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RobotExpert Quick

Start Guide

Copyright Notice
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2 (IL) Ltd. 2015 Siemens Product Lifecycle Management Software 2 (IL) Ltd .
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Table of Contents

Contents
Introduction .............................................................................................................................................. 6

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
End Modeling ...................................................................................................................................... 63
Kinematics Modeling Procedure ............................................................................................................. 65

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


OLP - Off Line Programming.................................................................................................................. 132

Introduction

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
download the modified program back to the robot.

RobotExpert Quick Start Guide

Getting Started

Getting Started

RobotExpert Quick Start Guide

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.

RobotExpert Quick Start Guide

Getting Started

Initial Setup

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

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Getting Started

Initial Setup

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


starts up.

. RobotExpert

6. Configure the Library Root:


a. Click ToolsOptions or press <F6> on your keyboard. The Options dialog appears.

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Initial Setup

b. Click the Library tab.

c. In Library Root, click the browsing button

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. The Browse a Library Root path dialog appears.

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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:

Tools MenuOptions

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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 FileImport/ExportConvert 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.
Note: You can use the Files of type dropdown list to filter the files.

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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
to the log file.

5. Click Close to close the Convert CAD Files Progress dialog.

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Convert CAD Files

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


7. Insert the converted components into the cell:
a. Click ModelingInsert 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
For additional information on the features described in this procedure, refer to the following topics in
the RobotExpert Reference Manual:

File MenuImport/ExportConvert CAD Files

Modeling MenuInsert Component From File

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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 FileImport/ExportConvert 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.
Note: You can use the Files of type dropdown list to locate the .co components you need.

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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
to the log file.

5. Click Close to close the Convert CAD Files Progress dialog.


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

File MenuImport/ExportConvert CAD Files

Modeling MenuInsert Component From File

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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:
a. Click ModelingInsert Component from File. The Insert Component dialog appears.

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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 FileSave Cell to save changes to the existing cell.


Click FileSave Cell as to save the new cell. The Save As dialog appears.

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

References
For additional information on the features described in this procedure, refer to the following topics in
the RobotExpert Reference Manual:
Modeling MenuInsert Component From File
File MenuSave Cell

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Basic Tasks

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

Edge

. Only the surface is selected.


. 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

Where Picked

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.

. Selects the point on the edge that is closest to the actual point you clicked.
. Selects the exact point you clicked.

View Tools
Click ViewViewersGraphic 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 ViewViewersGraphic Viewer and select the View Center command. The command
pans the view to place the selected point at the center of the Graphic Viewer.
Note: By default, the origin frame constitutes the view center.

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Manipulating the View


Rotate

. Rotates the image in the Graphic Viewer.

a. Click ViewViewersGraphic 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 ViewViewersGraphic 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 ViewViewersGraphic 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 ViewZoom to Selection.

Zoom to Fit

. Adjusts the image in the Graphic Viewer so that all visible objects are displayed.

Click ViewZoom to Fit.

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

Working with ViewersGraphic ViewerManipulating Images in the Graphic Viewer

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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 ViewFeature Lines Over Solid or

2. Click ViewFeature Lines or


objects are omitted.

. The feature lines are displayed over the shaded solid.

. The feature lines are displayed in Graphic Viewer but the shaded

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3. Click ViewWireframe Mode or
Wireframe viewing mode.

Object Viewing Modes and Options


. The objects are represented in the Graphic Viewer in

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

5. Click ViewShaded Mode or


. The objects in the Graphic Viewer are displayed in Shaded
viewing mode (the default viewing mode).

6. Press <F10> repeatedly to toggle between Shaded, Feature Lines over Solid, Feature Lines, and
Wireframe viewing modes.

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Object Viewing Modes and Options

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 ViewingTransparent.

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 ViewingWireframe. The object is
displayed in the Wireframe viewing option.

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Object Viewing Modes and Options

Note: The state of the Show Silhouette in Wireframe Mode option (ToolsOptions, 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 ViewingShaded. 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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Object Viewing Modes and Options

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 ViewBlank. 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 items name in the Object tree to toggle between
blanked and displayed . The square appears partially filled when a component includes some
blanked entities.

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

ViewShaded Mode

ViewFeature Lines Over Solid

ViewFeature Lines

ViewWireframe Mode

ViewObject ViewingShaded

ViewObject ViewingTransparent

ViewObject ViewingWireframe

ViewDisplay

ViewBlank

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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.
. The Placement Manipulator dialog
2. Click ToolsPlacementTool Placement Manipulator or
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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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
selected axis.

to rotate the object one step clockwise or counterclockwise around the

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 Robot, Tool, or Part

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 ToolsPlacementRelocate or
object.

. The Relocate dialog appears. It opens for the selected

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
Frame in the RobotExpert Reference Manual.
4. Click Apply to perform the move or Reset to cancel the proposed move. If you have already applied
the move, Reset returns the object to its initial location when you launched the Relocate dialog.
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Relocate Robot, Tool, or Part

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

ToolsPlacementTool Placement Manipulator

ToolsPlacementRelocate

ToolsPlacementFast Placement

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Measurements

Measurements
Point-to-Point Distance
This procedure demonstrates how to measure the point-to-point distance between two points
1. Click EditSelectionComponent 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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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
For additional information on the features described in this procedure, refer to the following topics in
the RobotExpert Reference Manual:

ToolsMeasurementsPoint to Point Distance

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

ToolsMeasurementsMinimal Distance

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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 ViewViewersSnapshot 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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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


appears - give it a unique name.

