WKP115S Activities

WKP115S-Process Simulate Basic Robotic Simulation
Actividades
COMIMSA
12 al 16 de diciembre 2011 Saltillo, Coahuila
Contenido
BASIC CONCEPTS............................................................................................................................ 7 Activity: Starting Process Simulate and Opening the Basic Project .............................................. 7 Activity: Setting and Viewing Basic Options ................................................................................ 9 Activity: Create the High-Level Operation Tree (1) .................................................................... 13 Activity: Create the High-Level Resource Tree (2) ..................................................................... 15 Activity: Associate the Trees Together ...................................................................................... 17 Activity: Examine the Object Types that are Available .............................................................. 19 Activity: Examine the Part Library ............................................................................................. 20 Activity: Examine the Resource Library ..................................................................................... 22 Activity: Setting the Working Folder ......................................................................................... 24 Activity: Creating a New Study ................................................................................................. 26 Activity: Browsing the Process Simulate Scene ......................................................................... 29 Activity: Docking and Floating Windows ................................................................................... 31 Activity: Saving a Window Layout ............................................................................................. 34 Activity: Using a Window Layout .............................................................................................. 36 PROCESS SIMULATE ON EMS ENVIRONMENT ............................................................................... 37 Automotive Activity: Getting an Overview of the Objects in the Object Tree ............................ 37 Activity: Object Tree Basics and Groups.................................................................................... 42 Activity: Using the Right Click Popup Menu .............................................................................. 46 Activity: Basic Graphic Viewer Controls .................................................................................... 47 Activity: Selecting Objects in the Graphic Viewer ...................................................................... 50 Activity: Additional Methods of Multiple Entity Selection ......................................................... 53 Activity: Using Toggle Display ................................................................................................... 56 Activity: Blanking all the Frames using Selection Filters (Optional) ............................................ 57 Activity: Blanking all the Frames using Display by Type ............................................................. 58 Activity: Relationship Between Measuring and Units ................................................................ 59 Activity: Changing Visualization Performance ........................................................................... 61 Activity: Changing Graphical Visualization ................................................................................ 64 PLACEMENTS COMMANDS .......................................................................................................... 72 Activity: Using Fast Placement.................................................................................................. 72 Activity: Creating a Frame ........................................................................................................ 75
WKP115S-Process Simulate Basic Robotic Simulation NEOCORTEX, SIEMENS PLM. Prohibida su reproduccin parcial o total
Activity: Shifting and Rotating Instances On-screen .................................................................. 78 Activity: Relationship Between Placement Manipulator, Measuring, and Units ........................ 80 Activity: Incremental Shifting of Objects from a Reference Frame ............................................ 83 Activity: Relocating an Object Relative to Two New Frames...................................................... 85 Activity: Relocating an Object Relative to Two Existing Frames ................................................. 86 QUICK INTRODUCTION TO KINEMATICS ....................................................................................... 87 Activity: Jogging the Joints of a Simple object ........................................................................... 87 Activity: Defining Kinematic Poses ............................................................................................ 90 Activity: Creating a Simulative Operation from Poses ............................................................... 93 Activity: Examining the Kinematic Tree of a Robot .................................................................... 95 Activity: Making the Robot Move ............................................................................................. 98 PROCESS SIMULATE ANALYSIS TOOLS AND STUDY DATA ............................................................ 102 Activity: Creating Snapshots ................................................................................................... 102 Activity: Creating Markups ..................................................................................................... 104 Activity: Setting the Note Options .......................................................................................... 106 Activity: Creating Notes in the Graphic Viewer ....................................................................... 108 Activity: Creating Dimensions in the Graphic Viewer .............................................................. 111 Activity: Outputting the Graphic Viewer to a File or Printer .................................................... 112 Activity: Collision Viewer and Fast Collision Sets ..................................................................... 115 Activity: Defining Collision Sets (List Pairs) .............................................................................. 117 Activity: Collision Setup and Collision Viewer ......................................................................... 118 Activity: Filtering Collision Results .......................................................................................... 121 Optional Activity: Creating and Moving a Section Plane .......................................................... 124 Optional Activity: More on Cutting Sections ........................................................................... 128 Optional Activity: Creating and Moving a Section Volume ...................................................... 131 Activity: Outputting a Simulation to an .AVI File ..................................................................... 132 Optional Activity: Using Movie Manager ................................................................................ 133 OTHER SELECTED BASIC TOPICS ................................................................................................. 135 Activity: Using some Project Management Commands ........................................................... 135 Activity: Starting and Exiting Process Simulate Disconnected .................................................. 137 Activity: Updating Process Simulate Disconnected from the eMS Database ............................ 142 Activity: Updating the eMS Database from Process Simulate Disconnected ............................ 146
MODELING AND KINEMATICS OVERVIEW................................................................................... 148 Activity: Starting Process Simulate and Setting the Working Folder ........................................ 148 Activity: Opening Your Study .................................................................................................. 150 MODELING BASICS ..................................................................................................................... 152 Activity: Modeling a Table ...................................................................................................... 152 Optional Activity: Revolving 2D Entities to Make a Solid ......................................................... 161 Optional Activity: Extruding 2D Entities to Make a Solid ......................................................... 166 Optional Activity: Sweeping 2D Entities to Make a Solid ......................................................... 172 Optional Activity: Modeling a Simple Robot for Kinematics .................................................... 182 KINEMATICS BASICS ................................................................................................................... 211 Activity: Simple Kinematics (Part 1) ........................................................................................ 211 Activity: Simple Kinematics (Part 2) ........................................................................................ 216 Activity: Simple Kinematics (Part 3) ........................................................................................ 218 Activity: Add Joints to a Simple object .................................................................................... 221 Activity: Leading Joints and Follow Factors (Gun) ................................................................... 225 Instructor Demo: Kinematic Looping (Optional Activity) ......................................................... 231 Activity: Kinematic Looping .................................................................................................... 232 Activity: Gun Kinematic Definition (Part 1) ............................................................................. 236 Activity: Gun Kinematics (Part 2) ............................................................................................ 241 Activity: Speed and Acceleration ............................................................................................ 243 Activity: Defining OPEN, SEMIOPEN, and CLOSE Poses............................................................ 245 Activity: Create the TCP and MNT Frames .............................................................................. 249 Activity: Defining an object as a Spot Weld Gun ..................................................................... 252 Activity: Defining an object as a Gripper ................................................................................. 254 Activity: Adding Kinematics to a Robot Model ........................................................................ 258 Activity: Using Direct Kinematics to Move the Robot .............................................................. 268 Activity: Adding a Toolframe .................................................................................................. 269 Activity: Using Inverse Kinematics to Move the Robot ............................................................ 274 Activity: More Inverse Kinematics (Optional Extra Credit)....................................................... 277 OTHER SELECTED MODELING & KINEMATICS TOPICS ................................................................. 290 Activity: Sample Rail Creation Overview ................................................................................. 290 Instructor Demo: Other Slider Cranks including RPRR Offset Slider ......................................... 292
Instructor Demo: Implementing Joint Logic with Functions (Optional Activity) ....................... 295 Instructor Demo: Kinematics Following a Surface (Optional Activity) ...................................... 298 Instructor Demo: Examine the Train Joint............................................................................... 301 Instructor Demo: Examine the Cam Joint................................................................................ 302 Activity: Setting up Compound Equipment ............................................................................. 304 GENERAL ROBOTICS ................................................................................................................... 310 Activity: Creating a New Study (Again) ................................................................................... 310 Activity: Training Data Overview ............................................................................................ 312 SPOT WELDING APPLICATIONS................................................................................................... 315 Activity: Viewing Spot Mfg Features in Process Simulate ........................................................ 315 Activity: Projecting Spot Mfg Features .................................................................................... 318 Activity: Adjusting a Weld Path .............................................................................................. 321 Activity: Gun Shank Validation ............................................................................................... 328 Activity: Using Weld Distribution Center (with Automatic Approach Angle) ............................ 333 Activity: Putting the Gripper on the Robot (for Ped. Welding) ................................................ 337 Activity: Get/Put the Part in the Fixture .................................................................................. 342 Activity: Creating a Rough Mounted Workpiece Path ............................................................. 346 Activity: Orient the Locations ................................................................................................. 349 Activity: Weld Gun Search ...................................................................................................... 355 Instructor Demo: Simulating Robots with Servo Guns ............................................................. 363 Activity: Working with Servo Guns ......................................................................................... 364 MATERIAL HANDLING APPLICATIONS ......................................................................................... 371 Activity: Pick and Place (Material Handling) Setup .................................................................. 371 Activity: Create the Basic (PNP) Process ................................................................................. 375 Activity: Stacking Boxes .......................................................................................................... 383 Activity: Doing the Second Pass (Optional Activity) ................................................................. 387 CONTINUOUS APPLICATIONS ..................................................................................................... 390 Activity: Using Continuous Feature Operations....................................................................... 390 Activity: Creating Arc MFGs for the Whitehouse Part ............................................................. 398 Activity: Creating Debur MFGs for the Whitehouse Part ......................................................... 405 Activity: Creating Paint MFGs for the Whitehouse Part ........................................................... 410 Activity: Creating Arc Seams for the Whitehouse part (using Project Arc Seam)...................... 417
BASIC CONCEPTS
Activity: Starting Process Simulate and Opening the Basic Project
The objective of this activity is to open a Process Simulate session from the specified studies. Login to database using your eMS user ID Open your Basics Project
Login to database using your eMS user ID
1. Before starting Process Simulate, verify that your Space Mouse is connected to the computer and that the driver is loaded, if you intend on using this optional device during your Process Simulate session. Note: If the driver is loaded, a blue ring will glow around the manipulator. 2. Double click on the Process Simulate desktop icon.
3. Login (using your eMS database login ID) with no password. User Type instructor student student student student student student eMS User ID administrator user1 user2 user3 user4 user5 user6
etc... student student 4. Click [OK].

