Reference Manual.

The document is divided into the following major sections:

Getting Started – Describes the initial one-time configurations and operations required after installing

RobotExpert.

Basic Tasks – Describes the most common tasks when working with RobotExpert.

Modeling and Kinematics – Describes how to perform modeling of parts and resources in order to

create optimal simulations. This section also describes how to define kinematics for devices and robots.

Designing and Managing Processes – Describes how to create different types of operations and

simulate them.

Robotics – Describes how to apply attributes and settings to robots.

Off Line Programming – Describes how to upload a program from a robot, modify the program, and

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Getting Started

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Getting Started Initial Setup

Initial Setup

This procedure describes how to configure the library root for RobotExpert.

1. Run the RobotExpert installation procedure, as described in the RobotExpert Installation Guide. 2. Arrange your data so that each cell includes:

• A cell file containing cell information • A pointer to the cell components library

• Pointers to component files and the cell components library 3. Select a data location – it is recommended to use the C or D drive:

a. Create a new folder and name it RobotExpert Data.

b. In the RobotExpert Data folder, create two sub-folders and name them Cell Files and Library. c. In the Library folder, create two sub-folders and name them Resources and Parts.

4. Perform license setup:

a. Browse the RobotExpert installation folder and navigate to \Tecnomatix\License. b. Launch RELicenseManager.exe. The RobotExpert Utility dialog appears.

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c. Type your License server name and port number, or browse to your license file. d. Click OK.

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5. To launch RobotExpert, double-click the RobotExpert shortcut on your desktop . RobotExpert starts up.

6. Configure the Library Root:

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Getting Started Initial Setup b. Click the Library tab.

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Getting Started Initial Setup d. Navigate to the Library folder you created and click OK. The Library Root control is updated

accordingly.

e. Click OK to save the configuration.

References

For additional information on the features described in this procedure, refer to the following topics in the RobotExpert Reference Manual:

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Getting Started Convert CAD Files

Convert CAD Files

To view a movie of this procedure, click Convert CAD Files.

This procedure demonstrates converting CAD files to .cojt components.

1. Click File→Import/Export→Convert CAD Files or . The Convert CAD Files dialog appears.

2. Add CAD files to convert:

a. Click Add. The Add dialog appears.

b. Select one or more CAD files. Use the Ctrl key for multiple file selection.

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Getting Started Convert CAD Files c. Click Add to complete CAD file selection. The File Conversion Settings dialog appears.

3. Define the target folder and the .cojt component type:

a. Click the Browse button to set the .cojt component Target Folder.

Note: The folder name appears in the Path field.

b. Select .cojt component Class Types:

 Select a Base Class (Resource or Part) from the drop down menu.  Select a Component Class from the drop down menu.

c. Click OK in the File Conversion Settings dialog to store the settings and close the dialog. 4. Click the Convert button in the Convert CAD Files dialog to begin the conversion. The Convert CAD

Files Progress dialog is displayed.

Note: At the end of the conversion process the system displays a status notification together with a link

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Getting Started Convert CAD Files 6. Click Close to close the Convert CAD Files dialog.

7. Insert the converted components into the cell: a. Click Modeling→Insert Component from File.

b. Browse the libraries and select components by double-clicking or selecting and clicking Open. Use the Ctrl key for multiple file selection. The system adds the components to the Object tree.

References

• File Menu→Import/Export→Convert CAD Files • Modeling Menu→Insert Component From File

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Getting Started Convert .co Component(s)

Convert .co Component(s)

To view a movie of this procedure, click Convert CO Components.

This procedure demonstrates converting .co components to .cojt components. Robot models from robot vendors with accurate geometry and kinematics definitions are usually available in .co format. As

RobotExpert uses .cojt format, it is necessary to convert the .co files to .cojt format.

1. Click File→Import/Export→Convert CAD Files or . The Convert CAD Files dialog appears.

2. Add .co components to convert: a. Click Add. The Add dialog appears.

b. Select one or more .co components. Use the Ctrl key for multiple file selection.

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Getting Started Convert .co Component(s) c. Click Add to complete .co component selection. The File Conversion Settings dialog appears.

3. Define the target folder and the .cojt component type:

a. Click the Browse button and set the .cojt component Target Folder.

Note: The folder name appears in the Path field.

b. Select .cojt component Class Types:

 Select a Base Class (Resource or Part) from the drop down menu.  Select a Component Class from the drop down menu.

c. Click OK in the File Convert Settings dialog to store the settings and close the dialog.

4. Click the Convert button in the Convert CAD Files dialog to begin the conversion. The Convert CAD Files Progress dialog is displayed.

Note: At the end of the conversion process the system displays a status notification together with a link

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Getting Started Convert .co Component(s) 6. Click Close to close the Convert CAD Files dialog.

7. Insert the converted component(s) into the cell. a. Click Modeling→Insert Component from File.

b. Browse the libraries and select components by double-clicking or selecting and clicking Open. Use the Ctrl key for multiple file selection. The system adds the components to the Object tree.

References

• File Menu→Import/Export→Convert CAD Files • Modeling Menu→Insert Component From File

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Getting Started Insert a Robot or Part from File

Insert a Robot or Part from File

To view a movie of this procedure, click Insert a Robot or Part from File.

This procedure demonstrates how to insert components from a file. The components can be either resources or parts.

1. Open an existing RobotExpert cell or a new cell:

 Double-click an existing cell file to open it in RobotExpert.

_{Double-click the RobotExpert icon} . RobotExpert is launched and the new cell is created.

2. Insert a component:

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Getting Started Insert a Robot or Part from File b. Browse the library root folders and select the desired .cojt file.

c. Double-click the file or select it and click Open. The system inserts the component into the cell. It is visible both in the Object tree and the Graphic Viewer.