Create New Snapshot. Another snapshot listing

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Recording Information in Snapshots

4. Edit snapshot properties:


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

Edit Snapshot

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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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
can change these options at any time.

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e. Select other snapshot listings in the upper pane and click
Viewer.

again to apply them to the Graphic

Note: The Graphic Viewer displays different objects preserved in snapshots while maintaining their
visibility, points of view and locations.

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6. If you wish to delete a snapshot, select its listing in the upper pane and click
The selected snapshot is removed from the Snapshot Editor.

Delete Snapshot.

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 ModelingAttach. The Attach dialog appears.

Click KinematicsMount Tool. The Mount Tool dialog appears.

Note: The attachment/mount information is saved in the snapshot.

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c. Apply the Attached snapshot to the Graphic Viewer. This snapshot contains the attachment
information.
d. Click ToolsPlacementPlacement Manipulator to open the Placement Manipulator and
move one of the objects. If the object is a device, use KinematicsJoint 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
snapshot loaded.

Add Markup. The Markup Editor appears with the selected

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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.
b.
c.
d.

Select a snapshot and click


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

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

ViewViewersSnapshot Editor

ViewViewersSnapshot EditorMarkup Editor

ModelingAttach

KinematicsMount Tool

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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 ModelingSet Modeling Scope.
b. Select the part in the Object tree or the Graphic Viewer.
c. Click ToolsPlacementRelocate. The Relocate dialog is displayed for the selected part.

d. Select a From frame in the Object tree or the Graphic Viewer.


e. Select a To frame in the Object tree or the Graphic Viewer. A yellow line is displayed to show
the movement to be performed.
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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 ModelingAttach. 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.
e. Click OK.

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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.

Note: This is the new state.

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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.
b. Click KinematicsJoint Jog. The Joint Jog dialog appears for the selected device.

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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 ModelingDetach.

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

Modeling MenuSet Modeling

Modeling MenuAttach

Tools Menu PlacementRelocate

Kinematics Menu Joint Jog

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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 KinematicsMount 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
mounting tool (robot) frame is highlighted in blue.

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

KinematicsMount Tool

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Modeling and Kinematics

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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 ToolsOptions. The Options tab appears.

b. Click the Units tab.


c. Define the Unit Type for each parameter and click OK.

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3. Create a new device, as follows:


a. Click ModelingCreate Part/ResourceNew 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.

Note: To open an object for modeling, select the object and click ModelingSet Modeling Scope.

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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 ModelingCreate SolidsBox 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:


a. Click Reference on object or create a frame using
Create Frame.
b. Click Locate at frame or create a frame using
Create Frame.
c. Click OK.
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Scaling Objects
1. Select a parent object either from the Object tree or from the Graphic Viewer.
2. Click ModelingEditScale. 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 ModelingCreate SolidsCylinder Creation Create a cylinder. The Create Cylinder
dialog appears and a cylinder with default dimensions appears in the Graphic Viewer.

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3. Define the cylinder Name and Dimensions.


4. Click OK.
Uniting Objects
1. Click ModelingEdit

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.
2. Click ModelingCreate Curve

Create Polyline. The Create Polyline dialog appears.

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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 ModelingCreate CurveFillet. 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.
4. Enter a value for the fillet Radius.
5. Click Preview to see the expected results in the Graphic Viewer.

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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 ModelingCreate CurveChamfer. 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.
3. Enter a Distance from the intersection point along the first polyline.

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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 ModelingEditRevolute. 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 ModelingDuplicate Objects. he 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.
6. Check Preview. The layout of the duplicated objects are previewed in yellow.

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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 ModelingEnd Modeling. The Save Component As dialog appears.

3. Browse to one of the following folders to save the newly modeled component:

For resources: library rootlibrariesresources

For parts: library rootlibrariesparts

4. Click Save to save the component.

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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 MenuOptionsUnits Tab

Modeling MenuCreate Part/ResourceNew Resource

Modeling MenuCreate 3DCreating Boxes

Modeling MenuCreate 3DCreating Cylinders

Modeling MenuEditUniting Solids

Modeling MenuCreate 3DCreating Cylinders

Modeling MenuCreate 2DCreating Polylines

Modeling MenuCreate 2DCreating Fillets on a Curve

Modeling MenuCreate 2DCreating Chamfers on a Polyline

Modeling MenuEditRevolute

Modeling MenuDuplicate Objects

Modeling MenuEnd Modeling

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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 ModelingInsert Component From File or click
appears.

. The Insert Component window

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 ModelingSet 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.


a. Select the device in the Object tree or the Graphic Viewer.
b. Click KinematicsKinematics Editor or click
c. In the Kinematics Editor toolbar, click

. The Kinematics Editor opens and is empty.

Create Link.

The Link Properties dialog opens.


d. From the Elements list, select a link element and click OK.

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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.
b. Click

Create Joint. The Joint Properties dialog appears.

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c. In the Axis - Select two points area, set From and To to select the axis line.
d.
e.
f.
g.

Click
to expand the dialog.
In the High Limit and Low Limit fields, enter limit values.
In the Speed field, enter the speed value.
In the Acceleration field, enter the acceleration value.