Open your Basics Project
etc... user8 user9
1. From the Open Project window, select the Basics Project user## project (where ## is the user number assigned to your by the instructor). 2. Click [OK].
Activity: Setting and Viewing Basic Options
The objective of this activity is to set basic Graphic Viewer settings such as the Process Simulate System Root. Note: The path to all library objects is relative to the System Root. To enhance data management efficiency, studies from several projects can reference the same objects under the same System Root. Set the background color to black Set the mouse movement mode to Continuous Check the system root settings Set the background color to black
1. In Process Simulate, select Tools -> Options. 2. In the Options window, select the Appearance tab
3. From the drop down list in the lower left corner (that currently shows Vertical), select Solid. 4. Change the Background color to black. Note: If Corners is selected instead of Vertical, you could select four different colors to be used at once, instead of just one color. It is your choice. Set the mouse movement mode to Continuous
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Note: Direct viewing: Objects only move when you move your mouse. This is the Process Simulate default configuration. Continuous viewing: Objects continue to move at the initial speed of mouse movement. This is the Robcad default 1. In the Options window, select the Graphic Viewer tab.
2. Select Continuous viewing to change the Process Simulate graphics manipulation to act more like Robcad. Otherwise leave it on Direct Viewing. Check the system root settings
Note: You do not have permissions to change the System Root value in class. Local administrative rights are required. 1. Select the eMServer tab and verify the settings are what the instructor suggests for class.
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Warning: If this setting is wrong you will not have any 3D data in class and will not be able to complete 90% of the activities. This is a critical setting. 2. Click [OK] to close the Options window.
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Activity: Create the High-Level Operation Tree (1)
The objective of this activity is to create a high-level Operation Tree. Create the top level of the Operation Tree (1) Add two stations to it (to hold their operations) Create the top level of the Operation Tree (1)
1. Expand the Basics Project user## project. 2. In the Navigation Tree, right click the Operation Check Out . 3. In the Check Out window, click [OK]. 4. In the Navigation Tree, right click the Operation
collection (folder) and select
collection (folder) and select object type.
New 5. From the New window, browse and locate CompoundOperation 6. Scroll to the right and enter Operation Tree for the Name. 7. Check the checkbox for it or enter 1 for the Amount. Note:
The Name can contain any enterable character and can be up to 256 characters long.
8. In the New window, click [OK]. 9. Expand the Operation folder.
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10. Right click the Operation Tree Navigation Tree .
CompoundOperation (not the folder) and select
Add two stations to it (to hold their operations)
1. In the Navigation Tree (2) (with Operation Tree
as the root object), right click object type.
the Operation Tree CompoundOperation and select New . 2. From the New window, browse and locate CompoundOperation 3. Enter 2 for the Amount. 4. Scroll to the right and enter Station [1] for the Name. Note:
When creating multiple objects a number can be entered in [brackets which will be the starting point for the increment. More can be done as well. 5. In the New window, click [OK]. 6. Expand below Operations Tree.
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Activity: Create the High-Level Resource Tree (2)
The objective of this activity is to create a high-level Resource Tree. Create the top level of the Resource Tree (2) Add two stations to it (to hold their resources) Create the top level of the Resource Tree (2)
1. In the Navigation Tree, right click the Resource Check Out . 2. In the Check Out window, click [OK]. 3. In the Navigation Tree, right click the Resource
collection (folder) and select
collection (folder) and select object type.
New . 4. From the New window, browse and locate CompoundResource 5. Scroll to the right and enter Resource Tree for the Name. 6. Check the checkbox for it or enter 1 for the Amount. Note:
The Name can contain any enterable character and can be up to 256 characters long.
7. In the New window, click [OK]. 8. Expand the Resource collection (folder).
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9. Right click the Resource Tree Navigation Tree .
CompoundResource (not the folder) and select
Add two stations to it (to hold their resources)
1. In the Navigation Tree (3) (with Resource Tree as the root object), right click the Resource Tree CompoundResource and select New . 2. From the New window, browse and locate CompoundResource 3. Enter 2 for the Amount. 4. Scroll to the right and enter Station [1] for the Name. Note: When creating multiple objects a number can be entered in [brackets which will be the starting point for the increment. More can be done as well. 5. In the New window, click [OK]. 6. Expand below Resource Tree. object type.
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Activity: Associate the Trees Together
The objective of this activity is to associate the structures together. Resource Assignment: Associate the Resource Tree and Operation Tree Part Assignment: Associate End Items from the Product Tree to the Operation Tree Adding Resources to the Resource Tree Resource Assignment: Associate the Resource Tree and Operation Tree
Caution: Normally we would not do the assignment at the top level. . 1. From the Navigation Tree (3) (displaying the Resource Tree as the root object), select the Resource Tree CompoundResource. 2. Drag and drop it onto the Operation Tree CompoundOperation. 3. Right click the Operation Tree CompoundOperation and select Properties . 4. In the Properties window, select the Resources tab to see the relationship just made. 5. From the Navigation Tree (3) (displaying the Resource Tree as the root object), select the Resource Tree CompoundResource. 6. In the Properties window, select the Operations tab to see the other half of the two-way relationship just made. Part Assignment: Associate End Items from the Product Tree to the Operation Tree
1. Unpin the Sequence Editor viewer to make more room. 2. From the Navigation Tree, expand the Product collection (folder). 3. From the Navigation Tree, right click the Product Tree CompoundPart and select Navigation Tree . 4. From the Navigation Tree (4) (displaying the Product Tree as the root object), right click Product Tree and select Expand > Expand 3 Levels.
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5. Drag and drop the Purchased Assy1 CompoundPart onto the Station 1 CompoundOperation. 6. Drag and drop the Part C part onto the Station 1 CompoundOperation. 7. Select the Station 1 CompoundOperation. 8. In the Properties window, select the Product tab to see the relationship just made. 9. Drag and drop the Part D Part onto the Station 2 CompoundOperation. 10. Close the Properties window. 11. Close the Navigation Tree (4) (displaying the Product Tree as the root object) Adding Resources to the Resource Tree
1. From the Navigation Tree browse into the Libraries
collection (folder) and right
click the Resource Library library and select Navigation Tree . 2. From the Navigation Tree (displaying the Resource Library library as the root object) expand the tree. 3. Drag and drop the robot onto Station 1 CompoundResource. 4. Drag and drop the human onto Station 2 CompoundResource.
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Activity: Examine the Object Types that are Available
The objective of this activity is to see some of the various object types. Look at the Object Types Look at the Object Types
1. Look through the folders of the Navigation Tree viewer. Note: A custom caption has been created for this class for operation tree nodes allowing the allocated time for each node to be shown in the tree. 2. Try to find as many different node types as possible. Use the chart described earlier for help on identifying them.
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Activity: Examine the Part Library
The objective of this activity is to open the Navigation Tree viewer for the Part library in Libraries folder. Open the Part Library using the Navigation Tree viewer Look at a Part Prototypes properties Open the product tree using the Navigation Tree viewer Use the magnifying glass to see the instance/prototype relationship Look at a Part Instances properties Open the Part Library using the Navigation Tree viewer
1. Close all open Properties and Navigation Tree windows except for the original Navigation Tree. 2. In the Libraries collection (folder) of the docked Navigation Tree viewer, right click on the PartLibrary . 3. From the short-cut menu that appears, select Navigation Tree . A viewer named Navigation Tree (2) opens. 4. In the Navigation Tree (2) viewer, expand the tree by clicking the + to the left of PartLibrary. Look at a Part Prototypes properties
1. Right click a PartPrototype object in the PartLibrary Note:
and select Properties
Each time you drag a part prototype from a library to a product tree (i.e. a CompoundPart), it creates an instance of the part in the product tree. Instances inherit most of their attributes from the part prototype. 2. Pay attention to the PartPrototype Type on the General tab in the Properties window. 3. Lock the Properties window to this object by clicking Lock Displayed Information . Note: When is displayed, the content is locked. When is displayed the content is unlocked.
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Open the product tree using the Navigation Tree viewer
1. In the Product collection (folder) of the docked Navigation Tree viewer, right click on the Product Tree . 2. From the short-cut menu that appears, select Navigation Tree named Navigation Tree (3) opens. Use the magnifying glass to see the instance/prototype relationship . A viewer
1. Drag and drop a PartPrototype from the Navigation Tree displaying the contents of the PartLibrary onto the magnifying glass on the Navigation Tree (3) viewer displaying the Product Tree . 2. The Product Tree is expanded and the instances in the tree are highlighted. Look at a Part Instances properties
1. Right click the highlighted Part 2. 3. 4. 5.
object in the Product Tree
and select
Properties . In the Properties (2) viewer that opens, notice the small (i) in the Type field which indicates that the part is an instance type. Pay attention to the instance Type on the General tab in the Properties window. Close the Properties windows. Close the Navigation Tree (2) and Navigation Tree (3) views you just opened.
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Activity: Examine the Resource Library
The objective of this activity is to open the Navigation Tree viewer for the Resource library in Libraries folder. Look at the Prototypes in the Resource Library Look at the instances in the Resource Tree Look at the Prototypes in the Resource Library
1. Close all open Properties and Navigation Tree windows except for the original Navigation Tree. 2. Open the Resource Library in the Libraries collection (folder) using a Navigation Tree . 3. In the just opened Navigation Tree (2), expand the tree by clicking the + to the left of ResourceLibrary . 4. Pick on a single resource prototype in the library. Note: Each time you drag a prototype to the tree it creates an instance. Instances inherit most of their attributes from the prototype. 5. In the ResourceLibrary , right click the resource prototype and select Properties
. 6. Pay attention to the prototype Type on the General tab in the Properties window. 7. Close the Properties window. Look at the instances in the Resource Tree
1. In the Navigation Tree, browse into the Resource
collection (folder).
2. Open the Resource Tree using a Navigation Tree viewer and browse through the tree. 3. Expand the Resource Tree until you see an instance of a resource . 4. This time drag an instance from the resource tree and drop it on the magnifying glass of the resource library. 5. Close the Navigation Tree (2) and Navigation Tree (3) viewers you just opened. Note:
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Operation Library : There is no meaning to prototype and instances for operations. Each operation is an individual. The operation library is used mostly for a starting point or a repository of standard operations, which are used more than once in the process.
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Activity: Setting the Working Folder
The objective of this activity is to set the softwares working folder (temporary scratch area). Check out your working folder and set it as the working folder Check out your working folder and set it as the working folder
1. Continue working in the same project opened earlier. Note: It is assumed that all activities in this topic where completed before continuing to this activity. 2. Close allNavigation Tree views except the main one (i.e. Navigation Tree (2) and (3) viewers should be closed). 3. In Navigation Tree, browse into the Working Folders collection (folder). 4. Check out your assigned collection (folder) according to this chart: Right click it and select Check Out eMS User ID administrator user1 user2 user3 user4 user5 user6 etc... .
Working Folder administrator's Working Folder User1 Working Folder User2 Working Folder User3 Working Folder User4 Working Folder User5 Working Folder User6 Working Folder etc...
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user8 user9
User8 Working Folder User9 Working Folder
5. Click [OK]. 6. Select File > Project Management > Set as Working Folder. Note: The text of your working folder is now displayed bold.
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Activity: Creating a New Study
The objective of this activity is to create an empty study. Browse to your study folder Create a new RobcadStudy in the Demo folder Open the study with Process Simulate Browse to your study folder
1. Continue working in the same project opened earlier. Note: It is assumed that all activities in this topic where completed before continuing to this activity. 2. In the Navigation Tree, expand the Studies StudyFolder. 3. Locate your study folder according to this table: eMS User ID administrator user1 user2 user3 user4 user5 user6 etc... user8 StudyFolder Line 0 Line 1 Line 2 Line 3 Line 4 Line 5 Line 6 etc... Line 8
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user9
Line 9
Right click your
StudyFolder (as shown in the chart above) and select Check out
Select with Hierarchy (This is one of the rare times we will use Check out with Hierarchy). Click [OK]. Expand your Line ## study folder.
Create a new RobcadStudy in the Demo folder
1. 2. 3. 4. 5.
Right click on your Line ## StudyFolder and select New . From the New window, check the checkbox for RobcadStudy . Rename it to Study. Click [OK]. Drag and drop the Operation Tree CompoundOperation onto the study. Expand the tree under the study. Note: Normally you would not add the entire operation tree to a study. Normally it would be a smaller chunk of related processes and resources.
6. Close all the Navigation Tree viewers except for the original one. Open the study with Process Simulate
1. Right click the Study
RobcadStudy and select Load in Standard Mode . .
2. Right click in the Graphic Viewer and select Display All 3. Right click in the Graphic Viewer and select Zoom to Fit Note:
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For this activity, we have provided 3D data for the human and robot resource (but not for the product data. We will use much more complex data later in class that will include 3D data for both product and resources.
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Activity: Browsing the Process Simulate Scene
The objective of this activity is to browse the Scene loaded into Process Simulate. Expand the ProductTree to See What Came Across (1) Expand the Resource Tree to See What Came Across (2) Expand the Operation Tree to See What Came Across (3) Look at the Relationships Look at the Properties Expand the ProductTree to See What Came Across (1)
1. Locate the Object Tree viewer and click the Object Tree tab for it. 2. In the Object Tree viewer, right click the Parts folder select Expand -> 2 Levels. Expand the Resource Tree to See What Came Across (2)
1. In the Object Tree viewer, right click the Resources Levels. Expand the Operation Tree to See What Came Across (3)
folder and select Expand -> 3
1. Locate the Operation Tree viewer. 2. Click the + next to Operation Tree CompoundOperation Note:
to expand it.
In Process Simulate the options that show on the right click menus can be easily customized based on what is selected and which viewer you are in. Look at the Relationships
1. If the Relations Viewer is not shown, select View > Open With> Relations Viewer . 2. Select the Operation Tree CompoundOperation . 3. Look in the Relations Viewer and notice the Resource Tree CompoundResource is related to it.
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Note: Recall that we made this relationship by assigning the Resource Tree CompoundResource to the Operation Tree CompoundOperation . 4. In the Operation Tree, select the Station 1 CompoundOperation . 5. Look in the Relations Viewer and notice the Purchased Assy 1 and Part C are related to it. Note: Recall that we made this relationship by assigning the Purchased Assy 1 and Part C to Station 1 . 6. In the Operation Tree, select the Station 2 CompoundOperation 7. Look in the Relations Viewer and notice Part D is related to it. Note: Recall that we made this relationship by assigning Part D to Station 1 Look at the Properties . .
1. In the Operation Tree, pick the Operations Tree and select View > Open with > Properties . 2. Notice the attributes for the selected object. 3. Select other objects in the Operations Tree to see their attributes as well. Note: This window can be used for any database object shown in Process Simulate. 4. Close the Properties viewer.
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Activity: Docking and Floating Windows
The objective of this activity is to change window docking. Locate the desired viewers Undock a viewer window Dock it back to the same place Undock a viewer window Dock it to another position Dock it to a Tab Group On Demand Windows Locate the desired viewers
1. Continue working in Process Simulate. 2. Locate and select the following open viewers in Process Simulate: o Navigation Tree o Object Tree o Operation Tree o Sequence Editor o Path Editor o Collision Viewer o Relations Viewer Undock a viewer window
1. In the Operation Tree upper right corner (the title area), click Window Position and select Floating. Dock it back to the same place
1. Double click the title area of the Operation Tree. Undock a viewer window
1. In the Operation Tree upper right corner (the title area), click Window Position and select Floating.
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Dock it to another position
1. Begin dragging the (floating or docked) Operation Tree viewer using the title area of the window. 2. A four-way arrow indicator appears in the center of the docked viewer you are dragging across.
3. Drag the floating viewer to one of the arrows of the four-way arrow indicator. 4. It will dock the viewer along that edge of the viewer you are dragging across. Dock it to a Tab Group
1. Begin dragging the (floating or docked) Operation Tree viewer using the title area of the window. 2. A four-way arrow indicator appears in the center of the docked viewer you are dragging across.
3. Drag it over the Object Tree. 4. Drag the floating viewer to the icon in the center of the four-way arrow indicator. 5. It will dock the Operation Tree viewer as a tab within a tab group that also contains the Object Tree. On Demand Windows
1. In the Operation Tree upper right corner (the title area), click Window Position and select Auto Hide. Note:
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Or click the Pin
2. Mouse over a window on the left side of the Process Simulate window. 3. In the Operation Tree upper right corner (the title area), click Window Position and select Auto Hide. Note: Or click the Pin .
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Activity: Saving a Window Layout
The objective of this activity is to save a couple of window layouts. Position, and Size Windows Save a New Layout Create Second Window Layout Position, and Size Windows
1. Open, position, and size all windows for this layout. Save a New Layout
1. From the Process Simulate toolbar, click Layout Manager . 2. From the Layout List window, click New. 3. In the New Layout window, click Use Current for both options.
4. Click [OK]. Note: The list of layouts on your computer may be different.
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5. In the Layout List window, enter a new name for the layout: If you are user##, enter Layout1_user## (where ## is your user number). Note: If the name of the new Layout is not highlighted in blue, pick it, press [F2], and enter the new name. 6. Click Close. Create Second Window Layout
1. Change the window layout a little, by moving some windows around. 2. Create second window layout in the same way, named Layout1_user## (where ## is your user number).
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Activity: Using a Window Layout
The objective of this activity is to switch between a couple of window layouts. Apply your Layouts Apply the Standard Layout Apply your Layouts
Note: The previous activity needs to be completed before doing this one.
1. From the Process Simulate toolbar, select the Layout drop-down and choose Layout1_user## (where ## is your user number). 2. The layout is applied to all open and successively opened windows. 3. Now apply your Layout2_user## (where ## is your user number). Apply the Standard Layout
1. Apply the Standard window layout shown in the list.
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PROCESS SIMULATE ON EMS ENVIRONMENT