Notes:

 You can also use the Insert Component option for parts (products) and resources (robots, fixtures and more).

_{The predefined Base class that you set in the File Conversion Settings dialog causes RobotExpert} to insert the object in the correct section of the Object tree (Resources or Parts).

 The inserted item is located at the Working Frame. 3. Save the cell, as follows:

 Click File→Save Cell to save changes to the existing cell.

 Click File→Save Cell as to save the new cell. The Save As dialog appears.

4. Define the location and cell name and click Save.

References

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Basic Tasks

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Basic Tasks Manipulating the View

Manipulating the View

This procedure demonstrates tools to manipulate the image in the Graphic Viewer.

Pick Level and Pick Intent

When selecting objects in the Graphic Viewer, the selection of objects is determined by two parameters: Pick Level and Pick Intent.

 Pick Level . Defines the selection level:

• Component . Selecting any part/entity of the component causes the entire component to be selected.

• Entity . Only the entity (that is part of the entire component) is selected.

•

• Surface . Only the surface is selected. • Edge . Only the edge is selected.

 _{Pick Intent} _{. Selects the precise point on an object according to where you click it.}

• Snap . Selects a vertex, the center of an edge or the center of a face, whichever is closest to the actual point clicked.

• On Edge . Selects the point on the edge that is closest to the actual point you clicked. • Where Picked . Selects the exact point you clicked.

• Self-Origin . Depends on the Pick Level (above) - if the Pick Level is set to Component - the component self origin is selected. If the Pick Level is set to Entity - the picked entity self origin is selected.

View Tools

Click View→Viewers→Graphic Viewer to launch these commands.

 Select . This is the default tool which enables you to select objects from different tree windows or from the Graphic Viewer.

Note: By picking an object, the selected object is highlighted in green in the Graphic Viewer and its name

is emphasized in the corresponding tree.

 View Center . Defines the view center to be used as the pivot point around which objects rotate. a. Pick an object or a place in the Graphic Viewer.

b. Click View→Viewers→Graphic Viewer and select the View Center command. The command pans the view to place the selected point at the center of the Graphic Viewer.

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Basic Tasks Manipulating the View  Rotate . Rotates the image in the Graphic Viewer.

a. Click View→Viewers→Graphic Viewer and select the Rotate command. b. Click and hold the left mouse button and move the mouse to rotate the image.

Note: Even without invoking Rotate, you can also rotate the image by pressing and holding the middle

and right mouse buttons simultaneously. Moving the mouse in any direction changes the view point. The distance you move the mouse across the screen affects the amount of rotation.

 Pan . Moves the image in the Graphic Viewer horizontally and vertically. a. Click View→Viewers→Graphic Viewer and select the Pan command. b. Click and hold the left mouse button and move the mouse to pan the view.

Note: Even without invoking Pan, you can also pan the view by clicking and holding the right mouse

button. Moving the mouse in different directions changes the panning direction.

Zoom Tools

 Zoom . Increases or decrease the size of the image in the Graphic Viewer. a. Click View→Viewers→Graphic Viewer and select the Zoom command. b. Click and hold the left mouse button and move the mouse to zoom in and out.

Note: Even without invoking Zoom, you can also zoom by clicking and holding the middle mouse button.

To zoom out, move the mouse to the left. To zoom in, move the mouse to the right.

 Zoom to Selection . Adjusts the image in the Graphic Viewer so that the selected object is displayed in close-up. This tool is convenient to use for small selections.

a. Pick an object.

b. Click View→Zoom to Selection.

 Zoom to Fit . Adjusts the image in the Graphic Viewer so that all visible objects are displayed.  Click View→Zoom to Fit.

References

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Basic Tasks Object Viewing Modes and Options

Object Viewing Modes and Options

To view a movie of this procedure, click Object Viewing.

This procedure describes how to make the best use of the RobotExpert object viewing modes and options, enabling you to change the way objects are represented in the Graphic Viewer.

Viewing Modes

By default, objects are represented in the Graphic Viewer in Shaded viewing mode.

1. Click View→Feature Lines Over Solid or . The feature lines are displayed over the shaded solid.

2. Click View→Feature Lines or . The feature lines are displayed in Graphic Viewer but the shaded objects are omitted.

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Basic Tasks Object Viewing Modes and Options 3. Click View→Wireframe Mode or . The objects are represented in the Graphic Viewer in

Wireframe viewing mode.

4. Wireframe viewing mode does not always provide an intelligible image. If this is the case, click Tools→Options, select the Graphic Viewer tab, and enable the Show Silhouette in Wireframe Mode option.

5. Click View→Shaded Mode or . The objects in the Graphic Viewer are displayed in Shaded viewing mode (the default viewing mode).

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Viewing Options

The object viewing options enable you to change between Shaded, Wireframe, and Transparent viewing of objects in the Graphic Viewer. This information is saved in the cell for the selected object only. 1. Right-click an object in Graphic Viewer and select Object Viewing→Transparent.

2. Unselect the object. The object is displayed in the Transparent viewing option.

3. Right-click the object in Graphic Viewer again and select Object Viewing→Wireframe. The object is displayed in the Wireframe viewing option.

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Note: The state of the Show Silhouette in Wireframe Mode option (Tools→Options, select the Graphic

Viewer tab) is ignored when using the Wireframe object viewing option. It is only relevant for Wireframe viewing mode.

4. Display an additional object in the Graphic Viewer.

Note: Currently, the object viewing mode is set to Shaded and the object viewing option for the selected

object is set to Wireframe. Therefore, the original object is displayed in Shaded mode (applied to all the displayed data) and the new object in Wireframe (when the Wireframe viewing option is applied to the selected object, the viewing option overrides the viewing mode).