5. Repeat step 4 to create J2.

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6. Close the Kinematics Editor. Closing the dialog automatically defines the device. The HOME pose is
created.
7. Jog the joints as follows:
a. Select the device in the Object tree or the Graphic Viewer.
b. Click KinematicsJoint 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:
a. Select the device in the Object tree or the Graphic Viewer.
b. Click KinematicsPose Editor. The Pose Editor dialog opens, displaying the HOME pose.

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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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9. To edit, update, or delete poses, perform the following:


a. Select the device in the Object tree or the Graphic Viewer.
b. Click KinematicsPose 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:

To delete the pose, click Yes.


d. To store your changes as a library prototype, click ModelingEnd Modeling or click

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

Kinematics MenuKinematics Editor

Kinematics MenuJoint Jog

Kinematics MenuPose Editor

Modeling MenuInsert Component from File

Modeling MenuSet Modeling Scope

Modeling MenuEnd Modeling

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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 ModelingInsert Component from File. The Insert Component dialog appears.

b. Browse through your libraries, select a robot and click Open. The robot is inserted in the cell.

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3. Define external axes for the robot


a. Select the Robot in the Object tree or the Graphic Viewer.
b. Click RoboticsRobot 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.
f.
g.
h.

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


Select a joint from the Joint dropdown list.
Click OK.
Use the steps above to add several additional external joints.

Note: The external axes are displayed so that each line specifies the device name and joint.

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i.

Robot Jog and Reachability

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 KinematicsJoint 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 robots
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.
b. Click KinematicsRobot Jog. The Robot Jog dialog appears. In addition, a manipulator frame
appears on the robots toolframe. You can use it to jog the robot by clicking on an axis and
dragging the mouse.

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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.

Click the arrow buttons to rotate the robot tool frame around the Ry axis.

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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.
j.

If you need to return the robot the state it was in when you opened the Robot Jog dialog, click
Reset.
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.
b. Click KinematicsReach Test. The Reach Test dialog appears.

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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
ToolsPlacementPlacement 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 OperationOperation Properties. The Operation Properties dialog appears for the
selected operation.

c. Click the Process tab.

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

Modeling MenuInsert Component from File


Kinematics MenuJoint Jog
Kinematics MenuRobot Jog
Kinematics MenuReach Test

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Designing and Managing Processes

Designing and Managing Processes

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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.
b.
c.
d.
e.
f.

The part moves along the right rail.


Robot1 (on the right) grips the part and places it on the fixture.
The fixture clamps close.
Robot2 (on the left) works on the part.
The fixture clamps open.
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 OperationsNew OperationNew 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.

f.

Click OK. The New Object Flow operation is created under the Operation tree.

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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 OperationsNew OperationNew Device Operation. The New Device Operation


dialog appears.

b. Type a Name for the new operation.


c. Click the Device field and select the device with defined poses either from the Graphic
Viewer or the Object tree.

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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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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 OperationsNew OperationNew Compound Operation. The New Compound
Operation dialog appears.

b.
c.
d.
e.

f.

Type a Name for the new operation.


From the Scope list, select the Operation Root.
Click OK.
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.
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.
The following figure shows the Operation Tree after creating the Cell_Operation.

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5. Create a New Generic Robotic Operation:


a. Click OperationsNew OperationNew Generic Robotic Operation. The New Generic
Robotic Operation dialog appears.

b. Type a Name for the new operation.


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 OperationsPath 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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c. Create more operations.


7. Access the Sequence Editor.
8. From the Operation Tree, select the Cell_Operation and click OperationsSet 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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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
For additional information on the features described in this procedure, refer to the following topics in
RobotExpert Reference Manual:

Operations Menu New OperationNew Object Flow Operation

Operations Menu New OperationNew Device Operation

Operations Menu New OperationNew Generic Robotic Operation

Operations Menu New OperationNew Compound Operation

Operations Menu Path Editing

View Menu Viewers Operation Tree

View Menu Viewers Sequence Editor

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Create Arc Mfgs

Create Arc Mfgs


To view a movie of this procedure, click Create Arc Mfg.
This procedure demonstrates how to create arc-weld manufacturing features (Mfg)
Preconditions:

The procedure assumes that your cell has already acquired the required parts and curves from the
CAD system.

The robotic cell already contains the required robot and welding torch.

1. Open the robotic cell containing the:

Welded parts including the curve representing the welding seam

Robot and welding torch

Positioner with the welded parts mounted on its plate (optional)

2. Create the arc weld manufacturing feature:


a.

In the Object tree or Graphic Viewer, select the arc seam curve.

b.

Click ContinuousCreate Continuous Mfg from Curves.

Note: The Create Continuous Mfg from Curves dialog is displayed and the Mfg name is automatically
assigned using the Source curve name.
You can modify the Mfg name by double-clicking the name field and typing the desired name.

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c.

Set the Mfg Type to ArcContinuousMfg.

d.
e.

Click Assign to part.


In the Object tree or Graphic Viewer, select the part to which the welding seam should be
assigned and click OK.

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Notes:

The newly created Arc Weld Mfg appears in the Mfg Viewer. To open the Mfg Viewer, click
ViewViewersMfg Viewer.