Automotive Activity: Getting an Overview of the Objects in the Object Tree
In this activity, we will explore the nodes and structure of the Operation Tree, Assembly Tree and Object Tree viewers. These viewers are very useful in getting an overview of a complex product or resource structure with many levels of related entities.
Automotive Data: Login to database using your eMS user ID Automotive Data: Open the desired project Automotive Data: Check out your working folder and set it as the working folder Automotive Data: Load the Study Automotive Data: Expand the Product Tree (1)
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Automotive Data: Expand the Resource Tree (2) Automotive Data: Expand the Operation Tree (3) Automotive Data: Login to database using your eMS user ID
1. Before starting Process Simulate, verify that your Space Mouse is connected to the computer and that the driver is loaded, if you intend on using this optional device during your Process Simulate session. Note: If the driver is loaded, a blue ring will glow around the manipulator. 2. Double click on the Process Simulate desktop icon.
3. Login (using your eMS database login ID) with no password. User Type instructor student student student student student student etc... student student 4. Click [OK]. Automotive Data: Open the desired project eMS User ID administrator user1 user2 user3 user4 user5 user6 etc... user8 user9
Note:
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Load a preexisting area of an operation tree that contains 3D data (associated part and resource instances with .COJTs). 1. In Process Simulate, close the current project, if one is open: Select File > Close Project. 2. If asked You are about to close the project. Do you wish to continue, select Yes. However, if asked Do you wish to update eMServer, select No. 3. In Process Simulate, open an existing project: Select File > Open Project. 4. In the Open Project window, select Robotics Example and click [OK]. 5. In the Navigation Tree, expand the tree one level.
Automotive Data: Check out your working folder and set it as the working folder
1. In Navigation Tree, browse into the Working Folders collection (folder). 2. Check out your assigned collection (folder) according to this chart: Right click it and select Check Out eMS User ID administrator user1 user2 user3 user4 user5 user6 etc... user8 .
Working Folder administrator's Working Folder User1 Working Folder User2 Working Folder User3 Working Folder User4 Working Folder User5 Working Folder User6 Working Folder etc... User8 Working Folder
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user9
User9 Working Folder
3. Click [OK]. 4. Select File > Project Management > Set as Working Folder. Note: The text of your working folder is now displayed bold. Automotive Data: Load the Study
1. From the Navigation Tree, browse into the Studies study folder. 2. Browse into the Line## study folder, where ## is the user number assigned to by your instructor. 3. Right click on the Robotics Example 4. Click [OK]. study and select Check Out .
5. Right click on the Robotics Example study and select Load in Standard Mode . 6. Wait for a couple seconds for the data to load. Automotive Data: Expand the Product Tree (1)
Note: Expand it to see what came across, if you didnt already. 1. Click the Object Tree tab. 2. In the Object Tree viewer, right click the Parts folder and select Expand -> 2 Levels. The associated parts, if any, are shown. Automotive Data: Expand the Resource Tree (2)
Note: Expand it to see what came across, if you didnt already. 1. In the Object Tree viewer, right click the Resources Level. The associated resource structure is shown. Automotive Data: Expand the Operation Tree (3) folder and select Expand -> 1
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Note: Expand it to see what came across, if you didnt already. 1. Click the + next to the Operation Tree process to expand it.
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Activity: Object Tree Basics and Groups
The objective of this activity is to learn more about the tree structure and its hierarchy. Browsing the Object Tree Creating Compound Resources Creating and Working with Groups Browsing the Object Tree
1. Successively clicking the display status squares (Blank and Display ) next to the nodes on the Object Tree viewer causes the displaying or blanking of entities in the Graphic Viewer. Note: When you click the box next to a node, it switches between a filled box and an empty box. When the box is fully filled, the object is completely displayed in the tree. When it is partially filled, the object is only partially displayed in the Graphic Viewer When you see an X in the box, no 3D data is available. 2. As mentioned previously, clicking the + or - icons next to a node expands or hides the next level, respectively. It is useful to expand the tree fully to display all levels, since some entities are nested within subcomponents. It is important to learn to identify the entity icons. Note: Expanding Trees: One level of a tree can be expanded by clicking the + icon next to a node in a tree. The [*] key from the Number Pad area of the keyboard (which is [Fn] > P on an American laptop keyboard layout) can be used to expand all levels of the tree. We will also learn how to do this using the right-click menu in the next topic. Collapsing Trees: One level of a tree can be collapsed by clicking the - icon next to a node in a tree. We will also learn how to do this using the right-click menu in the next topic 3. Individual parts/resources or compound parts/compound resources can be added or removed from a group. . Complete groups can be moved by highlighting the
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desired objects in the tree (with the left mouse button), then dragging and dropping it onto the desired location on the tree. Creating Compound Resources
1. In Object Tree viewer, select the first object in the Resources folder. Note: Only other compound objects can be used as the parent for a new compound object. 2. Select Modeling > Create Part Resource > Create Compound Resource Note: A new CompoundResource1 object is created in the Resources folder of the Object Tree. Note: Whenever a new object is added to a study, it will be added to the bottom of the list of entities on the Object Tree viewer. 3. Pick the new CompoundResource1 object, press [F2], and enter My Compound Resource for the Name. Note: Nodes in the object tree (that are not read-only) can be renamed by first selecting them and second, clicking them again. A frame will appear around the selected text, which a new name can be entered Note: You can also press the [F2] key to begin renaming objects. 4. Drag and drop the desired resources on to My Compound Resource. Note: This compound resource will be stored back to the original resource tree and change its structure after eMServer Selective Update is clicked. .
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Note: You cannot add both parts and resources to the same compound object. Creating and Working with Groups
Individual parts/resources or compound parts/compound resources can be grouped to establish additional hierarchy levels in the tree. If a group is selected and then shifted or rotated, the objects in the Graphic Viewer that are in the group will also be moved. Each object can also be shifted or rotated independently of the group. 1. Select View > Viewer > Logical Collections Tree. 2. In the Logical Collections Tree viewer select the Groups folder and select Tools > Groups > Create Group . 3. From the Graphic Viewer or Object Tree viewer , pick some parts or resources. Note: A group can contain any combination of other groups, resources, compound resources, parts, or compound parts. 4. In the Create Group window, enter a Name for the group such as My Group, and click [OK]. 5. In the Logical Collections Tree viewer right click on the My Group group and look at the options on the right click menu. . Note: Notice the Create Group , Flatten Hierarchy , Export Groups to Excel ,
and Replace Compounds with Groups Note:
options.
This group will be stored only in the study and will not affect the original resource tree structure after eMServer Selective Update Note: You can add both parts and resources to the same compound object. Note: is clicked.
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Use groups in various Process Simulate tools to blank/display, create flow operations, create collision pairs, export to Excel, etc ... Groups enable assembly feasibility studies in early stages, even before process is defined.
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Activity: Using the Right Click Popup Menu
The objective of this activity is to use the right click menu in the Graphic Viewer and Object Tree viewers. When using the various options on the menu, make sure to observe their effects in the Graphic Viewer. Change the color of an object from the Object Tree Blank the object from the Object Tree Display all the objects from the object tree Change the color of an object from the Object Tree
1. Right click a human in the Object Tree viewer. 2. From the right click menu, select the menu to the right of Modify Color . 3. Choose a color from the displayed window. 4. Pick on nothing in the Graphic Viewer to unselect the object and see its new color. 5. Undo the color change: Select Edit -> Undo Blank the object from the Object Tree .
1. Right click the human again and select Blank 2. Undo the blanking: Select Edit -> Undo Display all the objects from the object tree .
1. Right click in the Object Tree viewer, but not on an object. 2. Select Display All .
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Activity: Basic Graphic Viewer Controls
In this activity, you learn some of the view commands Change the background color 3D Space Mouse Movement Options Regular Mouse Movement Options Change the background color
1. In Process Simulate, select Tools -> Options. 2. From the Options window, select the Appearance tab. 3. Select Background color.
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4. 5. 6. 7.
Choose Corners from the drop down. Choose a color for each corner. Click Preview. Click [OK].
3D Space Mouse Movement Options
Optionally, use your Space Mouse to manipulate the Graphic Viewer contents. Note:
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The device needs to be attached to your computer and the driver loaded before your Process Simulate session is started.
Pan Right/Left
- nudge left and right
Pan Up/Down Zoom Tilt
- push down or pull up - nudge toward or away from you - rotate front/back
Spin
- spin around
Roll
- rotate left/right
Regular Mouse Movement Options
1. Hold down the Middle mouse button (i.e. press the mouse wheel like a button). 2. Moving the mouse left or right affects the direction of the zoom. To zoom out, move the mouse left; to zoom in, move the mouse right. 3. Hold down the Right mouse button. 4. Moving the mouse in any direction affects the direction panned, when continuous viewing is set. 5. Hold down the Middle and Right mouse button. 6. Moving the mouse in any direction changes the viewpoint. 7. To zoom to a specific area, hold down the [Alt] key and draw a box around a small area of interest with the Left mouse button. Note: The behavior of the regular mouse movement options can be modified by selecting Tools > Options, and choose an option on the Graphics Viewer tab.
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Activity: Selecting Objects in the Graphic Viewer
The objective of this activity is to learn how to select objects and manipulate them in the Graphic Viewer .
Picking Entities Change the color of a whole object in the Graphic Viewer Change the color of part of an object in the Graphic Viewer Blank and Display the object from the Graphic View Highlight objects using the mouse wheel Viewing and selecting PMI
Picking Entities
1. Select the Entity Pick Level. (Most likely it is set to Component right now).
Note: A short cut key to toggle between the two Pick Levels is the [F12] key. 2. Pick a non-kinematic object (i.e. a rails, lift assists, or tool base). Notice the whole thing is still highlighted. 3. Pick a kinematic object (i.e. a robot or human). Notice that only part of it is highlighted. 4. Select the a non-kinematic object (i.e. a rails, lift assists, or tool base) 5. Select Modeling > Entity Level > Load Entity Level . 6. Notice that you can now expand into the object and select its entities. 7. Pick it again. 8. Select Modeling > Entity Level > Unload Entity Level Change the color of a whole object in the Graphic Viewer .
1. Set the Pick Level to Component.
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2. Right click the human in the Graphic Viewer and select the menu to the right of Modify Color . 3. Choose a color from the displayed window. 4. Pick on nothing in the Graphic Viewer to unselect the object and see its new color of the whole human. 5. Select Edit -> Undo .
Blank and Display the object from the Graphic View
1. Right click the human again and select Blank . 2. Right click in the Graphic Viewer but not on an object. 3. Select Display All .
Highlight objects using the mouse wheel
1. Select an object in the Graphic Viewer. 2. Scroll up one click with the mouse wheel to go up one level of hierarchy and highlight the parent of a selected node in the tree and Graphic Viewer. 3. Continue all the way up the tree. 4. Scroll down one click with the mouse wheel to go up one level of hierarchy and highlight the parent of a selected node in the tree and Graphic Viewer. 5. Continue all the way up the tree. Viewing and selecting PMI
1. 2. 3. 4.
In the Object Tree, browse into the Resources folder. In the Object Tree, expand into the CompoundResource. Expand into the toolcrib. Right click on pmi_notes_15 and select Zoom to Selection. .
5. Select Modeling > PMI > Load PMI
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6. Look at the PMI on the part in the Graphic Viewer. 7. In the Object Tree, expand into pmi_notes_15.
8. In the Object Tree or Graphic Viewer, pick one of the PMI objects.
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Activity: Additional Methods of Multiple Entity Selection
The objective of this activity is to learn additional methods of selecting multiple items. Note: An object can be selected in the Graphic Viewer by clicking the left mouse button and drawing a box around the desired object(s). If any part of the object(s) is in the window, it will be selected. Objects can also be selected by clicking them on the Object Tree viewer. All selected objects can be deselected by clicking in the empty space around them in the Graphic Viewer . A selected object can be individually deselected by clicking it, either in the Graphic Viewer or in the Object Tree viewer, while pressing the [Ctrl] key.
Object Tree Object Selection Multi-Selecting and Deselecting Objects in the Graphic Viewer Multi-Selection using the [Ctrl] key or [Shift] key Using the View Menu
Object Tree Object Selection
1. Any node can be selected by clicking it; previously selected nodes are then deselected. To select several separate nodes simultaneously, hold down the [Ctrl] key and click the additional nodes, as required. To select a range of nodes together, select the first node you want, hold down the [Shift] key and click the last node you want. Note: The Shift Key: The [Shift] key enables you to select more than one entity in a consecutive list. Pick the first entity, then hold down the [Shift] key and pick the last entity in the list. This key works in the Tree viewer only. Selected entities are highlighted in green in the Graphic Viewer. The Ctrl Key: The [Ctrl] key enables you to select more than one non-consecutive entity. Hold down the [Ctrl] key and pick each desired object. This key works in the Tree viewer and the Graphic Viewer. Selected entities are highlighted in green in the Graphic Viewer.
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2. Objects can also be selected from the Graphic Viewer. To select whole objects, make sure the Pick Level is set to Component. To select parts of an object, make sure the Pick Level is set to Entity.
Note: Pick Level: There are two main Pick Levels in Process Simulate, Entity and Component. These levels determine what is selected when you click an object. If the Pick Level is set to Component and you click one entity of an object, the entire object becomes selected. If the Pick Level is set to Entity, then only that entity (that is, part of the whole object) is selected. Multi-Selecting and Deselecting Objects in the Graphic Viewer
1. Press the left mouse button and draw a box around several objects in the Graphic Viewer. Note which objects turn green. 2. Deselect the entities by selecting the empty space around them in the Graphic Viewer. Multi-Selection using the [Ctrl] key or [Shift] key
1. 2. 3. 4. 5. 6. 7.
Pick an object in a tree. Hold down the [Ctrl] key and pick an object. Continue holding down the [Ctrl] key and pick another object. Release the [Ctrl] key. Pick an object in a tree. Hold down the [Shift] key and pick another object. Release the [Shift] key.
Using the View Menu
1. Select multiple objects using the left mouse button and the [Ctrl] key 2. Select View -> Blank . Note how the selected objects change in the Graphic Viewer, depending on your selection.
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Note: You can also access these options by right clicking an object in the Graphic Viewer
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Activity: Using Toggle Display
The objective of this activity is to learn how to toggle between the blanked and displayed objects in the Graphic Viewer. Note: Using the Toggle Display command toggles between the blank objects and the displayed objects, that is, all displayed objects become blanked and all blanked objects become displayed.
Toggle the display of blanked and displayed objects
Toggle the display of blanked and displayed objects
1. Blank several objects in the Graphic Viewer, using one of the methods described previously in this chapter. 2. Select View -> Toggle Display . 3. You should now see only those objects that you just blanked (and maybe a few locations or paths). 4. Blank some of the objects in this view, and then Toggle Display 5. The objects you just blanked are now displayed. back again.
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Activity: Blanking all the Frames using Selection Filters (Optional)
The objective of this activity is to learn how to use selection filters to select and blank entities by type.
Blank all the frames using method 1
Note: This toolbar is turned off by default. Right-click the current toolbar and select Selection to activate it. 1. From the Selection toolbar, click Select with Filter . 2. From the Selection toolbar, choose to select all the frames by clicking Selection Type Frames 3. Click Select All selected. 4. Select View -> Blank 5. Click Select . (of the selected type). Notice that only the frames are . again.
from the Viewing toolbar or click Select with Filter
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Activity: Blanking all the Frames using Display by Type
The objective of this activity is to learn how to use Display By Type to select and blank entities by type.
1. Select View -> Display all
2. Select View -> Display By Type . 3. From the Display By Type window, choose Frames from the list. 4. From the Display By Type window, choose Hide Selected Types 5. Close the Display By Type window. .
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Activity: Relationship Between Measuring and Units
The objective of this activity is to learn about units and measuring within Process Simulate.
Measure the distance from the one object to another Change the units Measure the same distance again
Measure the distance from the one object to another
1. Click Minimal Distance
on the Tools toolbar (or select Tools -> Measurements
-> Minimal Distance ). 2. Click the two objects in the Graphic Viewer. The distance between the two is displayed. (Your numbers and objects may differ from those shown below). 3. Remember the approximate distance and the picked objects. 4. Close the Minimal Distance window. Change the units
1. Select Tools -> Options. 2. In the Options window, select the Units tab.
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3. Change the current Linear unit type to inch. 4. Select [OK]. Measure the same distance again
1. Bring up the Minimal Distance window and pick approximately same two points to measure. Notice the units are now converted to inches. (Your numbers and objects may differ from those shown below).
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Activity: Changing Visualization Performance
In this activity, you will learn more about how to change the performance settings.
Experiment with Level of Details Change the level of details to a more typical setting Experiment with culling Change the culling to a more typical setting
Experiment with Level of Details
1. Center the currently displayed objects in the Graphic Viewer by clicking Zoom To Fit . 2. Select Tools -> Options. 3. From the Options window, select the Performance tab.
4. 5. 6. 7. 8.
Move the slider in the Level of Details area towards Speed. Click [OK]. The display of the objects in the cell change. Zoom in and out using the middle mouse button. Note the difference between this level of detail and the one used earlier.
Change the level of details to a more typical setting
1. Select Tools -> Options. 2. From the Options window, select the Performance tab. 3. Move the slider in the Level of Details very close to Quality.
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Note: Two right arrow clicks from Quality, is the most optimal setting (i.e. good quality and increased performance). 4. For the Rendering mode, select Use OpenGL display lists.
5. 6. 7. 8.
Click [OK]. The display of the objects in the cell change. Zoom in and out using the middle mouse button. Note the difference between this level of detail and the one used earlier.
Experiment with culling
1. Reopen the Options window, if it was closed, and select the Performance tab.
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2. 3. 4. 5.
Check Cull parts with less than. Enter 0.05. Click [OK]. See how this affects graphics visualization. Note: This option cannot be used when it is desirable to see small objects, such as PLPs or welds (since they would not be shown). Smaller culling values, such as 0.01%, may be helpful in other use cases (i.e. general or final assembly).
Change the culling to a more typical setting
1. Reopen the Options window, if it was closed, and select the Performance tab. 2. Uncheck Cull parts with less than.
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Activity: Changing Graphical Visualization
In this activity, you will modify the visualization of Graphic Viewer objects.
Toggling all objects visualization Changing a single objects visualization Using Dynamic Clipping
Toggling all objects visualization
1. On the Object Tree, browse into the Resource folder. 2. Right click desk_contents and select Display Only .
3. Select View > Feature Lines . 4. The feature lines mode is shown. Notice the effect in the Graphic Viewer. Note: Your data may look different than what is shown in the picture.
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5. Select View > Wireframe Mode . Notice the effect. 6. The wireframe mode is shown. Notice the effect in the Graphic Viewer.
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7. Select View > Shaded Mode . 8. The shaded mode is shown. Notice the effect in the Graphic Viewer. Note: Your data may look different than what is shown in the picture.
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9. Select View > Features Lines Over Solid . 10. The features lines over solid mode is shown. Notice the effect in the Graphic Viewer.
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11. Slowly, press the [F10] key several times successively. Notice the effect in the Graphic Viewer. 12. Return to Shaded Mode .
Changing a single objects visualization
1. Select an object (such as a human) and select View > Object Viewing -> Transparent . 2. Pick off of the object. 3. Rotate the view around and notice how you can see through the object now.
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Note: Transparency enables users to select a complicated assembly and view its inner objects. 4. Select the transparent object and select View > Object Viewing -> Shaded 5. Pick off of the object. 6. Notice the effect. .
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Using Dynamic Clipping
1. Pick a point of interest in the Graphic Viewer. 2. Select View > Graphic Viewer > View Center to set the desired point of interest at the center of the Graphic Viewer display. 3. Select View > Dynamic Clipping Planning Settings .
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4. In Dynamic Clipping Plane Settings window, move theClipping Plane slider a little bit away from Camera. 5. Hold down the middle mouse button and move the mouse toward the right to zoom in to the view centered point. Notice now the geometry in the way is clipped so better show the desired geometry. 6. In Dynamic Clipping Plane Settings window, click Close. Note: In the future, to return to this clipping, just toggle View > Dynamic Clipping on and off as needed.
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PLACEMENTS COMMANDS
Activity: Using Fast Placement
The objective of this activity is to learn how to use the Fast Placement
Open your assigned station for a resource query Use Fast Placement Undo the positional changes (method 1) Use Fast Placement again Undo positional changes (method 2)
command.
Open your assigned station for a resource query
Note: We checked out and assigned our working folders in the previous activities. Once set for a project, it will remain set forever (or until another folder is set as the working folder). 1. In the Navigation Tree, browse into the StudyFolder (object type is also studyfolder). 2. In the Navigation Tree, browse into the Underbody studyfolder. 3. In the Navigation Tree, browse into the Mtr Comptr studyfolder. 4. Locate your assigned study: eMSUser Id user1 user2 user3 user4 user5 user6 user7 user8 user9 user10 Studies M11LH M11RH M10 M20 M31 M32 M33 M30 M40 M50
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administrator
M11LH (copy)
5. Right click your assigned study, select Check Out
, and click [OK]. .
6. Right click your assigned study, and select Load in Standard Mode 7. Do NOT save changes to the previously loaded scenario. Note:
We are only playing around with the data in order to better understand now the software works. Use Fast Placement
Note: We are not going to save changes to this study either. 1. Select View -> Graphic Viewer -> View Point . 2. Select Top from the View Point window. 3. From the Standard toolbar, set the Pick Level to Component.
4. Click Fast Placement around the screen. Note: Fast Placement
on the toolbar, and then select and drag each object
does not work in the Z direction to return to normal mode.
5. When you have finished, click Select 6. Select Zoom to Fit .
Undo the positional changes (method 1)
1. Use Edit -> Undo to undo the object placement. 2. Repeat as necessary to undo all the fast placement.
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Use Fast Placement again
1. Click Fast Placement on the toolbar, and then select and drag a single object and drag it to 3 different locations. 2. When you have finished, click Select Undo positional changes (method 2) to return to normal mode.
1. Select the object you just moved in the Graphic Viewer. Note: Multiple objects could also be selected by holding down the [Ctrl] key and picking them. 2. Select Tools -> Placement -> Restore Design Relative Position . 3. The object returns to original position with one click (instead of 3 clicks with the undo).
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Activity: Creating a Frame
The objective of this activity is to learn how to create a frame.