5. Right-click the wireframe object and select Object Viewing→Shaded. The object is displayed in the Shaded viewing option. Both objects are shown in Shaded viewing mode, according to the selected object viewing mode.

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Blank and Display Objects

To view a movie of this procedure, click Blank_Display.

This procedure demonstrates how to blank and display objects in the Graphic Viewer.

1. Select an object in the Graphic Viewer or in the Object Tree and click View→Blank. The selected object is blanked - it is hidden in the Graphic Viewer and appears in the Object tree with an empty square to the left of its name

2. Right-click the object in the Object tree and select Display. The object is displayed in the Graphic Viewer and appears in the Object tree with a blue solid square to the left of its name.

3. Alternatively, click the square to the left of the item’s name in the Object tree to toggle between

blanked and displayed . The square appears partially filled when a component includes some blanked entities.

References

 View→Shaded Mode

 View→Feature Lines Over Solid _View→Feature Lines

 View→Wireframe Mode

 View→Object Viewing→Shaded  View→Object Viewing→Transparent  View→Object Viewing→Wireframe _View→Display

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Basic Tasks Relocate Robot, Tool, or Part

Relocate Robot, Tool, or Part

To view a movie of this procedure, click Placement.

This procedure demonstrates three methods for positioning robots, tools, and parts in the workcell. The final object position is determined by the object location and orientation.

Placement Manipulator

1. From the Graphic Viewer or Object tree, select an object.

2. Click Tools→Placement→Tool Placement Manipulator or . The Placement Manipulator dialog appears. It opens for the selected object and a manipulator frame is placed on the object.

3. Click the arrow to the right of the Frame of Reference list and select a reference frame. 4. Translate (move) the selected object along an axis, as follows:

a. In the Translate area, click the Step Size link. The Step Size dialog appears.

b. Set the Step value and click OK. c. Select the X, Y, or Z button.

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Basic Tasks Relocate Robot, Tool, or Part d. Click or to move the object one step forward or backward along the selected axis.

Or

In the Graphic Viewer, select the X, Y, or Z axis of the manipulator frame, press the mouse button, and drag the object to the required position on the selected axis.

5. Rotate the selected object around an axis, as follows:

a. In the Rotate area, click the Step Size link. The Step Size dialog appears.

b. Set the Step value and click OK. c. Select the Rx, Ry, or Rz button.

d. Click or to rotate the object one step clockwise or counterclockwise around the selected axis.

Or

In the Graphic Viewer, select the X, Y, or Z axis of the manipulator frame, press the mouse button, and drag the object. This rotates the object to the required orientation around the selected axis.

6. Click Close to close the Placement Manipulator dialog or Reset to return the object to its initial location and orientation when you launched the Placement Manipulator dialog.

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Relocate

This method enables you to position objects at exact locations in the workcell. 1. From the Graphic Viewer or Object tree, select an object.

2. Click Tools→Placement→Relocate or . The Relocate dialog appears. It opens for the selected object.

3. From the To frame list, select a target frame to which to move the object. A yellow line appears in the Graphic Viewer indicating the proposed move.

Note: To create a new frame, click . For more information on creating new frames, see Create

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Fast Placement

This method enables you to move objects in the X-Y plane (the Z coordinate of the object remains unchanged). This method is fast but not accurate.

1. From the Graphic Viewer or Object tree, select an object.

2. Click Tools→Placement→Fast Placement or . The cursor changes to a hand symbol.

3. Select and drag an object to the desired location in the workcell. The coordinates (X, Y, and Z) of the object are displayed near the hand.

4. Press <Esc> or click to exit fast placement mode.

References

• Tools→Placement→Tool Placement Manipulator • Tools→Placement→Relocate

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Basic Tasks Measurements

Measurements

Point-to-Point Distance

This procedure demonstrates how to measure the point-to-point distance between two points 1. Click Edit→Selection→Component Pick Level.

2. Click Point to Point Distance on the Measurements toolbar. The Point to Point Distance dialog appears.

3. Click First object and then pick a point in the Graphic Viewer. The name of the object on which the point is located and its exact location are displayed in the First Object field.

4. Pick another point in the Graphic Viewer - the name of the object on which the point is located and its exact location are displayed in the Second Object field.

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Basic Tasks Measurements A measuring line connecting the two points is displayed in the Graphic Viewer. The exact distance

between the two points is calculated and displayed beside the measuring line. Additionally, the Result area displays the distance, the vector distance, and the rotation delta difference for each of the X, Y, and Z axes.

5. Check Show dX, dY, dZ lines in the Graphic Viewer to display the delta distance lines and distances (dX in red, dY in green, and dZ in yellow) in the Graphic Viewer.

6. Click Close to close the Point to Point Distance dialog.

References

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Basic Tasks Measurements

Minimal Distance

This procedure demonstrates how to measure the minimal distance between two points

1. Click Minimal Distance on the Measurements toolbar. The Minimal Distance dialog appears.

2. Click First object and then pick an object in the Graphic Viewer, Object tree, or Groups Viewer. The name of the object and its exact location are displayed in the First Object field.

3. Pick another object in the Graphic Viewer, Object tree, or Groups Viewer - the name of the object and its exact location are displayed in the Second object field.

A distance line connecting the two objects is displayed in the Graphic Viewer. The exact distance between the two points is calculated and displayed beside the measuring line. Additionally, the Result area displays the distance and the vector distance between the objects.