You can emphasize the arc weld feature in the Graphic Viewer by clicking
Continuous Emphasize Continuous Mfgs or
thickness.

and selecting emphasize color and

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

Continuous Menu Create Continuous Mfgs from Curve


Continuous Menu Emphasize Continuous Mfgs
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Create a Continuous Operation with Project Arc Seam

Create a Continuous Operation with Project Arc Seam


To view a movie of this procedure, click Continuous Feature Operation.
This procedure demonstrates how to:

Create continuous feature operations for arc welding.


Assign the continuous feature operations to previously-created arc-weld manufacturing
features (Mfg).
Use the Project Arc Seam command to obtain the robotic path.

1. Open the robotic cell containing the:


Welded parts including the arc-weld manufacturing feature (refer to
Create Arc Mfgs using Modeling Capabilities).

Robot and welding torch.

Positioner with the welded parts mounted on its plate (optional).

2. Create a continuous feature operation for arc welding, as follows:


a. Click ViewViewersMfg Viewer. The Mfg Viewer appears.
b. From the Mfg Viewer or Graphic Viewer, select the newly-created arc weld Mfg.
c. Click OperationsNew OperationNew Continuous Operation. The New Continuous
Operation dialog appears with the pre-selected arc weld Mfg in the Continuous Mfgs list.

Note: You can open the New Continuous Operation command without pre-selecting the arc weld Mfg.
Enter the arc weld Mfg later by clicking an empty field in the Continuous Mfgs list and selecting the arc
weld Mfg.
d. Rename the operation according to your naming convention.
e. Assign the robot and the weld torch. The weld torch is added automatically if it is already
mounted on the robot.

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f.

Create a Continuous Operation with Project Arc Seam

Select the Scope under which the new operation is to be created.

g. Optionally, click

to expand the New Continuous Operation dialog and add a Description.

h. Click OK to create the operation.


Note: The new operation appears in the Operation Tree under the scope you defined.

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3. Project the arc seam, as follows:


a. Select the new operation in the Operation Tree and click Continuous Project Arc Seam or
click
. The Project Arc Seam dialog appears with the pre-selected operation and the arc weld
Mfg displayed in the Features list.

b. Select the arc weld Mfg in the Features list and click

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The Edit Mfg Feature Data dialog appears.

c. In the Parts/Faces area, select Faces.


d. Click

Face Selection for the Base (wall).

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The Face Selection dialog appears and the cursor switches to face selection mode.

e. Pick a face for the weld Base in the Graphic Viewer and click OK.
Note: The selected face is highlighted in light blue.

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f.

Create a Continuous Operation with Project Arc Seam

Click
Side Face Selection for the Side (wall). The Face Selection dialog appears (the cursor
remains in face selection mode). In this example, there are several side faces - pick the desired
faces in the Graphic Viewer.

Note: RobotExpert enables smart automatic neighboring face selection. This improves efficiency and
ensures accurate selection. To do this, click

Automatically Add Neighboring Faces.

Note: The automatically selected neighboring side faces are those related to the arc weld seam and the
previously-selected Base face. The number of the selected faces appears in the dialog and they are
highlighted in the Graphic Viewer.
g. Click OK to confirm the selection.

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Note: The Edit Mfg Feature Data dialog now contains the details of the faces selected for projection.
You can highlight the Base and Side faces by clicking
Highlight.

h. If required, click

i.
j.

Swap to swap between the Base and Side faces.

Click OK to close the Edit Mfg Feature Data dialog.


In the Project Arc Seam dialog, modify the General Arc Alignment Parameters according to your
welding process requirements. Additionally, you can set the parameters in the Projection
Parameters section to control the following:
Maximal segment length
Maximal tolerance
Smart recognition of line and arc segments
Check Project on approximation only if your CAD data does not contain exact geometry

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k. Click Project.
Note: The newly-created locations are added to the weld operation in the Operation Tree. Expand the
operation in order to view the result.

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l.

Create a Continuous Operation with Project Arc Seam

In the Path Editor, click Add Operation to Editor to add the new operation.

Note: The resulting location motion type is automatically assigned according to the circular and linear
segments.

4. Optionally, you can split the seam operation - continuous, arc and more - into two seam operations:
a. Click Continuous Split Seam Operation. The Split Seam Operation dialog appears.

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b. In the Source Seam Operation area, select the Operation either in the Operation tree or the
Path Editor
c. From Split location list of locations associated with the selected operation, select the location
before which you wish to split the operation.
d. In the New Seam Operation area, you can modify the default Name assigned to the new
operation.
e. From the Robotic operation list, select the operation/compound under which to nest the new
operation.

f.

Click OK. The following figure shows the status of the Operation tree after the split.

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

Continuous Menu Create Continuous Mfgs from Curve

Continuous Menu Emphasize Continuous Mfgs

Continuous Menu Project Arc Seam

Operations MenuNew OperationNew Continuous Operation

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Create Arc Mfgs using Modeling Capabilities

Create Arc Mfgs using Modeling Capabilities


This procedure demonstrates how to create an Mfg in RobotExpert. The steps include creating a curve
and then an Mfg. The procedure also demonstrates some RobotExpert modeling capabilities.
1. Open a robotic cell containing a welded part. The part is composed of a base and two inclined angle
surfaces.