Create a frame by 6 Values Create a Frame By 3 Points Create a Frame Between 2 Points Create a Frame By Circle Center Look at the frames name
Create a frame by 6 Values
1. Select Modeling -> Create Frame -> Create Frame by 6 Values 2. Pick a point in the Graphic Viewer. Note:
You can keep clicking positions in the Graphic Viewer to change the placement of the frame. 3. When the frame is placed correctly, click [OK] in the Create Frame By 6 Points window. Note: The frame is displayed in the Graphic Viewer. 4. Select the Object Tree tab to display the Object Tree. Note: The frame is also displayed in the Frames Create a Frame By 3 Points folder of Object Tree.
1. 2. 3. 4.
Select Modeling -> Create Frame -> Create Frame By 3 Points . Pick a point in the Graphic Viewer. to set the origin of the frame Pick a point in the Graphic Viewer. to set the direction of the X-axis of the frame Pick a point in the Graphic Viewer. to define the XY-plane of the frame Note:
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Right hand rule, determined by the three pick points, is used to determine which way Z points away from this plane. Click Flip Frame 5. Click [OK]. Create a Frame Between 2 Points if it is on the wrong side.
1. 2. 3. 4.
Select Modeling -> Create Frame -> Create Frame Between 2 Points . Pick a point in the Graphic Viewer. to define the first point. Pick a point in the Graphic Viewer. to define the second point. By default the frame will create in the middle (at 50%) of the line between the two points. Use the slider to move the frame between the two points to the desired position. Note: Click Flip Frame if it is on the wrong side.
5. Click [OK]. Create a Frame By Circle Center
1. 2. 3. 4.
Select Modeling -> Create Frame -> Create Frame By Circle Center . Pick a point in the Graphic Viewer. to define the first point of the circle. Pick a point in the Graphic Viewer. to define the second point of the circle. Pick a point in the Graphic Viewer. to define the third point of the circle. Note: The frame is created at the center of the circle formed by the three pick points. Right hand rule, determined by the three pick points, is used to determine which way Z points away from this plane. Click Flip Frame Note: If picking on geometry on a geometric circle or cylinder shape, set the Pick Intent to Snap and pick on or near the circle or shape to snap to instead of if it is on the wrong side.
the center. In this case, you should use Create Frame By 6 Values
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this option. This option is best, for geometric circles or cylinders that are so imperfect that Process Simulate does not recognize them as such (i.e. a hexagon). 5. Click [OK]. Look at the frames name
1. Mouse over one of the created frames in the Graphic Viewer and notice the frames name is displayed. 2. Look in the Frames folder in the Object Tree.
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Activity: Shifting and Rotating Instances On-screen
The objective of this activity is to learn one way to position instances within a session. Selected object(s) can be shifted by entering values in the X, Y, or Z fields, or by clicking the up and down arrow keys in the Translate area of the Placement Manipulator window. Note: Objects can be selected for placement in several ways: Pick them (from the Objects Tree or Graphic Viewer) and select Tools -> Placement -> Placement Manipulator . from the toolbar. . Pick them and select Placement Manipulator
Draw a selection window around them and select Placement Manipulator

Open the Placement Manipulator window Use the Manipulator Frame to move the object View the coordinates of the object relative to a specific frame of reference
Open the Placement Manipulator window
1. (Make sure your Pick Level is set to Component).
2. Pick an object 3. Select Tools -> Placement -> Placement Manipulator . 4. A large frame with arcs appears at the center of the selected object. This is called the Manipulator Frame. Use the Manipulator Frame to move the object
1. In the Graphic Viewer, pick and drag the red X-axis of the Manipulator Frame. 2. The relative coordinates (that is, the distance moved on the currently selected axis since the object was selected) are displayed in the field in the Translate area, at the top of the Placement Manipulator window, as shown below: 3. In the Graphic Viewer, pick and drag the green Y-axis of the Manipulator Frame to move it on the Y-axis. 4. In the Graphic Viewer, pick and drag the white square between the green Y-axis and X-axis of the Manipulator Frame to move it on the XY-plane..
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5. Notice in the Placement Manipulator window that the Frame of Reference is set to Geometric Center. 6. In the Graphic Viewer, pick and drag the green arc of the Manipulator Frame to rotate the object around the Y-axis of the geometric center. Note: Notice how it moves. 7. In the Placement Manipulator window, change the Frame of Reference to Working Frame. 8. Again in the Graphic Viewer, pick and drag the green arc of the Manipulator Frame to rotate the object around the Y-axis of the working frame. Note: Notice how it moves differently than before. View the coordinates of the object relative to a specific frame of reference
1. Click Expand Dialog in the Placement Manipulator window to expand the window, as shown below: 2. Make sure that Working frame appears in both the Frame of Reference and Location relative to fields. If it does not, select it from the drop down list. Note: Notice that the current absolute coordinates of the object being manipulated are displayed in the table at the bottom of the window. It is NOT suggested to enter new coordinates using this bottom part of the placement manipulator. Instead, use this area as a print out of where your object is currently sitting in reference to the selected frame. 3. In the Placement Manipulator window, click Reset to return to the place where it was when this window was opened. Note: If you would like to reset the position of the object after closing the Placement Manipulator window, Select the object and choose Tools -> Placement -> Restore Design Relative Position
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4. In the Placement Manipulator window, click Close.
Activity: Relationship Between Placement Manipulator, Measuring, and Units
The objective of this activity is to learn another way to position instances within a session. We will use the session from the previous activity.
Open the Placement Manipulator window Measure the distance from the bottom of one object to the top of another Measure the minimal distance between two objects Move the object Change the units and see the affect
Open the Placement Manipulator window
1. Pick an object. 2. Select Tools -> Placement -> Placement Manipulator . 3. In the Placement Manipulator window, set Working frame as the Frame of Reference. 4. Do not close the Placement Manipulator window yet. Measure the distance from the bottom of one object to the top of another
Note: For example, if you wanted to put the second object on top of the first object. 1. Select Tools -> Measurements -> PTP Distance 2. On the toolbar, set the Pick Intent to Snap. .
3. Set the Pick Level to Component
4. For the First Object, click the bottom of the first object. 5. For the Second Object, click the top of the second object. 6. The distance between the two picked points is displayed in the Graphic Viewer and in the Point To Point Distance window.
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7. Close the Point To Point Distance window. Measure the minimal distance between two objects
1. 2. 3. 4.
Select Tools -> Measurements -> Minimal Distance . For the First Object, click the first object. For the Second Object, click the second object. The distance between the two objects is displayed in the Graphic Viewer and in the Minimal Distance window. 5. Do not close the Minimal Distance window. Move the object
1. In the Placement Manipulator window, notice the current step size units are mm. 2. Select the Step size link, in the translate part of the Placement Manipulator window, enter 100, and select [OK]. 3. 4. 5. 6. 7. Click Z and select the black right arrow twice. In the Graphic Viewer, drag the object around using the Manipulator Frame. To undo all the placements on this object, click Reset. Close the Minimal Distance window. Close the Placement Manipulator.
Change the units and see the affect
1. 2. 3. 4.
Select Tools -> Options. From the Options window, select the Units tab. Change the number of decimal places for Linear to 3. Change the current unit type to inch.
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5. Click [OK]. 6. Bring up the Placement Manipulator window for an object again. Notice the units are now converted to inches. 7. Bring up the Minimal Distance window and measure the same two objects. Notice the units are now converted to inches.
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Activity: Incremental Shifting of Objects from a Reference Frame
The objective of this activity is to learn how to use linear and rotational step sizes. Selected objects can be moved by step size along a chosen linear or rotational axis. This step size can be changed and stored until the next time the command is used.
Rotate an object about its Geometric Center Rotate an object about the Working Frame
Rotate an object about its Geometric Center
1. Pick an object. 2. Select Tools -> Placement -> Placement Manipulator . 3. Select the rotation Step size link in the Placement Manipulator window. 4. In the Step Size window, change the rotation step size to 45 degrees by entering 45 in the Rotation step (deg) field and clicking [OK]. 5. Click Rx in the Placement Manipulator window and rotate an object in 45 degrees increments around the X-axis by clicking the Move Negative Positive Warning: Do not click the Move Negative To Collision or Move Positive To Collision arrows. and Move
arrows. They will continue the rotation until a collision occurs. If none occurs (or if collision detection is not configured), it will come back with a warning saying No collisions have been detected. Rotate an object about the Working Frame
Note: The Placement Manipulator window is still open. 1. Select Working frame from the Frame of Reference pull-down lists. 2. Rotate an object again either by using the Move Negative and Move Positive arrows, or by grabbing an arc shaped axis of the Manipulator Frame and dragging it in the Graphic Viewer. Note:
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If Snap by step size is checked in the Placement Manipulator window, dragging the Manipulator Frame will jump the object according to the specified Step Size. 3. In the Placement Manipulator window, click Reset. 4. Click Close
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Activity: Relocating an Object Relative to Two New Frames
The objective of this activity is to learn how to use the Relocate command to relocate an object relative to two new frames.
Relocate by Using a From Frame and a To Frame
Relocate by Using a From Frame and a To Frame
1. On the Standard toolbar, set the Pick Intent to Snap.
2. Set the Select Level to Component.
3. Pick an object. 4. 5. 6. 7. 8. 9. Select Tools -> Placement -> Relocate . In the Relocate window, click in the From frame field. Click in the Graphic Viewer at any convenient location. In the Relocate window, click in the To frame field. Click in the Graphic Viewer at another convenient location. Click Apply. The object travels the distance and direction defined by the two frames (pick points). 10. Do not close the Relocate window.
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Activity: Relocating an Object Relative to Two Existing Frames
The objective of this activity is to learn how to use the Relocate command to relocate an object relative to two already existing frames. An existing frame may be the self-origin, the world frame, any frame in the Graphic Viewer , or any entity in the session.
Relocate an Object Another Way
Relocate an Object Another Way
1. 2. 3. 4. 5.
In the Relocate window, select the corner of an object for the From frame. Select the corner of another object for the To frame. Select the Maintain orientation checkbox. Click Apply. The corner of an object is now shifted the X, Y and Z distance between the From Frame and the To Frame, while the object's orientation is maintained.
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QUICK INTRODUCTION TO KINEMATICS

Activity: Jogging the Joints of a Simple object
The objective of this activity is to open the study called Door Kinematics and jog its joints.
Open the desired data Open the Joint Jog window Method 1 to jog the joints Method 2 to jog the joints
Open the desired data
1. Close the current project: Select File > Close Project. 2. If asked You are about to close the project. Do you wish to continue, select Yes. However, if asked Do you wish to update eMServer, select No. 3. Select File > Open Project. 4. Select Project_209S and click [OK]. 5. Browse to the Studies study folder. 6. Browse to the Line## StudyFolder study folder, where ## is the user number assigned to you by the instructor. 7. Browse to the model kinematics study folder. 8. Right click the model kin demos 9. Click [OK]. study and select Check Out .
10. Right click the model kin demos study and select Load in Standard Mode . 11. From the Process Simulate Object Tree, right click the room_door_demo object in the Resources folder, and select Display Only . 12. Select View > Zoom to Fit . 13. In the Graphic Viewer, pick out in space to deselect the door.
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Open the Joint Jog window
1. Set the Pick Level to Component.
2. Select the door. 3. Select Kinematics -> Joint Jog Tip: You may want to show the Kinematics toolbar. .
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Method 1 to jog the joints
1. In the Joint Jog window, click the mouse on j1 gear and do not release the mouse button. 2. Move the mouse left and right across the whole the Graphic Viewer to see the selected joint move. (Notice you are not limited to moving the joint inside the Joint Jog window). 3. Release the mouse button. 4. Repeat these steps for the j2 gear. Note: When approaching the limits of a joint the slider and Value will turn red to signify that you are no longer in the defined working limits. To change the Working Limits select Tools > Options and go to the Motion tab. Method 2 to jog the joints
1. 2. 3. 4. 5.
In the Joint Jog window, click Options In the Joint Jog Settings window, enter 10 for the Prismatic joints step size. In the Joint Jog Settings window, enter 15 for the Rotational joints step size. click [OK]. For j1, repeatedly click these buttons to jog a joint.
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Activity: Defining Kinematic Poses
The objective of this activity is to define kinematic poses for an existing kinematic door device.
Set the units Create a New Pose Jog the joints and create another pose Move the door between the defined poses Update the database
Set the units
1. Continue using the same study loaded in the previous topic. 2. Right-click in the Graphic Viewer on nothing and selecting Options from the displayed popup menu. 3. From the Options window, select the Units tab in the displayed Options window. 4. Select mm from the Linear pull down list. 5. Select Deg from the Angular pull down list.
6. Click [OK]. Create a New Pose
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1. Make sure that the Pick Level is set to Component.
2. In the Graphic Viewer, right click the room_door_demo and select Home to return it to the position it was in where the kinematics were defined (that is, j1=0, j2=0). Note: This is called the HOME pose. 3. In the Graphic Viewer, right click the room_door_demo and select Pose Editor . 4. in the Pose Editor, click New. 5. Leave the joint values at j1=0 and j2=0. This is the same as the HOME pose in step 2. 6. For the Pose Name, enter CLOSED. 7. Click [OK]. Jog the joints and create another pose
1. in the Pose Editor, click New. 2. From the New Pose window, select and hold the j1 gear, and move the mouse left and right across the Graphic Viewer to jog the door to an open position. Note: Exact joint values can be entered, or the up or down arrows on the field can be used to set the value (the step size for the up or down arrows can be set in Joint Joint Properties. 3. Repeat the process for the j2 gear. 4. For the Pose Name, enter OPEN. 5. Click [OK]. Move the door between the defined poses
1. In the Pose Editor window, select the CLOSED pose, and click Jump. 2. Select the OPEN pose, and then click Jump again. 3. This jumps the door from the CLOSED pose to the OPEN pose.
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4. In the Pose Editor window, click Reset to reset the mechanism back to the HOME pose. Update the database
1. Select File -> eMServer Selective Update
2. Check Operations. 3. Click [OK] 4. Click [OK].
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Activity: Creating a Simulative Operation from Poses
The objective of this activity is to create a compound sequence from a mechanical operation.
Create a simulation to move the door between poses Play the simulation
Create a simulation to move the door between poses
1. Select Model Kin demos
CompoundOperation in the Operations Tree viewer.
2. Select Operations > New Operation > New Compound Operation . 3. In the New Compound Operation window, enter Operation for the Name. 4. In the Operations Tree, select the MyOperations CompoundOperationMEOpRevision. 5. Hold down the [Ctrl] key. 6. Select the room_door_demo. 7. Release the [Ctrl] key. 8. Select Operations -> New Operation > New Device Operation Note: In the New Device Operation window, the Name and Device fields are already filled in. 9. In the New Device Operation window, select CLOSED from the From pose pull down list. 10. Select OPEN from the To pose pull down list. 11. Click [OK]. Play the simulation .
Note: If the Sequence Editor is not shown, select View > Viewers > Sequence Editor. 1. From the Sequence Editor, click Jump Simulation to End 2. From the Sequence Editor, click Jump Simulation to Start 3. From the Sequence Editor, click Play Simulation Forward . . .
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Note: The speed of simulation can be adjusted in several ways: either (method 1) change the time of the operation, (method 2) change the defined joint speeds, or (method 3) change the simulation time interval. There are very different reasons to use these three techniques. 4. From the Sequence Editor, click Jump Simulation to Start .
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Activity: Examining the Kinematic Tree of a Robot
The objective of this activity is to look at the kinematic definition of a robot.