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Basic Tasks Measurements 4. Check Show dX, dY, dZ lines in the Graphic Viewer to display the delta distance lines and distances

(dX in red, dY in green, and dZ in yellow) in the Graphic Viewer.

References

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Basic Tasks Recording Information in Snapshots

Recording Information in Snapshots

To view a movie of this procedure, click Snapshot.

Snapshots preserve the current view of the workcell – they include a variety of object attributes, for example; point of view, visibility, location and more. This procedure demonstrates how to create and apply snapshots with various options.

The Snapshot Editor displays snapshots created from engineering data as displayed in the Graphic Viewer. Snapshots are used to store specific views and viewing angles during your work and can be used for later reference and collaboration.

1. Click View→Viewers→Snapshot Editor. The Snapshot Editor appears – it is empty.

2. Create a snapshot, as follows:

a. Display the objects in the Graphic Viewer as you wish to record them. For example, change the point of view, rotate, and zoom in/out.

b. In the Snapshot Editor toolbar, click Create New Snapshot. A snapshot listing appears in the upper pane of the Snapshot Editor – its default name is snapshot1. You can rename the snapshot. Additionally, the snapshot preview is displayed in the lower part of the viewer.

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Basic Tasks Recording Information in Snapshots

3. Create another snapshot, as follows:

a. Display the objects in the Graphic Viewer as you wish to record them.

b. In the Snapshot Editor toolbar, click Create New Snapshot. Another snapshot listing appears - give it a unique name.

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Basic Tasks Recording Information in Snapshots 4. Edit snapshot properties:

a. Select a snapshot listing in the upper pane of the Snapshot Editor and click Edit Snapshot Properties. The Edit Snapshot dialog appears.

b. Type a new snapshot Name and meaningful description, and click OK. The snapshot name changes in the upper pane and its description is displayed next to the snapshot preview in the lower pane.

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Basic Tasks Recording Information in Snapshots 5. Apply snapshots to the Graphic Viewer – this step enables you to set the display in the Graphic

Viewer as captured previously in a snapshot. a. Select a snapshot in the upper pane. b. Click the arrow of Apply Snapshot.

c. Select the options you wish to apply. Point of View is checked and applied by default. d. Click or double-click the snapshot listing in the upper pane to apply them to the Graphic

Viewer. The Graphic Viewer jumps to the view recorded in the selected snapshot.

Note: When applying snapshots, the system applies only the options you set in the previous step. You

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Basic Tasks Recording Information in Snapshots e. Select other snapshot listings in the upper pane and click again to apply them to the Graphic

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Basic Tasks Recording Information in Snapshots 6. If you wish to delete a snapshot, select its listing in the upper pane and click Delete Snapshot.

The selected snapshot is removed from the Snapshot Editor.

7. If you set Object Attachments in the snapshot apply properties, any object attached to an object in the snapshot moves together with the first object:

a. Create a snapshot and name it Attached.

b. In the Attached snapshot, create an attachment between two displayed objects in one of the following ways:

 Click Modeling→Attach. The Attach dialog appears.

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Basic Tasks Recording Information in Snapshots c. Apply the Attached snapshot to the Graphic Viewer. This snapshot contains the attachment

information.

d. Click Tools→Placement→Placement Manipulator to open the Placement Manipulator and move one of the objects. If the object is a device, use Kinematics→Joint Jog instead.

e. Select one of the attached objects and use the Placement Manipulator or Joint Jog to move it. Both objects move.

f. Create a snapshot without any attachment information and name it Unattached.

g. Apply the Unattached snapshot to the Graphic Viewer. The attachment is cancelled when applying the snapshot.

h. Select one of the objects and use the Placement Manipulator or Joint Jog to move it. Only the selected object moves – the previously-attached object remains stationary.

i. Apply the Attached snapshot to the Graphic Viewer - the attachment is restored.

8. You can update a snapshot so that it records the current display in the Graphic Viewer, as follows: a. Select the snapshot you wish to update.

b. Set up the objects in the Graphic Viewer as you wish to record them.

c. Click Update Snapshot. The selected snapshot now records the image currently displayed in the Graphic Viewer.

d. You can apply the snapshot and see the changes. 9. You can mark up a snapshot, as follows:

a. Select a snapshot and click Add Markup. The Markup Editor appears with the selected snapshot loaded.

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Basic Tasks Recording Information in Snapshots b. Use the markup tools to add information.

c. Click to save the snapshot as a JPG file. The system prompts you for a file name and path. d. Click Close to overwrite the selected snapshot in the Snapshot Editor.

Note: When displaying the snapshot in the preview pane, the markup icon is also displayed to indicate

that you have marked up this snapshot.

10. You can also edit the markup of a snapshot that already contains markup, as follows: a. Select a snapshot and click Add Markup.

b. Change the markup.

c. Click to save the snapshot as a JPG file. The system prompts you for a file name and path. d. Click Close to overwrite the selected snapshot in the Snapshot Editor.

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Basic Tasks Recording Information in Snapshots 11. To remove markup, select a snapshot and click Remove Markup. The markup is removed.

Note: There is no markup icon in the preview pane.

References

 View→Viewers→Snapshot Editor

 View→Viewers→Snapshot Editor→Markup Editor  Modeling→Attach

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Basic Tasks Attaching Parts to a Resource

Attaching Parts to a Resource

This procedure demonstrates how to attach parts to resources.

In some cases the part is held by a kinematic device. Any movement of the joints of the device affects both the part location and orientation.

It is not sufficient to locate the part on the device, it also necessary to attach the part to the device in order to perform movement as a unified body.