2. Open the part for modeling:


a. Select the part, either in the Object tree or in the Graphic window.
b. Click ModelingSet Modeling Scope. RobotExpert opens the selected part for modeling (for
example, to add entities to the component or modify existing ones). A new icon overlay is
displayed to indicate that the object is currently in Modeling mode and all part entities are
visible:

Note: If you are not in Modeling mode, many of the Modeling menu options are disabled.
3. Create a curve there are several options available to create curves:

Option 1: Create curve on border:


a. Click ModelingCreate CurvesCurve on Borders. The Curve on Borders dialog appears.

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b.
c.
d.
e.

Select the entity, either in the Object tree or in the Graphic window.
Select the Name field and type a name.
Click Preview to view the update before confirming.
Click OK.

f.

If you wish to delete the original surface or solid after creating the intersection/border curve,
check Delete original entities.

Option 2: Create an Intersection curve:


a. Select the two intersecting entities, either in the Object tree or the Graphic window.
b. Click ModelingCreate CurvesIntersection Curve. The Intersection Curve dialog appears.

c. Type a Name and reselect the entities if necessary.


d. Click OK.

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e. If you wish to delete the original surface or solid after creating the intersection/border curve,
check Delete original entities.
4. Create the Arc Weld Mfgs:
a. Select the Arc Seam curve, either in the Object tree or the Graphic Viewer.
b. Click ContinuousCreate Continuous Mfg from Curves. The Create Continuous Mfg from
Curves dialog appears and RobotExpert automatically assigns the feature name according to
the source curve name.

c. Set the Mfg type to ArcContinuousMfg.


d. In the Assign to part field, select the part to which the welding seam should be assigned, in the
Object tree or the Graphic Viewer.
e. Click OK. The newly created Arc Weld Mfg appears in the MFG Viewer (opened from
ViewViewers).
5. Click ContinuousEmphasize Mfgs to add emphasis to the Arc Weld feature in the Graphic Viewer.
You can choose the emphasis color and thickness.
6. Exit Modeling mode from ModelingEnd Modeling.
7. Indicate Seam Start This step is optional and is only relevant for closed curves. It enables you to set
a start point and direction for continuous Mfgs created from closed curves.

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a. Select the Mfg in the Mfg Viewer, the Object tree or the Graphic Viewer.

b. Click ContinuousIndicate Seam Start. The Indicate Seam Start dialog appears. The name of
the selected Mfg feature appears in the Mfg feature field.

c. The Start point control is active. Click in the Graphic Viewer to create a start point. A red cross
that indicates your selection appears.
d. While the Via direction point control is emphasized, click a direction in the Graphic Viewer. A
blue cross that indicates your selection appears.

e. Click OK to confirm your selections.


After projecting the Mfg, the first location is set on the Start point and subsequent locations are
placed according to the Via direction point.

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

Continuous MenuCreate Continuous Mfgs from Curve

Operations MenuNew Operation New Continuous Operation

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Continuous Robotic Path Planning and Simulation

Continuous Robotic Path Planning and Simulation


To view a movie of this procedure, click Continuous Robotic Path Planning.
This procedure demonstrates the planning phase of robotic operations, including collision checking,
configuring torch gun parameters, and setting external axis values.
Creating Collision Sets
1. Open a robotic cell containing:

A robot and welding torch

A positioner (or other kinematic device) with welded parts mounted on its plate

A continuous operation with projected arc seam Mfg

2. Define a collision set to ensure a collision-free path at the planning phase:


a. Click ViewViewersCollision Viewer. The Collision Viewer appears.

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b. From the toolbar, click
list is active.

Continuous Robotic Path Planning and Simulation


New Collision Set. The Collision Set Editor dialog appears. The Check

c. Pick any of the following from the Graphic Viewer or Object tree: robots, robot pedestals,
mounted torch guns and other objects attached to robots. The selected objects are added to
the Check list and the With list becomes active. RobotExpert will check if any of the selected
objects collide with objects in the With list.
Note: If you selected objects in the Graphic Viewer or Object tree prior to invoking the Collision Set
Editor dialog, these are listed in the Check list when the dialog appears and the With list is active.
d. From the Graphic Viewer or Object tree, pick welded parts, devices that hold parts, and other
objects attached to parts. The selected objects are added to the With list.
e. Click OK. A new collision set is added to the Collision Viewer.

3. If you wish to edit the name of the new collision set, double-click it and type the new name.
4. If you wish to view the collision set in the Graphic Viewer, click
Emphasize Collision Set. The
Check list objects are colored in yellow, the With list objects are colored in blue, and all other
objects in the cell are dimmed.

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5. If you wish to modify the collision set, click

Continuous Robotic Path Planning and Simulation

Edit Collision Set and edit the collision set.

6. Configure simulation to stop on collision:


a. Click ToolsOptionsCollision Viewer. The Options dialog appears with the Collision tab
selected.

b. In Collision Options area, check the Stop Simulation when a Collision is Detected option.
c. Click OK to save the change and close the Options dialog.

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7. From the toolbar, click


Collision Mode On/Off Collision Viewer. When a collision is detected,
the simulation halts and the colliding pair is colored in red.
Performing Torch Alignment
1. Add an operation to the Path Editor.
2. In the Graphic Viewer or Path Editor, select the first seam location in the operation.
3. Click ContinuousTorch Alignment. The Torch Alignment dialog appears for the selected location.