Open the desired data Look at the kinematics in the Kinematics Editor
Open the desired data
Note: This activity will continue to use the model kin demos study loaded earlier. It contains the room_door_demo and the real_robot objects. 1. Verify that the Pick Level is set to Component.
1. In the Process Simulate Object Tree pick the top folder named model kin demos . 2. Select Edit > Find. 3. In the Find window for the Name, enter *robot* and click Find Next and Cancel. Note: The * on the beginning and ending are important. 4. From the Process Simulate Object Tree, right click the real_robot object in the Resources folder, and select Display Only . . 5. Select View > Zoom to Fit
Look at the kinematics in the Kinematics Editor
1. Select the robot. 2. Click Kinematics -> Kinematics Editor .
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3. The links of the robot in the Graphic Viewer are temporarily colored according to the colors of the links in the Kinematics Editor window.
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4. Close the Kinematic Editor window. Note: The creation of kinematics is described later in this course.
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Activity: Making the Robot Move
The objective of this activity is to see how to move a robot.

Jog the robots joints Use Robot Jog to move the robot Create new robotic operation for the robot Create the first location for the robot Create another via location for the robot Play the simple simulation
Jog the robots joints
1. Select the robot. 2. Select Kinematics -> Joint Jog . 3. Using the Joint Jog window, jog the joints using the sliders and observe how they move. Use Robot Jog to move the robot
Note: Notice how this type of movement is different from Joint Jog. 1. Select the robot. 2. Select Kinematics -> Robot Jog .
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3. While the Robot Jog window is open, grab the Manipulator Frame in the Graphic Viewer and pull the robot around. Note: The robot jog window is only available for robot objects (i.e. objects with a TCPF frame at the end of its kinematic tree). Note: If the robot is not moving when you pull the Manipulator Frame, verify that Snap by Step Size is not checked. this option is located under the Expand Dialog area of the Robot Jog window. Having this box checked with a step size that is too big for the robot will cause the robot to not move when the Manipulator Frame is dragged. Create new robotic operation for the robot
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1. Select Model Kin demos 2. 3. 4. 5. 6. 7.
CompoundOperation in the Operations Tree viewer.
Select Operations > New Operation > New Compound Operation . In the New Compound Operation window, enter Operation2 for the Name. In the Operations Tree, select the Operation2 . Hold down the [Ctrl] key. Select the room_door_demo Release the [Ctrl] key. .
8. Select Operations -> New Operation > New Weld Operation 9. Take the defaults for the rest of the fields and click [OK]. Note:
The creation and validation of proper weld processes is described in detail later in this in course. The information provided in this topic should not be considered enough to begin processing welds in the Process Simulate environment. Create the first location for the robot
1. On the Operation Tree viewer, pick the new bolded real_robot_Weld_Op robotic operation. 2. Select Operation -> Path Editing -> Add Current Location Note: The path editing buttons can also be found on the Path toolbar which is turned off by default. Create another via location for the robot .
1. On the Operation Tree viewer, pick the via location in the real_robot_Weld_Op robotic operation. 2. 3. 4. 5. Select Operation -> Path Editing -> Add Location After . Use the Manipulator Frame to move the robot's wrist to another location. Close the Robot Jog window. Repeat steps 2 through 4 to create a third location in the robot operation (robot path).
Play the simple simulation
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1. On the Operation Tree, right click real_robot_Weld_Op and select Set Current Operation . . . . . 2. From the Sequence Editor, click Jump Simulation to End 3. From the Sequence Editor, click Jump Simulation to Start 4. From the Sequence Editor, click Play Simulation Forward 5. From the Sequence Editor, click Jump Simulation to Start
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PROCESS SIMULATE ANALYSIS TOOLS AND STUDY DATA

Activity: Creating Snapshots
The objective of this activity is to create some snapshots.

Create a Flow Operation Create a couple snapshots Use the snapshots Sort the snapshots
Create a Flow Operation
1. Reload the data that you used earlier in this course (i.e. Airplane, Robotics, or Structure data), if it is not already loaded. Note: At this point in the course you should have at least one basic simulative operation created. If not, then create one (i.e. object flow, device, or robotic) using the follow steps. 2. Select an object in the Graphic Viewer. 3. Hold down the [Ctrl] key. 4. Select a compound operation in the Operation Tree. 5. Select Operations > New Operations > New Object Flow Operations 6. Pick a point on the floor. 7. Click [OK]. Note: More attention is paid to creating flow operations in the WKP101SProcess Simulate on eMS Part Flow course. Create a couple snapshots .
1. Select View -> Viewers -> Snapshot Editor. 2. Make sure the Snapshot Editor viewer is wide enough to see all the icons on its toolbar.
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3. From the Snapshot Editor toolbar, click New Snapshot . 4. A new snapshot of the graphic information currently displayed in the Graphic Viewer is created with the default name Snapshot# and the snapshot is displayed in the upper part of the Snapshot Editor. 5. Rename the snapshot to Zoomed View by selecting the snapshot name just created and pressing the [F2] key or picking the Edit Snapshot icon. 6. Change the display in the Graphic Viewer in some way, such as by rotating, panning, or zooming. 7. Create another snapshot the same way and name it to Another View. Use the snapshots
1. 2. 3. 4.
Double click on the Zoomed View snapshot. Look in the Graphic Viewer. Double click on the Another View snapshot. Look in the Graphic Viewer. Note: By default, only the point of view is applied but you can also select to apply the location and visibility of objects. Click the Apply Snapshot drop-down arrow and select one or more from the following: Point of View, Objects Visibility, Objects Location, Device Poses and Objects Attachments.
Sort the snapshots
1. In the Snapshot Editor, right click on nothing in the upper pane. 2. From the menu select Sort Snapshots .
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Activity: Creating Markups
The objective of this activity is to learn how to use the markup editor.
Open the Markup Editor Save a picture of the Operation from the Markup Editor window
Open the Markup Editor
1. Select File -> Outputs -> Markup Editor. Note: The markup editor can also be opened by following this procedure: Open the Snapshot Editor, select a snapshot, and pick Add Markup from the Snapshot toolbar. Using this technique, the markups can be reused later (even after the snapshot image is refreshed). 2. 3. 4. 5. 6. 7. From the Markup Editor toolbar click Add Note . Pick somewhere on the picture. In the Edit Text window for Font Size, select36. In the Edit Text window, enter the desired text such as Look at this exciting note. Click [OK] On the picture drag the note bigger so that you can see the text (drag the handle bars to the right).
8. From the Markup Editor toolbar click New Text . 9. Pick somewhere on the picture. 10. Type This is so fun. 11. On the picture drag the text bigger to make the text the desired size. 12. From the Markup Editor toolbar click New Scribble Polygon 13. Circle something in the picture. Save a picture of the Operation from the Markup Editor window .
Note: Markups can be printed or saved as a graphics file. Any markups added to the view are saved back to the view for later use.
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1. 2. 3. 4. 5. 6.
From the Markup Editor window, select Save as File . In the Save As window, enter a name for the filename or take the default. Append your user name to the end of the markup filename (i.e. _user1). Browse to the C:\Temp folder. Click Save. In the Markup Editor window, click Close.
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Activity: Setting the Note Options
The objective of this activity is to setup the note flags.