1. Open a robotic cell containing: • A Kinematic Device • The part to-be-held

2. Relocate the part:

Note: It is recommended to open the part and the kinematic device for modeling in order to reveal all

the entities of the part and the device, including frames. a. Click Modeling→Set Modeling Scope.

b. Select the part in the Object tree or the Graphic Viewer.

c. Click Tools→Placement→Relocate. The Relocate dialog is displayed for the selected part.

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f. Click Apply to perform the relocation. g. Click Close to close the dialog.

Note: At this stage, jogging the device joints does not affect the part location and orientation. This is

only possible after completing the following steps for attaching parts. 3. Attach the part:

a. Select the part either in the Object tree or the Graphic Viewer.

b. Click Modeling→Attach. The Attach dialog appears for the selected part.

c. Select the type of attachment: One Way or Two Way.

 If you select One Way only the part follows the movement of the device.

 Selecting Two Way causes both the part to follow the movement of the device and also the device to follow the movement of the part.

d. Select To Object. Be careful to select the correct entity. Make sure that pick level is set to Entity – use the Entity Pick Level command.

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Basic Tasks Attaching Parts to a Resource 4. Add an Attachment attribute in the Object tree:

a. Click Customize in the Object tree.

The Customize Columns dialog appears.

b. Expand the General collection in the Available Fields pane. c. Select the Attachment attribute.

d. Click the right arrow button to include it on the Show Fields in Following Order list.

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e. Click OK.

Note: This is the new state for the Object tree.

f. Verify that attachment information is correct in the Object tree.

5. Attachment validation:

a. Select the device in the Object tree or the Graphic Viewer.

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Basic Tasks Attaching Parts to a Resource c. Use the mouse to slide the Steering/Poses controls to the right and left. Notice that the device

entities move accordingly.

d. Examine the resulting movement of the attachment and determine if it is correct. The following figures illustrate the states before and after jogging the device joints.

6. To cancel the attachment, if necessary:

a. Select the attached part in the Object tree or the Graphic Viewer. b. Click Modeling→Detach.

References

• Modeling Menu→Set Modeling • Modeling Menu→Attach

• Tools Menu→ Placement→Relocate • Kinematics Menu→ Joint Jog

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Basic Tasks Mount Tool

Mount Tool

To view a movie of this procedure, click Mount Tool.

This procedure demonstrates how to mount a tool on a robot. When you mount a tool with its own defined tool frame (TCPF), the robot TCPF is adjusted to coincide with the tool frame. Therefore, when the robot moves, the mounted tool moves together with the robot TCPF.

1. Select Component as the Pick Level.

2. From the Graphic Viewer or Object tree, select a robot.

3. Click Kinematics→Mount Tool or . The Mount Tool dialog appears.

Note: The Mount Tool dialog opens for the selected robot and the Tool control is highlighted.

4. In the Mounted Tool area, select the Tool and Frame, as follows:

a. While the Tool control is highlighted, select the tool either in the Graphic Viewer or Object tree.

Note: The Frame list in the Mounted Tool area is populated with all the tool frames in the cell.

b. From the Frame list, select a frame.

Note: In the Graphic Viewer, the selected mounted tool frame is highlighted in red and the selected

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Basic Tasks Mount Tool

5. Optionally, select the Mounting Tool and Frame, as follows: a. From the Mounting Tool area, click in the Mount on control. b. From the Graphic Viewer or Object tree, select a robot. c. From the Frame list, select a frame.

Note: The Mounting Tool area is already populated with the selected robot. You can change the robot or

its frame.

6. Click Apply. The mounted tool jumps to the mounting robot frame.

7. Optionally, click Flip Tool to flip the tool orientation. Use the arrow in the Flip Tool button to set the flip axis (X, Y, or Z).

8. Click Close to save the changes and exit the Mount Tool dialog or Reset to return the tool to its initial location and orientation when you launched the Mount Tool dialog.

References

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Modeling and Kinematics

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Modeling and Kinematics Basic Modeling

Basic Modeling

To view a movie of this procedure, click Modeling.

This procedure describes several modeling tools and demonstrates some of the RobotExpert capabilities, including the creation of solids, the creation of curves, editing, scaling, and integration.

1. Launch RobotExpert and load a cell. 2. Set the measuring units, as follows:

a. Click Tools→Options. The Options tab appears.

b. Click the Units tab.

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Modeling and Kinematics Basic Modeling 3. Create a new device, as follows:

a. Click Modeling→Create Part/Resource→New Resource. The New Resource dialog appears.

b. Select Device and click OK.

Note: The new device is listed in the Object tree under the Resources section. By default, the device is

open for modeling and is marked with a red M overlay.

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Creating a Solid Box

RobotExpert enables you to create several types of solid; box, cylinder, cone, sphere, and torus. 1. Select a Device in the Object tree.

2. Click Modeling→Create Solids→Box Creation→ Create a box. The Create Box dialog appears.

3. Type a Name for the box. 4. Define the box Dimensions.

Note: The box changes dynamically in the Graphic Viewer as you define its dimensions.

5. Click OK to create the box or to expand the dialog and reveal the Location area.

Note: When created, the box is located on the Working frame. It is recommended to perform all the

required procedures and only then to relocate the whole component to the desired location (using the placement tools).

6. To relocate the box:

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Scaling Objects

1. Select a parent object either from the Object tree or from the Graphic Viewer.

2. Click Modeling→Edit→Scale. The Scale dialog appears, displaying the dimensions of the selected object.

3. Optionally, click the Step size link to set the size of steps when configuring the parameters in this dialog.

4. Configure the scale size in the X, Y, and Z directions.

Note: The object changes dynamically in the Graphic Viewer as you define its scale.

Note: You can change any dimension by using the dialog controls or picking and dragging the relevant

yellow line in the Graphic Viewer. 5. Click OK.