4. Click the Follow Mode button. The robot and torch gun jump to the selected location.

5. Change any of the parameters in the Arc Alignment area (these were defined during the projection
phase).
6. Click
Next location to move to the second seam location. The robot and the torch gun jump to
the next location. Do this to move through all the seam locations. If a collision is detected, the
colliding objects are colored in red.

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7. Modify one or more of the Arc Alignment parameters to fix the collision.
8. Return to the first seam location and verify that the entire path is free of collisions.
9. Run the simulation.
Configuring Robot External Axes
This procedure demonstrates how to set the external axis values for each location.
1. In the Path Editor, click

Customize Columns. The Customize Columns dialog appears.

2. In the Available Columns list, expand the General folder, select the External Axes Values column,
and click
to add the column to the Show columns in following order list.
3. Expand the OLP - Dynamic Params folder, select the Ext1 and Ext2 columns, and click
columns to the Show columns in following order list.

to add the

4. Click OK.

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The External Axes Values column indicates the number of the defined external axis values from the
total number of the robot external joints.
The Ext1 and Ext2 columns indicate the value of the external joint (if defined).
5. From the Operation tree or Path Editor, select the seam operation.
6. Click KinematicsSet External Axes Values. The Set External Axes Values dialog appears.

7. Click

Follow Mode. The robot and the gun jump to the selected location.

8. Check Approach Value and type the requested values.

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9. Click
Next Location to move to the next location and enter the relevant values. Repeat this for
all the other locations.

Note: The external joints information is visible in the related columns of the Path Editor.
10. Run the simulation to validate the changes.
Performing Robot Configuration
Typically, robots can reach given locations by several configurations. This procedure demonstrates how
to set the optimal robot configuration and uses the Abb - Rapid controller as an example.

Option 1: Set configuration value for a single location

1. Click ViewViewersPath Editor. The Path Editor appears.


2. Click

Customize Columns. The Customize Columns dialog appears.

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3. Expand the Abb - Rapid folder, select the Config column, and click
Show columns in following order list.

to add the column to the

4. From the Path Editor or Operation tree, select the first seam location.
5. Click RoboticsRobot Configuration. The Robot Configuration dialog appears for the selected
location.

6. From the Robot Solutions list, select the optimal solution and click Teach.
Note: The Config value in the Path Editor is also updated.

Option 2: Set a configuration value for the whole path

After creating a collision free path, it is possible to set all path configuration values during simulation.
1. From the Path Editor toolbar, click

Auto Teach.

2. Run the simulation.


Note: All configuration values are updated during the simulation.

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Tracking the Robot TCP


The TCP Tracker enables you to select a robot and track its TCP frame during simulation. The command
records the motion of the robot TCP as a curve and stores it as a TCP track object.
1. Click ToolsCustomize. The Customize dialog appears.

2. In the Commands list, select TCP Tracker, drag it on to your toolbar, and close the Customize dialog.
3. From the Graphics Viewer or the Object tree, select a robot.
4. Click

TCP Tracker. The TCP Tracker toolbar appears.

Note: Tracking mode is activated by default.

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5. Click

Continuous Robotic Path Planning and Simulation

Select Color and select a color from the list for the TCP track object.

6. Run the simulation. Any robot TCP movement will be tracked regardless of what causes the
movement, for example, Joint Jog, Robot Jog, or any other command.
Note: You can pause the TCP Tracker at any time by clicking the Pause button.
Using the Robot Viewer
The Robot Viewer includes: Joint Monitor, Joint Status, TCP Speed, and more.
1. From the Graphics Viewer or the Object tree, select a robot.
2. Click RoboticsRobot Viewer. The Robot Viewer appears for the selected robot.

3. Run the simulation.


Note: The Robot Viewer is dynamically updated during simulation.

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4. Use the Panels command in the Robot Viewer top right corner to add or remove panels.
5. Use the Robot command in the Robot Viewer top left corner to select a different robot.

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

View MenuViewersCollision Viewer

Continuous MenuViewersTorch Alignment

Kinematics MenuViewersSet External Axes Values

Robotics MenuRobot Configuration

View MenuViewersPath EditorAuto Teach

Robotics MenuTCP Tracker

Robotics MenuRobot Viewer

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Arc Torch Alignment

Arc Torch Alignment


To view a movie of this procedure, click Arc Torch Alignment.
This procedure describes how to edit seam locations created with Project Arc Seam.
Arc welding parameters such as: Travel angle, Work angle, Seam offset, etc. are defined for all seam
locations during projection. By using Torch Alignment you can edit all parameters for each location.
1. Open a robotic cell containing:

Welded parts including the curve representing the welding seam.

A Robot and welding torch.

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2. Define the Location Orientation:


a. Click OptionsTools. The Options dialog appears.

b. Click the Continuous tab.


c. Define the Location Orientation for each parameter and click OK.
Note: It is recommended to use the following default axes: Movement Vector=Y and Normal=Z.
These parameters define the location orientation during the projection for all continuous operations
including Arc.
3. Project Arc Seam:
The following are only the major steps of the Project Arc Seam process. For additional explanations,
see the Create a Continuous Operation with Project Arc Seam procedure.
a. Create a new continuous Mfg from the existing or new curve and define it as ArcContinuousMfg.
b. Create a new Continuous operation.
c. Project the Arc Seam of the new operation.