Change the background color Change the note color options
Change the background color
1. Select Tools -> Options. 2. Select the Appearance tab.
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3. 4. 5. 6.
Select Background from the top list. Select Solid (instead of Vertical) on the lower list. Change the background color to light brown. Click Preview.
Change the note color options
1. From the Options window, select the Appearance tab, if it is not already selected. 2. Browse into New Object Colors in the top list.
3. 4. 5. 6. 7. 8.
Select Note Background from the top list. Change the color. Select Note Border from the top list. Change the color. Select Note Text from the top list. Change the color. Note: Changes to the note colors will affect new notes that are created.
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9. Click [OK].
Activity: Creating Notes in the Graphic Viewer
The objective of this activity is to learn how to create notes in the Graphic Viewer. Note: When using File -> Outputs > Attach File to create pictures or markups of a view containing notes, the font size of the notes, as well as the image size, can be set when the picture is created.
Create a note for everything in the Graphic Viewer Create a text note another way Edit the note Toggle its display between a flag and text Change the display of the notes Change an existing note Create some labels
Create a note for everything in the Graphic Viewer
1. 2. 3. 4. 5.
In the Graphic Viewer, draw a selection window around everything. Select Tools -> Notes -> Object Notes . In the Graphic Viewer, drag and drop the notes to a desired position. Select View -> Viewers -> Object Tree. In the Notes folder of the Object Tree, the notes can be blanked, displayed, or deleted from here. Note: It will be saved in the current scenario if you decide to save it. Since it is considered engineering datajust like dimensions, frames, notes, and labelsit is not stored in the product, operation or resource trees.
Create a text note another way
1. Pick somewhere in the Graphic Viewer where you would like to add a note. 2. Click the Tools -> Notes -> Create Note (or click Create Note on the toolbar). 3. In the Note Editor window, enter the required text in the Text area.
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4. Delete the contents of the Link area, or enter a different web link. 5. Click [OK]. Note: The note can be edited, deleted, or toggled between displaying the text or the flag. You can also change its color or blank it, as required. To perform any of these actions, you need to right click the note and then select one of these buttons: Blank . Edit the note , Modify Color , Edit Note , Toggle Note Visibility , or Delete
1. Select a note. 2. 3. 4. 5. Select Tools -> Notes -> Edit Note . Change the text. Pick in the object field and choose a new anchor point for the leader line. Click [OK].
Toggle its display between a flag and text
1. Select a note or group of notes (if more than one exists) from the Graphic Viewer or Objects Tree. 2. Select Tools -> Notes -> Toggle Note Visibility . 3. Notice how the note is shown in the Graphic Viewer (as a flag). 4. Select Tools -> Notes -> Toggle Note Visibility . 5. Notice how the note is shown in the Graphic Viewer. Change the display of the notes
1. 2. 3. 4. 5. 6.
Select Tools -> Options. Select the Appearance tab. Expand New Objects Colors. Select Note Background. Choose a new color. Repeat this process to change the default color settings for Note Border and Note Text. 7. Click [OK]. 8. Create another note.
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Note: The new note now takes on the new default color settings for Note Background, Note Border and Note Text. Change an existing note
1. Right click a note and select Modify Color 2. Choose a new color. 3. Drag the notes to the desired position. Create some labels
1. Pick an object in the Graphic Viewer. 2. 3. 4. 5. Select Tools > Labels > Create Label . Click [OK]. Drag the label to the desired position. Zoom in and out and notice the difference between notes and labels Note: One other difference is that labels are associated and saved with the object, whereas notes are associated and saved with the study.
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Activity: Creating Dimensions in the Graphic Viewer
The objective of this activity is to learn how to create dimensions in the Graphic Viewer.
Add a Dimension Create a markup
Add a Dimension
1. Select the Tools -> Measurements -> Create Dimension -> Point to Point Dimension . 2. Pick two points in the Graphic Viewer. 3. Drag the dimension to position it. Note: The note flags and measured dimension can be saved as a picture or edited in the markup editor and then saved as a picture. Create a markup
1. 2. 3. 4.
Create a markup. Select File -> Outputs -> Markup Editor. Notice the notes and dimensions are shown here. Close the Markup Editor window.
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Activity: Outputting the Graphic Viewer to a File or Printer
The objective of this activity is to learn how to output the Graphic Viewer to a file or printer.
Set the background color to white Output a picture of the Graphic Viewer
Set the background color to white
1. Choose Tools -> Options. 2. From the Options window, select the Appearance tab. 3. Select Background color.
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4. Choose Solid from the drop down that currently says Vertical or Corners. 5. Choose white for the color 6. Click [OK]. Output a picture of the Graphic Viewer
1. Select File -> Import / Export -> Export Images. 2. In the Export Cell window, select a file type (for example .BMP, .JPG, .png or .TIFF format) from the Save as type drop-down list (output types may vary).
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3. 4. 5. 6.
Browse into the C:\temp or your Desktop folder. Enter a filename that contains your user id. Click Save to save the graphics file. When you have finished, change the background color back to blue. Note: A picture of the Graphic Viewer can also be output by selecting a database object and then selecting File > Outputs > Attach File .
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Activity: Collision Viewer and Fast Collision Sets
The objective of this activity is to learn how the Collision Viewer works.
Activate the collision viewer Set up fast collision Check that the collision lists are setup correctly Look at the collision report
Activate the collision viewer
1. If the Collision Viewer is not shown minimized along the bottom edge of the Process Simulate window: select View -> Viewers -> Collision viewer. 2. If it is not already there, position the Collision Viewer at the bottom of your screen by dragging and dropping. 3. Expand the Collision Viewer and Pin it so it will stay expanded. 4. In the Collision Viewer, click Show / Hide Collision Sets to display the left pane of this window. Set up fast collision
1. On the Selection toolbar, select Selection Type Parts Resources . 2. Then click Select all selected).
and Selection Type
(notice the geometry in the Graphic Viewer that is . on the
3. From the Collision Viewer toolbar, click Fast Collision
4. Activate the collision checking by clicking Collision Mode On/Off toolbar. Note:
The fast_collision_set should be checked in the left pane of the Collision Viewer. Check that the collision lists are setup correctly
1. Use Fast Placement or the Placement Manipulator objects into a collision with other objects.
to move some of the
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Note: Normally we would use collision detection is statically or dynamically (i.e. in the context of a simulation). In this case we are just moving the parts into collision to test our collision setup and understand the mechanisms behind Process Simulate collision detection. 2. Collisions will be highlighted in red as they occur. Note: When checking collisions during a simulation we can have the simulation stop at the first collision or just beep and continue. In both cases the colliding objects are highlighted in red. Look at the collision report
1. If there are collisions to report, the Collision Viewer window will display the collisions (red) and near misses (yellow) that occur. 2. Expand an object in the list. You can see the objects which this piece is colliding with. For example (depending on your data, this picture may look different): 3. Deactivate the fast_collision_set: In the left panel of the Collision Viewer, uncheck the box next to fast_collision_set.
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Activity: Defining Collision Sets (List Pairs)
Collision detection is accomplished by searching for a collision between objects in one list and objects in another list. This means that list pairs must be created before collision detection is possible. Multiple list pairs can be defined. A default name is automatically given for each list pair, although another name can be specified.
Create a new pair of lists Emphasis the objects in the collision set Test Collision detection
Create a new pair of lists
1. 2. 3. 4. 5.
Click New Collision Set in the Collision Viewer. In the Collision Set Editor window, click in the Check area. In the Graphic Viewer, select objects for the first list. In the Collision Set Editor window, click in the With area. In the Graphic Viewer, select objects for the second list that are not already colliding with objects in the first list. 6. Click [OK]. 7. Rename the collision set: In the left panel of the Collision Viewer, pick on the new_collision_set and press the [F2] key. 8. Enter MyFirstList. Emphasis the objects in the collision set
1. Select the MyFirstList collision set. 2. Click Emphasize Collision Set . 3. Look at the blue and yellow objects in the Graphic Viewer. 4. Click Emphasize Collision Set Test Collision detection again.
1. Use the Placement Manipulator to temporarily move one of the objects from one list into a collision with an object from the other list. 2. Reset the object placement after you have seen that your collision set is working.
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Activity: Collision Setup and Collision Viewer
In this activity, you learn how the collision window works, including its new features.
Start checking for collisions Setup the Collision options Check that the collision lists are setup correctly Look at the collision report in the Collision Viewer
Start checking for collisions
In this example we will use a fast collision. 1. Create a fast collision set between two objects 2. In the left panel of the Collision Viewer, check the box next to fast_collision_set and uncheck the box next to other collision lists, if there are any. 3. Collision detection should be turned on. Setup the Collision options
1. Right-click in the Graphic Viewer and select Options from the displayed shortcut menu. 2. Select the Collision tab. 3. Check the Check for Collision Near-Miss checkbox. 4. For the Near-Miss Default Value enter 50
5. Check theStop Simulation when a Collision is Detected checkbox. 6. Check the Play Sound when a Collision is Detected checkbox.
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7. Click [OK] Check that the collision lists are setup correctly
1. Use Fast Placement or the Placement Manipulator objects into a collision with other objects. 2. Collisions will be highlighted in red as they occur. Look at the collision report in the Collision Viewer
to move some of the
1. If there are collisions to report, the Collision Viewer window will display the collisions (red) and near misses (yellow) that occur. For example (your data may look different than the picture below ):
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2. Expand an object in the list. You can see the objects which this piece is colliding with. For example (your data may look different than the picture below ):
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Activity: Filtering Collision Results
In this activity, you learn more about collision detection and the new features.
Setup the Collision options Color Selected Pair Filter List All Pairs Filters List Colliding Pairs Show Selected Pair Only Highlight the area of collision for a specific line item
Setup the Collision options
1. 2. 3. 4.
Click Collision Options from the Collision Viewer. The Collision tab is already selected. Uncheck the Stop Simulation when a Collision is Detected checkbox. Uncheck the Play Sound when a Collision is Detected checkbox.
5. 6. 7. 8.
Click Browse and browse into the .\sysroot\sound effects folder. Select the desired .WAV file. Click Open. Click [OK].
Color Selected Pair
1. Click a line item in the Collision Viewer. 2. Click the down arrow to the right of Show Colliding Pair 3. From the drop down list and select Color Selected Pair . 4. Click Show Colliding Pair (It activates). 5. Click another line item in the Collision Viewer. Note: .
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In the Graphic Viewer the colliding objects from he selected line item are shown in blue and red. All other objects are shown white. 6. Click another line item in the Collision Viewer. 7. Look at the results in the Graphic Viewer. Filter List All Pairs
1. Click the down arrow to the right of Filter Collision Results 2. From the drop down list and select List All Pairs . 3. Look at the results in the Collision Viewer. Filters List Colliding Pairs
1. Click the down arrow to the right of Filter Collision Results 2. From the drop down list and select List Colliding Pairs . 3. Look at the results in the Collision Viewer. Show Selected Pair Only
1. Click the down arrow to the right of Show Colliding Pair . 2. From the drop down list and select Show Selected Pair Only . 3. Click Show Colliding Pair (It deactivates). 4. Click Show Colliding Pair (It activates). 5. Click a line item in the Collision Viewer. Note: In the Graphic Viewer the colliding objects from he selected line item are shown in red. All other objects are blanked. 6. Click another line item in the Collision Viewer. 7. Look at the results in the Graphic Viewer. 8. Click Show Colliding Pair (It deactivates).
Highlight the area of collision for a specific line item
1. Click another line item in the Collision Viewer.
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2. Click Show/Hide Colliding Contour . 3. See the resulting curve displayed at the area of collision in the Graphic Viewer. 4. Click Show/Hide Contour View . 5. In the Collision Curves pane of Collision Viewer, select a curve. 6. In the Collision Curves pane of Collision Viewer, click Zoom to Selected 7. Pick on another line item and see the results in the Graphic Viewer. .
8. Click Freeze Viewer 9. Blank one of the colliding objects. Notice the collision contour left on the other colliding object.
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Optional Activity: Creating and Moving a Section Plane
The objective of this activity is to cut sections through the objects in a scene.
Display only the desired objects (parts/resources) Create a section through these objects (parts/resources) Manipulate the section Perform a measurement on the section Look at the section in the Object Tree and more
Display only the desired objects (parts/resources)
1. 2. 3. 4.
Pick the first desired objects (parts/resources). Hold down the [Ctrl] key. Pick several other desired objects (parts/resources). Right click one of the selected objects (parts/resources) and choose Display Only .
Create a section through these objects (parts/resources)
1. Optionally, pick a point on the objects (parts/resources) for the origin of the cutting plane. Note: If nothing is selected, it will be created at the Working Frame. It can always be moved or repositioned later. 2. Select Tools > Section > New Section Plane Note: The Section Manager window is open and the new section is shown in the Sections folder of the Objects Tree and in the Graphic Viewer. 3. In the Section Manager window, click the down arrow Section Alignment to select Align to X. Note: This will cut a section on the YZ-plane of the working frame at the selected point. to the right of the current .
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4. In the Section Manager window, click Activate Section Note:
to cut the section.
this causes the section to the be cut in the main Graphic Viewer. Manipulate the section
1. In the Section Manager window, repeatedly click Move Negative
or Move
Positive to move the section across the Z-axis of the section plane (that is, perpendicular to the section). Note how the section moves as you move the slider. Note: If the Section Manager window is accidently closed, right click the section in either the Sections folder of the Objects Tree and in the Graphic Viewer and select Section Manager.
2. Change the step size by clicking the Step size link and changing the step size in the displayed window and move it some more. 3. In the Section Manager window, click the down arrow to the right of the current Section Alignment to select Align to Point and pick a point on the part.
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Note: This will maintain the same section orientation, but move it to the selected point. 4. In the Section Manager window, click the down arrow Section Alignment to select Align to Surface Note: This will move it to the selected point and orient the section tangent to the point. 5. Move the section using the new step size by clicking Rotate Positively Perform a measurement on the section . to the right of the current
and pick and point on the part.
1. Change the Pick Intent to Where Picked.
2. Click Point to Point Distance on the toolbar. 3. Measure the point to point distance between two entities in the Section Viewer. The cross-section line is drawn in the Graphic Viewer. Note: In another topic, we will learn how to create a 3D text using Create Note and
Create Dimension , which help highlight problem areas. This information could be output as a picture for use in a report. Look at the section in the Object Tree and more
1. Select View -> Viewers -> Object Tree. 2. Expand the Sections folder in the Object Tree. 3. In the Object Tree, the section can be blanked, displayed, deleted, and more by right clicking on it. Note:
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If the Section Manager window is accidently closed, right click the section in either the Sections folder of the Objects Tree or in the Graphic Viewer. Then select Section Manager. 4. Add section contours tot the results in the Graphic Viewer: Select Tools > Sections > Show Section Contours . 5. Add capping and look at the results in the Graphic Viewer: Select Tools > Sections > Capping . 6. Add hatching and look at the results in the Graphic Viewer: Select Tools > Sections > Hatching . 7. Close the Section Manager window.
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Optional Activity: More on Cutting Sections
The objective of this activity is to cut some more sections.

Open a Section Viewer and Section Manager for an existing section Switch the contents of the Section viewer from a clip to a cut Save the section as a JT file and more Different Ways to Cut a Section Opening Additional Graphic Viewers Managing Sections on the Objects Viewer
Open a Section Viewer and Section Manager for an existing section
1. In the Objects Tree viewer, right-click the section and select New Section Viewer from the displayed popup menu. 2. A section clip will be displayed in a new Section window. Note: Now the section is shown in the Section window and the Graphic Viewer. 3. Right-click the section and select Section Manager from the displayed popup menu, if it is not already open. 4. In the Section Manager window, click Deactivate Section . Note: Now the section is only shown in the Section window. Switch the contents of the Section viewer from a clip to a cut
1. Select Tools > Section > Cut section Note: The section cut is now two-dimensional.
2. Select Tools > Section > Orient View to Section Plane 3. Right click in the Graphic Viewer and select Zoom to Fit .
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4. Hold down the [Alt] key and draw a box with the left mouse button to zoom in to an area of interest in the Section window. Save the section as a JT file and more
1. Draw a selection box with the left mouse button around the section entities. 2. Select Tools -> Sections -> Save Section Contour as Component 3. For File name, enter C:\temp\SectionComp.cojt. 4. Click Save. 5. Right-click the section plane and select Blank to blank it. 6. Right-click the section plane and select Delete to remove it. Different Ways to Cut a Section .
from the displayed popup menu from the displayed popup menu
1. Pick a point on an object and cut a section. The section is cut at that point. 2. Pick nothing then cut a section. The section is cut at the working frame. You can then shift the object to where you want it. 3. Change the Pick Intent to Self Origin.
4. Change the Pick Level to Component
5. Pick an objects (parts or resources) to have the section plane originate at the object origin. Opening Additional Graphic Viewers
1. Create a cross section along the XY-Plane of the working frame. 2. Slide the section to just below all the objects and make the section mode is on cut and not clip. 3. Open a new section viewer (Graphic Viewer ) for the section. 4. Set this new Graphic Viewer and the main Graphic Viewer side-by-side. 5. Change the View Point in one Graphic Viewer to Right and the other to Top. Managing Sections on the Objects Viewer
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1. 2. 3. 4.
From the Object Tree viewer, rename the section just created to View 2. Close the sections Graphic Viewer. Use the Object Tree viewer to blank the section located in the Sections folder. Whenever you want a second Graphic Viewer, just open a new section viewer for this section. 5. If you no longer want a section, right click it and select Delete .
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Optional Activity: Creating and Moving a Section Volume
The objective of this activity is to create a section volume.

Create and place a basic section volume Scale and shape section volume
Create and place a basic section volume
1. 2. 3. 4.
Select Tools > Sections > New Section Volume . Using the Section Manager window, position the box as desired In the Section Manager window, click Activate Section . Move the section volume as desired. or Tools > Sections > Clip Outside .
5. Select either Tools > Sections > Clip Inside
Scale and shape section volume
1. Using the Section Manager window, check Scaling 2. In the Graphic Viewer with the mouse, drag the yellow manipulators protruding from the section box to size of a side of the object. 3. Using the Section Manager window, uncheck Scaling 4. Using the Section Manager window, check Shape 5. Pick an edge of the volume box. Note: The edge is highlighted in blue. 6. In the Graphic Viewer with the mouse, drag the blue edge of the section box to change it to other prismatic shapes. 7. Using the Section Manager window, uncheck Shape 8. Close the Section Manager window.
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Activity: Outputting a Simulation to an .AVI File
The objective of this activity is to output simulation to an .AVI file.

Start recording an AVI Stop recording the .AVI and Play the video
Start recording an AVI
1. In the Operation Tree, right click on the process and select Set Current Operation . 2. Select File -> Outputs -> AVI Recorder . 3. In the Save Video File as window for Frame size, select Percentage of Window. Warning: Using the default 720x576 Frame size typically cuts off the left side of the resulting video.
4. Browse to the Desktop folder. 5. For the File name, enter my_video.avi. 6. Click Save. The AVI toolbar is displayed. 7. In the Sequence Editor, click Play Simulation Forward the simulation in the Graphic Viewer. Note: We have not created a simulation yet, so just use Fast Placement Placement Manipulator to move some of the objects or the on the toolbar and watch
Stop recording the .AVI and Play the video
1. 2. 3. 4.
Click Stop Recording . Look where the video was placed. Click [OK]. Double-click the my_video.avi file on the desktop. The Windows Media Player opens (or whatever your default AVI player is), and the .AVI file is played.
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Optional Activity: Using Movie Manager
In this activity, you learn to use movie manager to create AVIs of simulations.
Open the Movie Manager Prepare to create several AVIs at once Play one of the created AVIs Turn off presentation mode
Open the Movie Manager
1. Select File -> Outputs -> Movie Manager Prepare to create several AVIs at once
1. On the Movie Manager toolbar, click the down arrow Movie for All Marked Operations 2. Select Overwrite all movies. .
to the right of Create
3. Click Create Movie for All Marked Operations
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4. Click [OK].
Play one of the created AVIs
1. Select one from the list.
2. 3. 4. 5.
Click Open File. The AVI is played with your default video player (typically Windows Media Player). Close the video player. Close the Movie Manager window.
Turn off presentation mode
1. Click Presentation Mode
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OTHER SELECTED BASIC TOPICS

Activity: Using some Project Management Commands
The objective of this activity is to use some project management commands Note: In some production environments, these commands are disabled for regular users, since they maybe considered administrative commands.
Create a new project Create some Collections Importing data into a project Exporting a project to a file
Create a new project
1. Open Process Simulate and log in, if it is not already opened. 2. Select File > Close Project, if a project is open. 3. If asked You are about to close the project. Do you wish to continue, selectYes. However, if asked Do you wish to update eMServer, selectNo. 4. Select File > Project management > New Project. 5. Enter Project U797 (user##) for the project name, where ## is the user number assigned by your instructor. 6. Click [OK]. Create some Collections
1. 2. 3. 4. 5.
In the Navigation Tree, right click Project U797 (user##) and select New In the New window, check Collection . Enter 5 for the Amount. Click [OK]. Rename one collection Process and another Libraries .
Importing data into a project
1. Select the Libraries collection 2. Select File > Project Management > Import eBop from File. 3. Browse into the .\sysroot\Import Export files folder.
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4. Select the RoboticsExampleResourceLibrary.xml file 5. Click [OK]. Exporting a project to a file
1. 2. 3. 4.
In the Navigation Tree, select the Project U797 (user##) project folder. Select File > Project management > Export selected eBop to File. Browse into the .\sysroot\Import Export files folder. Enter MyProject user##.xml for the Name, where ## is the user number assigned to you by your instructor 5. Click [OK].
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Activity: Starting and Exiting Process Simulate Disconnected
In this activity, you learn about the disconnected method of starting Process Simulate.
Save a .PSZ file from Process Simulate (connected) Start Process Simulate Disconnected Make a change and save the .PSZ File
Save a .PSZ file from Process Simulate (connected)
1. Important: Write down the name of the project you are in for later reference. 2. Load in Standard Mode the previous study that contains all the objects. 3. Select File -> Save . 4. Browse to the desired location and enter the desired name: For example, browse to C:\temp, create a new folder here named disconnected, and browse into it. 5. For Save as type, select Study Files (*.psz) and Library Components. Note: In this case we will not be referring to the same system root as the connected Process Simulate. To only output the study (with references to a system root either local or shared), change the Save as type to Study Files (*.psz). 6. For the File name, enter Verify.psz.
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7. Click Save to save the Verify.PSZ file. Note: In order to start Process Simulate Disconnected, you must first open the desired study using method 1 or method 2; then select File -> Save . This will create a .PSZ file that can be later opened using Process Simulate Disconnected. You can use the same system root or a local system root. 8. Click Save again to save the Verify-LibraryComponents.zip file. 9. Click [OK]. 10. Exit from the connected Process Simulate by selecting File > Exit and selecting No. 11. Open a Windows Explorer window. 12. From the Windows Explorer window, browse into the C:\temp\disconnected folder and right click the Verify-LibraryComponents.zip file and select Extract All. 13. For the Extracted to Folder, enter C:\temp\disconnected\disconnected_sysroot. 14. Click Extract. Start Process Simulate Disconnected
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1. If the Process Simulate Disconnected icon is present on your desktop, double-click it to launch the application. If not, start the Process Simulate Disconnected application from the Windows Start menu, as follows: 2. Select Start -> Programs ->Tecnomatix -> Engineering Applications -> Process Simulate Disconnected.
3. Set the disconnected library root: Select Tools > Options. 4. In the Options window, select the Disconnected tab. 5. Click the ... Browse button and select C:\temp\disconnected\disconnected_sysroot. 6. Click [OK]. 7. Select File -> Open in Standard Mode . 8. Browse and select the desired .PSZ file: Verify.PSZ located in the C:\temp\disconnected folder. 9. Click Open. Note:
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In Disconnected mode, users can continue working and save their work locally. When ready to update the eMServer with the changes made when working in Disconnected mode, users load the file to Process Simulate and activate the eMServer Selective Update not supported in this mode:
o
command. These features of Process Simulate are
eMServer commands (including the following: Navigation Tree Properties viewer, eMS Selective Update Project, Check In , Check Out ). New Part or Resource Prototypes. Retrieve Detailed Representation. Copy and Paste Public Layout. Attach File. Mirror . . . of Local objects.
, Open Project, Close
o o o o o o o o
Weld Distribution Center Duplicate Weld Operation
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Make a change and save the .PSZ File
1. Rename one of the objects in the Resource 2. Select File -> Save .
folder of the Object Tree.
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Activity: Updating Process Simulate Disconnected from the eMS Database
In this activity, you learn how to selectively update a PSZ file.