Creating a Solid Cylinder

1. Select a parent object either from the Object tree or from the Graphic Viewer.

2. Click Modeling→Create Solids→Cylinder Creation→ Create a cylinder. The Create Cylinder dialog appears and a cylinder with default dimensions appears in the Graphic Viewer.

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Modeling and Kinematics Basic Modeling 3. Define the cylinder Name and Dimensions.

4. Click OK.

Uniting Objects

1. Click Modeling→Edit→ Unite. The Unite dialog appears.

2. Type a New Name for the new object.

3. Select the entities to be united either from the Graphic Viewer or from the Object Tree. The entities are added to the Objects list.

Note: It is recommended to clear the Delete original entities option. You will be able to delete the

original entities later (from the Object Tree). 4. Click OK.

Tip: Display only the united entity and blank its elements.

Creating Curves

There are several types of curves: Polyline, curve, circle, and arc. This procedure demonstrates the creation of a polyline.

1. Select a device either from the Object Tree or from the Graphic Viewer.

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3. Type a Name for the new polyline.

4. You can select points from the Graphic Viewer or type their X, Y, and Z values in the Polyline Points table. The polyline will pass through these points.

5. Click OK. The new polyline is created.

Creating Fillets

This command operates on two intersecting curves or polylines.

1. Click Modeling→Create Curve→Fillet. The Fillet dialog appears. The From Curve field is active.

2. Pick the first polyline in the Graphic Viewer. The name of the selected polyline is noted in the From Curve field and the To Curve field becomes active.

3. Pick the other polyline in the Graphic Viewer. The name of the selected polyline is noted in To Curve.

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Modeling and Kinematics Basic Modeling 6. Click OK to accept the results or change some of the parameters to get better results. A new fillet

curve is created and appears in the Object Tree and the Graphic Viewer. The original polylines are removed if you selected Delete original entities.

Creating Chamfers

This command operates on two intersecting curves or polylines.

1. Click Modeling→Create Curve→Chamfer. The Chamfer dialog appears. The From Polyline field is active.

2. Pick the first polyline in the Graphic Viewer. The name of the selected polyline is noted in the From Polyline field and the To Polyline field becomes active.

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Modeling and Kinematics Basic Modeling 4. Pick the other polyline in the Graphic Viewer. The name of the selected polyline is noted in To

Curve.

5. Type a Distance from the intersection point along the second polyline.

6. Click Preview to see the expected results in the Graphic Viewer. If necessary, change some of the parameters to get better results.

7. Click OK to accept the results. A new chamfer curve is created and appears in the Object Tree and the Graphic Viewer. The original polylines are removed if you selected Delete original entities.

Revolute Curve to Create Solid

1. Select an entity either from the Object Tree or from the Graphic Viewer. 2. Click Modeling→Edit→Revolute. The Create Revolved Solid dialog appears.

3. Type a Name.

4. Set the Start and End points.

5. In the Rotation area, define the rotation degrees.

6. Click Preview to see the expected results in the Graphic Viewer. If necessary, change some of the parameters to get better results.

7. Click OK. The solid created from the Revolute command is added to the Object Tree and the Graphic Viewer.

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Duplicating Objects

1. Select a device or part either in the Graphic Viewer or the Object Tree.

2. Click Modeling→Duplicate Objects. Τhe Duplicate dialog appears for the selected component.

3. In Number along X, type the number of requested components along the X-axis. 4. Type the X Spacing value between the components along the X-axis.

5. Perform the same configuration for the Y and Z-axes.

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Modeling and Kinematics Basic Modeling While the Preview checkbox is checked, any change of value updates the Graphic Viewer.

7. Click OK to create the previewed objects.

End Modeling

1. Select a device or part either in the Graphic Viewer or from the Object Tree. 2. Click Modeling→End Modeling. The Save Component As dialog appears.

3. Browse to one of the following folders to save the newly modeled component: • For resources: library root→libraries→resources

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References

For additional information on the features described in this procedure, refer to the following topics in

RobotExpert Reference Manual:

 Tools Menu→Options→Units Tab

 Modeling Menu→Create Part/Resource→New Resource  Modeling Menu→Create 3D→Creating Boxes

 Modeling Menu→Create 3D→Creating Cylinders  Modeling Menu→Edit→Uniting Solids

 Modeling Menu→Create 3D→Creating Cylinders  Modeling Menu→Create 2D→Creating Polylines

 Modeling Menu→Create 2D→Creating Fillets on a Curve  Modeling Menu→Create 2D→Creating Chamfers on a Polyline  Modeling Menu→Edit→Revolute

 Modeling Menu→Duplicate Objects  Modeling Menu→End Modeling

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Modeling and Kinematics Kinematics Modeling Procedure

Kinematics Modeling Procedure

To view a movie of this procedure, click Modeling Kinematics. This procedure demonstrates the following:

 Modeling of a simple device  Creating device links and joints  Jogging device joints

_{Editing poses}

1. Insert the device into the cell (this step is optional).

a. Click Modeling→Insert Component From File or click . The Insert Component window appears.

b. Browse the libraries and double-click the device to insert it into the cell or select the device and click Open. The device is added to the Object tree.

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2. Set the modeling scope for the device as follows:

a. Select the device in the Object tree or the Graphic Viewer. b. Click Modeling→Set Modeling Scope or click .

Note: A red M overlay appears with the device symbol in the Object tree to indicate that it is open for

modeling.

3. Create three links in the Kinematic Editor.

b. Click Kinematics→Kinematics Editor or click . The Kinematics Editor opens and is empty. c. In the Kinematics Editor toolbar, click Create Link.