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Note: After the projection, the General Arc Alignment Parameters become the default parameters for all
seam locations.
4. Perform the Torch Alignment:
a. From the Operation tree or the Path Editor, select the first seam location.
b. Click ContinuousTorch Alignment. The Torch Alignment dialog opens in the selected location.

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Note: The Y axis location points to the next location and the Z axis is used as the approach vector.
c. Click Follow Mode. The robot and gun jump to the location and the Graphic Viewer is updated
according to the changes.
d. Use the browsing buttons to move between the locations.
Note: Do not close the dialog box.

5. Modify the Arc Alignment parameters:


Note: Moving between the parameters updates the picture. When moving the mouse over the picture,
the parameter definition pops up.
You can change any of the following parameters by typing the explicit value, using the arrow buttons
next to parameter value, or scrolling with the mouse wheel.

Travel angle - The angle of approach measured along the seam from the bisector.
Lower limit= -180, Upper limit= 180

Work angle - The sideways tilt of the welding torch as seen from the broadside view.
Lower limit= -90, Upper limit= 90

Spin angle - The angle of the torch around its approach vector.
Lower limit= -360, Upper limit= 360

Note: Each one of these angles is independent.

Base wall offset - The distance from the seam location to the base wall.

Side wall offset - The distance from the seam location to the side wall.

Seam offset - The distance from the location to the intersection of the side wall with the base
wall. The Seam offset is the vectored sum of the Base and Side offsets. Changing the Side or
Base offset affects the Seam offset and vice versa. There is no dependency between the Base
and Side offsets.

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6. Close or Reset the Torch Alignment:


a. Click the arrow button next to the Reset button to:
o

Reset Current Location - resets the current location parameters.

Reset All Edited Locations - returns the Torch Alignment dialog to the state it was at
when originally launched.

b. To apply the changes, click Close.

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

Tools MenuOptions Continuous Tab

Continuous MenuProject Arc Seam

Continuous MenuTorch Alignment

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Apply Path Template Action

Apply Path Template Action


To view a movie of this procedure, click Apply Path Template Action.
This procedure demonstrates the following:

The format of the user-defined XML file containing parameter definitions, for example, Motion Type,
Zone, etc.

Applying definitions from the XML file on existing paths

In order to apply path templates (change the parameters of path locations according to user definitions),
you must first compose an XML file containing the available template actions. A file like this is created
for each robot controller. This document uses the ABB-Rapid controller as an example.
The following preconditions apply:

A robotic cell is loaded in RobotExpert.


A robot controller is installed.
The robot controller has been defined according to the XML definitions in the file.

1. Create a new XML file under the following location:


RobotExpert_Installation_folder\Robotics\OLP\Abb-Rapid\PathTemplateConfiguration\
<XML_Name>.xml. The format of the XML file is as displayed in the following figure:

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Apply Path Template Action

Note: In this example, the action called DefineParameters is followed by a text description and a group
of parameter settings to be applied (for example changing the Zone value, Speed value, Location color
etc.) The XML may contain multiple actions.
2. Apply the path template:
a. Click ToolsCustomize and select the Commands tab.

b. From the Categories list, select Robot and Device.


c. From the Commands list, drag the Apply Path Template Action command to the toolbar area
and drop it into the Robotics menu.
d. Use the new icon to launch the Apply Path Template Action command. The Apply Path
Template Action dialog appears. The Operations list is active.

e. From the Graphic Viewer, Operation tree, or Path Editor, pick an operation.
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RobotExpert Quick Start Guide

Robotics

Apply Path Template Action


f.

Click the Select dropdown list and select the action to apply.

The name of the selected action appears in the Select template action to apply field and its
description in the XML files appears in the Action Description field.
g. Click the Apply button to apply the parameters defined in the action.
The following figure is an image of the path and location in the Graphic Viewer and the Path Editor
before applying the parameters. Note the values of the parameters and the color of the locations
(white).

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Apply Path Template Action


After running the Apply action, the parameters are set and the location color changes to blue
(according to the definitions in the XML file).

After the Apply action is complete, an Action Filter Results window appears, specifying the
actions summary and any errors that occurred.

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

Robotics MenuApply Path Template Action (after customization)

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Off Line Programming

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OLP - Off Line Programming

OLP - Off Line Programming


This procedure demonstrates offline programming (OLP) options, including:

Uploading a real program from the shop floor to RobotExpert.

Editing and optimizing real programs with RobotExpert tools.

Downloading new programs from RobotExpert to the shop floor.

1. Open a robotic cell containing:

The welded parts including the curve representing the welding seam

Robot and welding torch

2. Upload the robotic program:


a. In the Object tree or in the Graphic Viewer, select the robot.
b. Click RoboticsRobot ProgramRobotic Program Inventory. The Program Inventory dialog
appears for the selected robot.

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c. Click the Upload Program button


.
d. Open the program you wish to use. The newly uploaded program is displayed under the
Program Inventory dialog.

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The newly uploaded program is displayed under the Operation tree.

3. Initialize the robot (two options are described below for initializing and validating the robot
controller):
Note: This section refers to the ABB controller. The process is identical for other controllers, except that
each one has different parameters (and parameter names).

Option 1: Robot Properties - refers specifically to the selected robot:


a. Select the robot, either in the Object tree or the Graphic Viewer.
b. Click RoboticsRobot Properties. The Robot Properties dialog appears.
c. Select the Controller tab.