Add Update PSZ File to the toolbar Run Update PSZ File Update Your Disconnected System Root Look at the Results
Add Update PSZ File to the toolbar
1. Continue where the last activity left off: with a .PSZ file opened with Process Simulate Disconnected. 2. In Process Simulate Disconnected, select File -> Exit. 3. Start and login to Process Simulate (connected). 4. Open the same project again. 5. Load the same study again (that you output the .PSZ file from earlier). 6. Select Tools > Customize. 7. In the Customize window, browse the Commands list and locate Update PSZ File command 8. Drag and drop it on the toolbar. 9. Click Save Customization. 10. Click Close. Note: You should also update the Standard windows configuration, as described earlier in class. Run Update PSZ File
1. Make a change in the study such as changing the name of a different object in the Resources folder. 2. Click Update PSZ File.
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3. Click Yes. 4. For Parts and resources to update, pick the specific parts and resources (that have changed) that you would like to update in the PSZ file. 5. Click the first Browse button and select the original PSZ file. 6. Click the second Browse button and enter a new name (or take the default). 7. Check Save library components. Click the third browse button and select the C:\temp\disconnected folder and enter a file name for the zip file such as sysroot_update.zip.
8. Click [OK]
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9. Click Yes. 10. Exit from Process Simulate (connected). Update Your Disconnected System Root
Note: This step assumes that your Disconnected System Root is different than your (connected) System Root. For example, it is only on your laptop. 1. Open a Windows Explorer window. 2. From the Windows Explorer window, browse into the C:\temp\disconnected folder and right click the update_sysroot.zip file and select Extract All. 3. For the Extracted to Folder, enter C:\temp\disconnected\disconnected_sysroot. 4. Click Extract. 5. Choose to over write all files and folders, as prompted. Look at the Results
1. Start Process Simulate Disconnected by double clicking the desktop icon.
2. In the Process Simulate Disconnected, select Tools > Options. 3. In the Options window, select the Disconnected tab. 4. Verify that the same disconnected system root folder is specified as your Disconnected System Root.
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Note: This step assumes that your Disconnected System Root is different than your (connected) System Root. For example, it is only on your laptop. 5. Click [OK]. 6. Select File -> Open in Standard Mode . 7. Browse into the C:\temp\disconnected folder and select the new .PSZ file: for example:verify_20110712_084803.psz. Note: Recall that in earlier in this activity, we specified a source and target PSZ file. Select the target PSZ previously specified. 8. Click Open. 9. Look at the updated data.
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Activity: Updating the eMS Database from Process Simulate Disconnected
In this activity, you learn how to update the eMS Database from Process Simulate Disconnected
View the change in Process Simulate Update the database
View the change in Process Simulate
1. Continue where the last Activity left off: with a study opened with Process Simulate Disconnected. 2. In Process Simulate Disconnected, select File -> Exit. 3. Start and login to the Process Simulate (connected). 4. Open the same project again. 5. Select File -> Open in Standard Mode . 6. Browse and select the latest .PSZ file; such as verify_20110712_084803.psz. Update the database
1. Select File -> eMServer Selective Update
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2. Check Operations. 3. Click [OK] 4. Click [OK].
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MODELING AND KINEMATICS OVERVIEW

Activity: Starting Process Simulate and Setting the Working Folder
The objective of this activity is to set the softwares working folder (temporary scratch area).
Login and open the Project_209S project Check out your working folder and set it as the working folder
Login and open the Project_209S project
1. If you are not already logged into Process Simulate, double click on the Process Simulate desktop icon.
2. Login (eMS login id) with no password. User Type instructor student student student student student student etc... student student eMS User ID administrator user1 user2 user3 user4 user5 user6 etc... user9 user10
3. 4. Click [OK]. 5. From the Open Project window, select the Project_209S project. 6. Click [OK].
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Check out your working folder and set it as the working folder
1. Browse into the Working Folders folder. 2. Check out your working folder according to this chart: Right click it and select Check Out . Working Folder administrator user1 user2 user3 user4 user5 user6 etc... user9 user10
eMS User ID administrator user1 user2 user3 user4 user5 user6 etc... user9 user10
3. Click [OK]. 4. Select File > Project Management > Set as Working Folder.
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Activity: Opening Your Study
The objective of this activity is to open a Process Simulate session from the specified studies.
Browse to your study folder Open a study node with Process Simulate
Browse to your study folder
1. In the Navigation Tree, expand the Studies studyfolder. 2. Locate your study folder according to this table: eMS User ID administrator user1 user2 user3 user4 user5 user6 etc... user9 user10 Study Line 11 StudyFolder Line 1 StudyFolder Line 2 StudyFolder Line 3 StudyFolder Line 4 StudyFolder Line 5 StudyFolder Line 6 StudyFolder etc... Line 9 StudyFolder Line 10 StudyFolder .
3. Right click your Line ## StudyFolder and select Check Out 4. In the Check Out window, select with Hierarchy and click [OK]. 5. Expand your StudyFolder . Open a study node with Process Simulate
1. In the Navigation Tree, expand your processing study folder. 2. Right click your station02 study. 3. From the short-cut menu, select Load in Standard Mode Note: .
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If nodes in your study are checked out by another user, they cannot be updated in the eMS database (i.e. Process Designer) after you are done working in Process Simulate. 4. Wait for Process Simulate to load your study. 5. Select Zoom To Fit from the standard toolbar. The product, welds, and associated resources are shown in the graphics window.
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MODELING BASICS
Activity: Modeling a Table
In this activity, you will learn the basic functions of modeling.

Create new study Open it with Process Simulate Start Modeling a New Object Set the units and the Pick Level Create the table geometry Make the solids into a table Save your work Turn on the Modeling toolbar Model the Table Again and Add More Geometry Cancel the Modeling Session Extra credit modeling
Create new study 1. If a project is currently opened, select File > Close Project. Note: If a project is opened, then you will be able to select File > Close Project. However if no project is opened, then you will be able to select File > Open Project. 2. To the question You are about to close the project. Do you wish to continue?, answer Yes. 3. Select File > Open Project. 4. In the Open Project window, select Project_209S from the Project List and click [OK]. 5. In the Navigation Tree, browse into the Working Folders collection, right click your User## collection, and select Check Out. 6. Click [OK]. 7. Select File > Project Management > Set as Working Folder and click [OK]. 8. Right click the User## collection and select New . 9. In the New window, check the checkbox for Studyfolder Note: , and click [OK].
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We could have chosen to create our new study in an existing study folder anywhere in the project. 10. Right click the Studyfolder just created and select New . 11. In the New window, check the checkbox for RobcadStudy , and click [OK]. 12. Pick the Robcadstudy , press [F2], and enter temp for the new name. Open it with Process Simulate
1. Right click on the temp study and select Load in Standard Mode 2. No, dont store changes to the previous study. Start Modeling a New Object
1. Modeling > Create Part Resource > New Resource 2. In the New Resource window, select Work_Table . 3. Click [OK].
4. Pick the new object name and press the [F2] key. 5. Name it mytable_userX (if you are userX, otherwise append your user id to the end of the name for training purposes).
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Set the units and the Pick Level
1. Select Tools -> Options. 2. In the Options window, select the Units tab. 3. For Linear, select mm.
4. Click [OK]. Note: All data in Process simulate are stored in mm. This setting only changes the display units. Display units can be changed at any time. 5. Set the Pick Level to Entity.
Create the table geometry
1. In the Object Tree, select the mytable_user## object (replace ## with your user number; such as 1 for user1),. 2. 3. 4. 5. Select Modeling -> Create 3D -> Box Creation -> Create a Box In the Create Box window, enter: 1000 for the Length. Press the [Tab] key to go to the next field. For Width, enter 1000. .
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6. Press the [Tab] key to go to the next field. 7. For Height, enter 1000. 8. Click Expand Dialog . 9. For Locate at, select Working Frame.
10. Click [OK]. 11. Select View > Zoom to Fit . . 12. Select Modeling -> Create 3D -> Box Creation -> Create a Box 13. In the Create Box window, enter: 2000x800x800. Note: You can press the [Tab] key to move between the fields such as Length and Width. 14. For Locate at, select Working Frame. 15. Click [OK]. 16. Select Modeling -> Create 3D -> Box Creation -> Create a Box .
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17. In the Create Box window, enter: 800x2000x800. 18. For Locate at, select Working Frame. 19. Click [OK].
Make the solids into a table
1. Change the Pick Level to Entity.
2. Hold down the [Ctrl] key 3. Select the two rectangular boxes. 4. Release the [Ctrl] key. 5. 6. 7. 8. 9. Select Modeling -> Edit -> Subtract . For Subtract entities, pick the two long boxes. In the Subtract window, pick in the From entity field. Pick the 1000 mm cube. In the Subtract window, check the Delete original entities checkbox.
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10. Click [OK].
Save your work
1. From the Object Tree, select your mytable_user##. 2. Select Modeling -> End Modeling .
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3. In the Save Component As window, browse into the desired folder under the system root, such as .\sysroot\Libraries\modeling_kinematics\toolprototypes folder. 4. Click Save. Turn on the Modeling toolbar
1. Return to Process Simulate. 2. Turn on the Modeling toolbar: Right click on the existing toolbar and select Modeling.
3. Notice that many of the buttons we are selecting are available directly from this toolbar. Model the Table Again and Add More Geometry
1. From the Resources folder of the Object Tree, select the mytable_user## object. 2. Select Modeling -> Set Modeling Scope .
3. In the Set Modeling Scope window, click Yes, if prompted. 4. Select Modeling -> Create 3D -> Box Creation -> Create a Box .
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5. In the Create Box window, enter: 20x20x3000. 6. For Locate at, select Working Frame. 7. Click [OK]. Cancel the Modeling Session
1. From the Resources folder of the Object Tree, select the mytable_user## object. 2. Select Modeling -> Reload Component . 3. Throw away changes to the object Note: The modeling icon is removed from the object and it is returned to the way it looked the last time we saved (aka clicked End Modeling Extra credit modeling ).
1. Select the mytble_user## object. 2. Select Modeling -> Set Modeling Scope
3. Click Yes. 4. Model and place a donut or bagel onto your table: 1 5. Model and place a drinking glass for your table: 1(outside of cup) , 2 (inside of cup) , 3 (orange juice in cup) 6. Make the glass translucent: Right click on the glass and select Object Viewing -> Transparent . , 2 (handle) ,3 , 4 (inside of
7. Model a coffee mug: 1 (outside of cup)
cup) , 5 , 6 (coffee in cup) 8. Model two chairs for your table (model the bottom of the chair just like the table): 1, 2, 3, 4, 5 (then add back rest) 9. Put a sun umbrella over your table on a pole: 1 ,2
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10. From the Object Tree, select your mytable_userX. 11. Select End Modeling from the Modeling toolbar
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Optional Activity: Revolving 2D Entities to Make a Solid
The objective of this activity is to learn some of the 2D and editing commands.
Start modeling fun1_user## Optionally, turn the floor on Create a straight line along the X-axis of the Working Frame Create a wavy curve Trim the ends of the curve Delete the two small curves extending beyond the line Create a surface of revolution End the modeling session for fun1_user##
Start modeling fun1_user##
1. In the Navigation Tree, browse into your User## working folder. 2. Right click your temp study, and select Load in Standard Mode 3. No, dont store changes to the study. 4. 5. 6. 7. 8. , to reload it.
Modeling > Create Part Resource > New Resource In the New Resource window, select ToolPrototype . Click [OK]. Pick the new object name and press the [F2] key. Name it fun1_user# (replace ## with your user number; such as 1 for user1),.
Optionally, turn the floor on
1. Optionally, select View -> Display Floor Note:
2D sketching is performed on the XY-plane of the Working Frame (unless you sketch on the side of an existing object). When sketching on the XY-plane of the Working Frame, it doesnt matter if the floor is displayed. Create a straight line along the X-axis of the Working Frame
1. Select Modeling -> Create 2D -> Create Polyline. 2. In the Create Polyline window for X of the first point, enter 0.
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3. Press the [Tab] key. 4. For Y, enter 200. 5. Press the [Tab] key. 6. For Z, enter 0. 7. Press the [Tab] key. 8. Press the [Tab] key. You are now entering coordinates for the second point. 9. In the Create Polyline window for X of the second point, enter 1000. 10. Press the [Tab] key. 11. For Y, enter 200. 12. Press the [Tab] key. 13. For Z, enter 0. 14. Press the [Tab] key. 15. Press the [Tab] key. 16. Click [OK]. 17. Right click in the Graphic Viewer and select Zoom to Fit .
Create a wavy curve
Caution: Create a wavy curve that only crosses the line at the curves ends. Also the line should not cross the Working Frames X-axis 1. Turn off the display of the floor: If the floor is displayed, select View -> Display Floor . 2. Set the Pick Intent to Where Picked.
3. Select Modeling -> Create 2D -> Create Curve . 4. Pick several points on the XY-plane of the Working Frame defining a curve, but dont cross the Working Frames X-axis (this is our revolution axis). The curve should be on the opposite side of the line as the Working Frame. Also only cross the line we created at the end points (not the middle). We are going to trim off the part of our wavy line that is between the straight line and the X-axis in the next step. See the picture at the end of this step.
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5. Click [OK].
Trim the ends of the curve
Note: Trim the ends of the curve so that it intersects the polyline, perfectly. 1. 2. 3. 4. 5. Select Modeling -> Create 2D -> Split Curve on Intersection . In the Split Curve on Intersection window for Curve, select Curve1. Pick in the Intersecting entity field. Select Polyline1. Click [OK].
Delete the two small curves extending beyond the line
1. From the Object Tree, Blank the whole object. 2. Slowly Display the entities to find the two that should be deleted.
3. Make sure that the Pick Level is set to Entity.
4. Delete
the two undesired entities.