The Link Properties dialog opens.

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e. Create lnk2 and lnk3.

4. Create a rotational (revolute) joint (J1) with limits, as follows: a. In the Kinematics Editor, select lnk1 and lnk2.

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c. In the Axis - Select two points area, set From and To to select the axis line. d. Click to expand the dialog.

e. In the High Limit and Low Limit fields, enter limit values. f. In the Speed field, enter the speed value.

g. In the Acceleration field, enter the acceleration value. 5. Repeat step 4 to create J2.

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Modeling and Kinematics Kinematics Modeling Procedure 6. Close the Kinematics Editor. Closing the dialog automatically defines the device. The HOME pose is

created.

7. Jog the joints as follows:

b. Click Kinematics→Joint Jog or click . The Joint Jog dialog opens. The joints you created are displayed with the current joint value and the limits with which they were defined.

c. Jog the joints by using the slider, entering values, or using the value arrows.

d. To return the device to the original joint values, either click Reset or select the HOME pose. e. Click Close to close the Joint Jog dialog.

8. Create additional poses as follows:

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Modeling and Kinematics Kinematics Modeling Procedure c. To create a new pose, click New. The New Pose dialog appears.

d. Enter a pose name.

e. Set joint values by using the Steering/Poses sliders, entering values, or using the value arrows. f. Click OK. The New Pose dialog closes and the new pose is added to the Pose Editor dialog.

g. Create additional poses.

h. To jump between poses, either double-click the pose name in the list or select a pose name and click Jump.

i. Alternatively, use the Joint Jog dialog to jump between the poses by selecting a pose from the Steering/Poses list box.

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Modeling and Kinematics Kinematics Modeling Procedure 9. To edit, update, or delete poses, perform the following:

b. Click Kinematics→Pose Editor. The Pose Editor dialog opens with the defined poses displayed. c. Do any of the following:

_{To edit a pose, select a pose from the list and click Edit. The Edit Pose dialog opens.}

Change the values of the joints (use the Steering/Poses sliders, enter values, or use the value arrows) and click OK.

 To update a pose, jog the joints to the desired values using the Joint Jog dialog, select a pose from the list, and click Update. The following message appears:

To update the pose with current joint values, click Yes.

_{To delete a pose, select a pose from the list and click Delete. The following message} appears:

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References

 Kinematics Menu→Kinematics Editor  Kinematics Menu→Joint Jog

 Kinematics Menu→Pose Editor

 Modeling Menu→Insert Component from File  Modeling Menu→Set Modeling Scope

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Modeling and Kinematics Robot Jog and Reachability

Robot Jog and Reachability

To view a movie of this procedure, click Robot Jog and Reachability. This procedure demonstrates:

 Jogging robot joints by using Joint Jog and Robot Jog functionality  Reachability check between robot and operation locations

1. Open a cell that contains: • A kinematic device

• An operation with assigned part

2. Insert a robot:

a. Click Modeling→Insert Component from File. The Insert Component dialog appears.

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Modeling and Kinematics Robot Jog and Reachability 3. Define external axes for the robot

a. Select the Robot in the Object tree or the Graphic Viewer.

b. Click Robotics→Robot Properties. The Robot Properties dialog appears.

c. Select the External Axes tab.

d. Click the Add button in order to add an external axis. The Add External Axis dialog appears.

e. Select a device in the Object tree or the Graphic Viewer. f. Select a joint from the Joint dropdown list.

g. Click OK.

h. Use the steps above to add several additional external joints.

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i. Click Close to close the Robot Properties dialog. 4. Move the robot's joints using Joint Jog:

a. Select the robot in the Object tree or the Graphic Viewer. b. Click Kinematics→Joint Jog. The Joint Jog dialog appears.

The Joint Jog dialog enables you to move the joints of the selected robot (or device).

Each line displays the properties of a specific joint: Revolute or Prismatic, Value, Lower Limit and Upper Limit.

Note: Lines with the red E overlay (the two bottom lines in the picture above) refer to the robot’s

external axis.

 You can now jog the joints by using the dials, entering values or using the value arrows.  In order to change the Lower and Upper Limits select the control and type the exact value. _{You can change the robot pose by selecting another pose from the pose list.}

5. Move the robot using Robot Jog:

a. Select the Robot Object tree or the Graphic Viewer.

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c. Translate the robot Tool Center Point (TCP) frame along the X-axis: _{Click the X button in the Manipulations section.}

 Click the arrow buttons to move the robot tool frame along the X axis.

d. Rotate the robot TCP frame around the Y-axis:

 Select the Ry button in the Manipulations section.

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Note: The dialog displays the step size for Translate and Rotate. Click the links to change the step size

value.

e. Select the robot configuration:

The robot can reach a location in any of several configurations, enabling you to switch between the options.

f. Select a configuration from the list. You can lock the robot configuration if you wish to ensure that only this configuration is used.

g. Jog the robot's external joints:

Follow the steps described above for the Joint Jog dialog.

It is recommended to lock the robot's TCP frame by clicking the Lock TCPF button. For example, for a robot on a rail, the rail joint is defined as an external axis of the robot.

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h. Set the Coordinate Reference:

 Define a frame of reference for the robot's TCP location:

i. If you need to return the robot the state it was in when you opened the Robot Jog dialog, click Reset.

j. Click Close to close the dialog.

6. Perform a reachability check of the robot with the operation location: a. Select the robot in the Object tree or the Graphic Viewer.

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c. Keep the Locations table control in focus and select the operation from the Operation tree.

Note: All locations of the operation are displayed in the table and a reachability indication

(Full/Partial/None) is displayed for each location.

d. With the Reach Test dialog open, select the device (with the attached part) and from

Tools→Placement→Placement Manipulator change the device location using the Placement Manipulator.