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d. Fill all the necessary fields: Controller, RCS version, Manipulator type and Controller version.
e. For both RCS in Simulation and RCS in Non Simulation select the Connect option in order to
connect the robot with its RCS module (for accurate simulation).
f.

Click the Validate button


to implement a validity check of the controller settings and to
initialize the RCS. The Validate message appears.

Note: If one or more of the controller settings is incorrect or the RCS communication (client- server)
failed, an error message is displayed.
g. Click OK.
h. Click the Robot Setup button

to open the Robot Setup dialog.

The Robot Setup dialog contains all the necessary parameters to define the robot movement
and actions. Each controller (ABB, KUKA, and others) has different parameter definitions;
therefore each controller setup dialog is unique.
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Load Machine Data files


- RobotExpert loads machine data files containing
the machine data that is used by the RCS module: Speed data, Tool data, Load data and
more.

Define additional parameters, for example Speed data.

Click Base Data Definition and select the Speed Data option. The Speed Data dialog
appears. Clicking the arrow button next to the Select data field displays all existing speed
data (from the loaded machine data files).

Type a new Speed data name in the Select data field. Note: All other controls are enabled.

Define the new speed data parameters: Storage Type, Tcp Speed, Orientation, Linear
External Axis, and Rotational External Axis.

Apply the changes and close the Speed Data dialog.

Close the Robot Setup dialog.

Option 2: Controller Settings

a. Click RoboticsController Settings. The Controller Settings dialog appears, containing all
robots in the cell and their controllers data.

b. In the Robot Name column select one robot (row) and fill all the necessary fields: Controller,
RCS version, Manipulator Type, and Controller Version.
c. For both RCS in Simulation and RCS in Non Simulation, select the Connect option to connect the
robot with its RCS module (for accurate simulation).
d. Click the Validate button
RCS.
e. Click the Robot Setup button

for a validity check of the controller settings and to initialize the


to open the Robot Setup dialog.

Note: Continue the process from step g. in Option 1 as described above.

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4. Perform validation of the program and controller settings. In order to validate the uploaded
program and the controller settings, run the simulation:
a. Click the operation node in the Operation tree.
b. From the Path Editor select Add Operations to Editor.
c. From the Path Editor select Play Simulation Forward. The simulation should run with no errors.
5. Make changes add the new Arc Welds Mfg to the operation:
a. Right-click the operation node and select Operation Properties from the menu. The Properties
dialog appears.

b. From the Process tab, in the Continuous Mfgs table, select the new Arc Weld Mfg and click OK.
c. Project the new Arc Weld Mfg (see the Create Arc Mfgs & Create a Continuous Operation with
Project ARC Seam document).
6. Assign new robotic parameters via Path Editor:
a. Select the new Seam operation in Operation tree.
b. In Path Editor click the Add Operation to Editor button.
c. Select Seam Location and select the desired cell to add or edit the attribute. The dropdown list
opens containing all pre-defined options for the specific attribute.

d. Select the desired value.

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7. Assign new robotic parameters via Teach Pendant:


a. Select a seam location in the Operation tree or the Path Editor.
b. From the Robotics menu select Teach Pendant. The Teach Pendant dialog appears for the
selected seam location.

Use the Teach Pendant dialog to define robotic location attributes. It applies the relevant
parameters and commands with reference to location (seam location/via) and controller
types.

The upper part of the dialog contains browsing buttons to move between locations and
the Robot Setup button
.
The dialog is divided into four sections: Motion Parameters, Process Parameters,
Motion Properties, and OLP Commands.

To change Motion or Process parameters click the Value box next to the desired
parameter and select a value from the list, for example, changing the zone data:

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In order to add or edit OLP Commands or Motion properties, click Add. From the menu
that opens, select a command, for example, the Send Signal command:

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In this example, the Send Signal dialog appears:

Set the Signal Name, Value, Destination and click OK. RobotExpert creates a new Send
Signal command for the location.

You can apply several commands, reorder the OLP Commands list, edit, or delete
commands.
8. Confirm the changes run the simulation. In order to confirm the changes, run the simulation and
search for are any errors or missing data during simulation.
a. Add the operation to the Path Editor.
b. Run the simulation. The following is an example of a Missing Data error:

The error window displays details of the error such as the exact location and cause of
failure. Fix the errors in Path Editor or Teach Pendant.

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9. Configure value updates with Auto Teach:


After changing the program (operation), you should also update the configuration values of the
robot for each location.
You can manually change the configuration value for each location in Path Editor or Teach Pendant
(as explained above).
Additionally, there is the automatic Auto Teach option that updates the configuration values during
the simulation run. This ensures a collision-free and error-free program.
a.
b.
c.
d.

Add the operation to the Path Editor.


Run the simulation. Make sure the operation is free of collisions and errors.
From Path Editor select Auto Teach.
Run the simulation.

10. Download the program.


a. Right-click the operation header in the Path Editor and from the right-click menu select
Download to Robot. The Select File dialog appears.

b. Set the location, filename and file type for saving the new program. The new updated program
is now ready to use.

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

Robotics MenuRobotic Program Inventory

Robotics MenuController Settings

Continuous MenuProject Continuous Mfgs

Robotics MenuRobot Configuration

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