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Note: Changing the device and part location automatically updates the Reach Test indication.

e. Place the device and part on a location that enables full reachability to all locations of the operation.

7. Assign the robot to the operation:

a. Select the operation from the Operation tree.

b. Click Operation→Operation Properties. The Operation Properties dialog appears for the selected operation.

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Modeling and Kinematics Robot Jog and Reachability d. With the Robot control in focus, select a robot from the Object tree or the Graphic Viewer. The

robot and its mounted gun are correctly inserted in the Simulated Resources section.

e. Click OK. 8. Run the simulation:

a. Select the operation from the Operation tree. b. From the Path Editor select Add Operation to Editor.

c. In the Path Editor dialog click the Play Simulation Forward button. The simulation runs using the defined robot and tool.

References

• Modeling Menu→Insert Component from File • Kinematics Menu→Joint Jog

• Kinematics Menu→Robot Jog • Kinematics Menu→Reach Test

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Designing and Managing Processes

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Designing and Managing Processes Basic Process Planning

Basic Process Planning

To view a movie of this procedure, click Basic Process Planning.

This procedure demonstrates how to create operations and define their sequence.

1. Open a cell containing a robot, tools, fixtures, and parts. In the following example, the cell contains two robots, a fixture with clamps, two rails, and a part.

The target sequence of operations is as follows: a. The part moves along the right rail.

b. Robot1 (on the right) grips the part and places it on the fixture. c. The fixture clamps close.

d. Robot2 (on the left) works on the part. e. The fixture clamps open.

f. Robot1 grips the part and places it on the left rail.

Each operation commences only after the previous operation has finished.

2. Create a New Object Flow Operation:

The New Object Flow Operation option enables you to move an object from one place to another. This operation is used primarily for assembly cells.

a. Click Operations→New Operation→New Object Flow Operation. The New Object Flow Operation dialog appears.

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b. Type a Name for the new operation.

c. Click the Object field and select the object to be moved either from the Graphic Viewer or the Object tree.

d. From the Scope list, select the Operation Root (later in this procedure, you can define the correct scope by dragging and dropping the operation in the Operation tree, see step e. below).

e. In the Graphic Viewer, pick the Start Point and End Point for the operation.

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3. Create a New Device Operation:

The New Device Operation enables you to move a device from one pose to another. In the following example, the device includes four clamps, each possessing Open and Close poses.

a. Click Operations→New Operation→New Device Operation. The New Device Operation dialog appears.

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Designing and Managing Processes Basic Process Planning d. From the Scope list, select the Operation Root (later in this procedure, you can define the

correct scope by dragging and dropping the operation in the Operation tree, see step e. below).

e. From the From pose list, select the starting pose. f. From the To pose list, select the ending pose.

g. Click OK. The New Device Operation is created under the Operation Tree.

The following figure shows the Operation Tree after creating device operations for all the clamps.

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Designing and Managing Processes Basic Process Planning 4. Create Compound Operations:

A compound operation is an operation comprised of other operations. It can also include other compound operations. This procedure includes two compound operations: Device_to_open, Device_to_close, and Cell_Operation.

a. Click Operations→New Operation→New Compound Operation. The New Compound Operation dialog appears.

c. From the Scope list, select the Operation Root. d. Click OK.

e. Drag the device operations you created previously and drop them under the matching compound operation (hence defining their current scope as mentioned in step 2d. above). Nest the clamp open operations under the Device_to_open compound operation and the clamp close operations under the Device_to_close compound operation.

f. Create a new parent compound operation, name it Cell_Operation, drag the Device_to_open and Device_to_close compound operations, and nest them under Cell_Operation.

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Designing and Managing Processes Basic Process Planning 5. Create a New Generic Robotic Operation:

a. Click Operations→New Operation→New Generic Robotic Operation. The New Generic Robotic Operation dialog appears.

c. From the Graphic Viewer or the Object tree, select a Robot.

Note: The tool mounted on the robot automatically populates the Tool field.

d. From the Scope list, select the Cell_Operation. e. Click OK.

6. Add Locations to the new generic robotic operation:

a. From the Operation Tree, select the Generic Robotic Operation or select one of its child locations.

b. Click Operations→Path Editing and use any of the following commands to add locations. _{Add Location by Pick}

 Add Location Interactively  Add Current Location  Add Location After  Add Location Before

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Designing and Managing Processes Basic Process Planning c. Create more operations.

7. Access the Sequence Editor.

8. From the Operation Tree, select the Cell_Operation and click Operations→Set Current Operation. The Cell_Operation and its contents are added to the Sequence Editor.

The Sequence Editor includes two resizable areas, a Tree area on the left and a Gantt chart area on the right.

9. Drag and drop operations to reorder the tree area.

10. Select two operations and click Link. A new link is created between the selected operations – this means that the second operation will start after the first one finishes.

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Designing and Managing Processes Basic Process Planning 11. Create links for all the other operations. The Sequence Editor appears as follows after reordering

and linking the operations.

12. Use the Zoom Buttons in the Sequence Editor toolbar as required.

13. You can modify the duration of an operation by dragging its edge in the Gantt area. 14. Use the simulation buttons to run the simulation, and step it forward and backward.

References

 Operations Menu →New Operation→New Object Flow Operation  Operations Menu →New Operation→New Device Operation

_{Operations Menu} →New Operation→New Generic Robotic Operation  Operations Menu →New Operation→New Compound Operation  Operations Menu →Path Editing

 View Menu →Viewers →Operation Tree  View Menu →Viewers →Sequence Editor