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5. Display
the whole object.
Create a surface of revolution
1. Select the wavy curve just created. 2. Select Modeling -> Edit -> Revolve . 3. For Start and End, pick the fun1_user## object (replace ## with your user number; such as 1 for user1) in the Object Tree. Note: The Start and End points of the rotational axis are set to 0,0,0 4. 5. 6. 7. 8. Change the End value for X to 100. For Rotation From enter: 0. For Rotation To enter: 270. Check Preview. Click [OK].
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End the modeling session for fun1_user##
1. From the Object Tree, select your fun1_user##. Note: End Modeling is only active when a modeled object is selected. Selecting an active.
entity of a modeled object will not make End Modeling
2. Select Modeling -> End Modeling . 3. Save it into the .\sysroot\Libraries\modeling_kinematics\toolprototypes folder.
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Optional Activity: Extruding 2D Entities to Make a Solid
The objective of this activity is to create a solid from 2D geometry.

Start modeling fun2_user## Create three lines Measure the length of the shortest side Create the fillet Merge the entities together Extrude them into a solid End the modeling session for fun2_user##
Start modeling fun2_user##
1. 2. 3. 4. 5.
Modeling > Create Part Resource > New Resource In the New Resource window, select ToolPrototype. Click [OK]. Pick the new object name and press the [F2] key. Name it fun2_user## (replace ## with your user number; such as 1 for user1)..
Create three lines
Caution: Create three lines that form a triangle where the corners do not touch. 1. 2. 3. 4. Select Modeling -> Create 2D -> Create Polyline Pick two points. Click [OK]. Follow this process to make the other two lines. .
Measure the length of the shortest side
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1. Select Tools -> Measurements -> PTP Distance 2. Set the Pick Intent to Snap.
3. Pick one corner and then another.
Note: If your lines cross each other, the system must decide which side of the intersection to put the fillet on (many times it will be wrong). In this case, you should trim (using the split command) one or both of the curves using the other one. 4. Close the Point to Point Distance window. Create the fillet
Caution: Create the fillet whose radius is about one tenth the distance you measured in the previous step. 1. Select Modeling -> Create 2D -> Fillet . 2. Click two tangent sides of the polyline (i.e. polyline1 and polyline2). 3. In the Fillet window for the Radius, enter one tenth the distance you measured in the previous step. 4. Check Delete original entities. Note: If [OK] and Preview are gray after enter the radius, pick another field or press [Tab]. 5. Click Preview. 6. Click [OK].
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7. Put the same radius fillets at the next corner of the triangle. Note: If [OK] and Preview are gray after enter the radius, pick another field or press [Tab].
Note: You must have two different (non-parallel) lines to create a fillet between. However, we only have one curve now. So, we will split the curve, as shown below, in order to have a different curve on either side of the open end of the shape. 8. Create a polyline across two of the edges (one being a side of the last fillet to be created).
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9. Select Modeling -> Create 2D -> Split Curve on Intersection 10. For Curve, select the triangle shape. 11. For Intersecting entity, select the polyline just created. 12. Check Delete original entities. 13. Click [OK].
14. Select Modeling -> Create 2D -> Fillet . 15. Click two tangent sides of the polyline (i.e. polyline1 and polyline2). 16. In the Fillet window for the Radius, enter one tenth the distance you measured in the previous step. 17. Check Delete original entities . 18. Click Preview. 19. Click [OK]. 20. Delete the temporary polyline by right clicking it and selecting Delete .
Merge the entities together
1. Draw a selection box around the entities. 2. Select Modeling -> Create 2D -> Merge Curves 3. Check Delete original entities. 4. Click [OK]. .
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Extrude them into a solid
1. Select the curve. 2. Select Modeling -> Edit -> Extrude . 3. In the Extrude window, enter 200 for the Positive value. 4. A preview of the solid is shown.
5. Stretch it a little bigger picking and dragging the manipulators on the top or bottom of the preview solid in the Graphic Viewer. 6. Click [OK].
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End the modeling session for fun2_user##
1. From the Object Tree, select your fun2_user##. Note: End Modeling is only active when a modeled object is selected. Selecting an active.
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Optional Activity: Sweeping 2D Entities to Make a Solid
The objective of this activity is to create a solid from 2D geometry.

Start modeling the gun shank object Create an arc Sweep Create a cylinder Create the second cylinder Finish the gun tip Duplicate the cap geometry Place it at the end of the other cap Finish this gun shank Finish the other gun shank End the modeling session
Start modeling the gun shank object
1. 2. 3. 4. 5.
Modeling > Create Part Resource > New Resource In the New Resource window, select Gun. Click [OK]. Pick the new object name and press the [F2] key. Name it shank1_user## (replace ## with your user number; such as 1 for user1).
Create an arc
1. 2. 3. 4. 5. 6. 7. 8. 9.
Select Modeling -> Create 2D -> Create Arc . In the Create Arc window for the Center Point, enter 0 (for X). Press [Tab]. Enter 0 (for Y). Press [Tab]. Enter 0 (for Z). Press [Tab]. Follow the same process to enter 30,0,0 forStart Point Follow the same process to enter 0,30,0 forEnd Point
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10. Click [OK]. 11. Right click in the Graphic Viewer and select Zoom to Fit Sweep .
1. 2. 3. 4. 5. 6.
Select the arc just created. Select Modeling -> Create3D -> Sweep -> Sweep by Circle . In the Sweep by Circle window, enter 17 for the Start Diameter. Enter 20 for the End Diameter. Click Preview. Click [OK].
Create a cylinder
Tip: Create a cylinder at the small end of the swept solid 1. Select Modeling -> Create 3D -> Cylinder Creation -> Create a Cylinder 2. In the Create Cylinder window for Radius, enter: 6. 3. For Height enter: 5. 4. Click Expand . 5. Uncheck Maintain Orientation. .
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6. For the selection type for the Locate at field, select Frame by Circle Center 7. Pick three points around the edge of the small end of the sweep. 8. In the Frame by 3 Point Circle Center window, click Flip Frame axis pointing out of the solid. 9. In the Frame by 3 Point Circle Center window, click [OK]. 10. Click [OK].
to get the Z-
Create the second cylinder
Tip: Create the second cylinder on the end of the first cylinder. 1. 2. 3. 4. 5. 6. 7. Select Modeling -> Create 3D -> Cylinder Creation -> Create a Cylinder In the Create Cylinder window for Radius, enter: 7.5. For Height enter: 11. Click Expand, if it is not already expanded. Uncheck Maintain Orientation, if it is not already unchecked. For theLocate at field, pick the middle of the end of the last created cylinder. Click [OK]. .
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Finish the gun tip
1. 2. 3. 4. 5. 6. 7. 8.
Select Modeling -> Create 3D -> Cone . In the Create Cone window for Lower Radius, enter 7.5. For Upper Radius, enter 3. For Height, enter 11. Click Expand . Uncheck Maintain Orientation. For the Locate at field, pick the middle of the end of the last created cylinder. Click [OK].
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Duplicate the cap geometry
1. Pick the last created solid. 2. Hold down the [Ctrl] key. 3. Pick the last two created cylinders (in other words, picking everything except the swept solid). 4. 5. 6. 7. Select Modeling -> Duplicate Objects . In the Duplicate window for Number along X, enter 2. For X Spacing enter 30. Check the Preview checkbox.
8. Click [OK] Place it at the end of the other cap
1. Draw a selection window around the duplicate cap geometry to select it. 2. Right click the selected geometry and select Relocate . 3. In the Relocate window for the From Frame, pick the center of the end of the duplicate cap. 4. Pick in the To frame field. 5. For the To frame, pick the center of the end of the original cap. 6. Click one of the Frame by 6 values buttons. . 7. In the Location window, click Flip Frame 8. Click [OK].
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Note: Maintain orientation and Translate only on should be unchecked. 9. Click Apply and Close.
Finish this gun shank
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1. 2. 3. 4.
Select Modeling -> Create 3D -> Cone Creation > Create a Cone In the Create Cone window for Lower Radius, enter 8.5. For Upper Radius, enter 11. For Height, enter 30.
5. Click Expand , if it is not already expanded. 6. Uncheck Maintain Orientation, if it is not already unchecked. 7. For the Locate at field, pick the middle of the end of the last created cylinder.
8. Click [OK]. 9. Select Modeling -> Create 3D -> Cylinder Creation -> Create a Cylinder 10. In the Create Cylinder window for Radius, enter: 11. 11. For Height enter: 100. 12. Click Expand , if it is not already expanded. 13. Uncheck Maintain Orientation, if it is not already unchecked. 14. For the Locate at field, pick the middle of the end of the last created cone. .
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15. Click [OK]. Finish the other gun shank
1. 2. 3. 4. 5. 6. 7. 8.
Select Modeling -> Create 3D -> Cone Creation > Crate a Cone In the Create Cone window for Lower Radius, enter 10. For Upper Radius, enter 12.5. For Height, enter 66.
Click Expand , if it is not already expanded.. Uncheck Maintain Orientation, if it is not already unchecked. For the selection type for the Locate at field, select Frame by Circle Center Pick three points around the edge of the large end of the sweep. to get the Z-axis pointing out of the solid.
9. Click Flip Frame 10. Click [OK].
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11. Click [OK]. 12. Select Modeling -> Create 3D -> Cylinder Creation -> Create a Cylinder 13. In the Create Cylinder window for Radius, enter: 12.5. 14. For Height enter: 24. 15. Click Expand , if it is not already expanded. 16. Uncheck Maintain Orientation, if it is not already unchecked. 17. For the Locate at field, pick the middle of the end of the last created cone. .
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18. Click [OK]. End the modeling session
1. From the Object Tree, select your shank1_userX. Note: End Modeling is only active when a modeled object is selected. Selecting an active.
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Optional Activity: Modeling a Simple Robot for Kinematics
The objective of this activity is to create a simple robot for kinematics and learn modeling commands Tip: A drawing of the final robot exists at the end of the activity. Use it to check your work performed in the activity. Or if you are confident in your Process Simulate modeling skills, model the robot only using the drawing. Most students should instead follow the activity closely. Caution: All the solids for a robot in Process Simulate should be placed in one object.
Start modeling the my robot object Perform Basic Setup Create BASE Link Save (End modeling) the my robot Turn on the Modeling toolbar Create LINK1 Create LINK2 Create LINK3: Create LINK4 Create LINK5 Create LINK6 Save and End Modeling Changes Move the new resource to your library Drawing for the Robot Modeling Activity
Start modeling the my robot object
1. 2. 3. 4. 5.
Modeling > Create Part Resource > New Resource In the New Resource window, select Robot. Click [OK]. Pick the new object name and press the [F2] key. Name it myrobot_user## (replace ## with your user number; such as 1 for user1),.
Perform Basic Setup
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3. For Linear, select mm. 4. Click [OK]. Note: All data in Process simulate are started in mm. This setting only changes the display units. Display units can be changed at any time. 5. Set the Pick Level to Entity. Create BASE Link
Note: Create the geometry for what will become the BASE kinematic link:
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1. Select Modeling -> Create 3D -> Box Creation -> Create a Box 2. In the Create Box window, enter: 400x420x120. 3. Click [OK].
4. Select Modeling -> Create 3D -> Cylinder Creation -> Create a Cylinder 5. In the Create Cylinder window for Radius, enter: 170. 6. For Height enter: 40. 7. Click Expand . 8. Pick the Locate at field. 9. Pick the top of the box. 10. Check Maintain Orientation. 11. Click [OK]. 12. Select Modeling -> Create 3D -> Cylinder Creation -> Create a Cylinder 13. For Locate at, pick the top of the previously created cylinder. 14. For Radius enter: 110. 15. For Height enter: 110. 16. Click [OK]. Save (End modeling) the my robot
Note: If you are a paranoid person (it is good to be paranoid with computers), save your work now. 1. From the Object Tree, select your myrobot_userX. 2. Select Modeling -> End Modeling . 3. In the Save Component As window, browse into the .\sysroot\Libraries\modeling_kinematics\robots folder. 4. Click Save.
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Turn on the Modeling toolbar
1. Right click on the existing toolbar and select Modeling. 2. Notice that many of the buttons we are selecting are available directly from the toolbar. Create LINK1
Note: Create the geometry for what will become the LINK1 kinematic link:
1. Select Modeling -> Set Modeling Scope 2. Click Yes. 3. Save whenever you feel you have to.
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4. 5. 6. 7.
From the Modeling toolbar, select Create a Box . Locate it on top of the previously created cylinder. Enter: 260x260x360. Click [OK].
8. Create one bracket: 9. From the Modeling toolbar, select Create a Box . 10. For Locate at, pick (snap) to the middle of the top positive Y edge of the last created box. 11. Enter: 160x30x150. 12. Click [OK]. 13. Right click on the newly created box and select Placement Manipulator 14. Set the translate Step Size to 15. 15. Click Y. 16. Click Move in the negative direction once. 17. Click [OK]. 18. Create second bracket: 19. Select Modeling -> Duplicate Objects . 20. In the Duplicate window for Number along Y, enter 2. .
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21. Press the [Tab] key. 22. Enter -230 for the Y Spacing.
23. Press the [Tab] key again. 24. Notice the preview in the Graphic Viewer. 25. Click [OK].
Create LINK2
Tip: Move the working frame to center of the broad face of one of the ears of Link1:
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1. Select Modeling -> Set Working Frame . 2. Pick the center of the broad face of one of the ears of what will become kinematic Link1.
3. Click [OK].
4. 5. 6. 7.
From the Modeling toolbar, select Create a Cylinder . For Locate at, select Working Frame from the drop down menu. For Radius enter: 65. For Height enter: 200.
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8. Click [OK].
9. From the Modeling toolbar, select Create a Box . 10. For Locate at, select Working Frame from the drop down menu. 11. Enter: 130x540x200. 12. Click [OK]. 13. Use the Placement Manipulator to move the newly created box 270 in the Y.
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14. Select Modeling -> Edit -> Unite . 15. Pick the box and cylinder just created. 16. In the Unite window, check the Delete original entities checkbox. 17. Click [OK]. 18. Create pivot cylinder: 19. Right click on the newly united box and cylinder that is part of LINK2 and select Blank . 20. From the Modeling toolbar, select Create a Cylinder . 21. In the Create Cylinder window for Locate at, select Working Frame from the drop down menu. 22. For Radius enter: 40. 23. For Height enter: 530. 24. Right click the newly created cylinder and select Relocate .
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25. For the From Frame pick (snap) near the middle of the height of the newly created cylinder. Note: Anywhere on the exterior of the cylinder is acceptable, as long as it is a snap point half way between the top and bottom of the cylinder. 26. For the To frame, pick near the middle of the edge of the LINK1 boxs Y edge. 27. Check the Maintain orientation checkbox. 28. Check the Translate only on checkbox. 29. Click Z. 30. Click [OK]. 31. From the Object Tree, check the display status square for the blanked box and cylinder solid that is part of LINK2. Tip: This is the Z-axis of the Working Frame, which is currently sitting at a different orientation than the default. 32. Create a cutter to cut a slot from the top of the last box: Tip: Move the Working frame to center of the top of the box and rotate 180 about X. 33. Select Modeling -> Set Working Frame . 34. Pick the top middle of the last created box of what will become kinematic Link2. 35. Click [OK]. 36. From the Modeling toolbar, select Create a Box . 37. For Locate at, select Working Frame from the drop down menu. 38. Enter: 300x140x210 39. Uncheck Maintain Orientation. 40. Click Frame by 6 Values to the right of the Locate at field. 41. In the Location window, click Flip Frame. 42. Click [OK].
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43. Click [OK]. 44. Select Modeling -> Edit -> Subtract . 45. For Subtract entities, pick the newly created (box4) box. 46. In the Subtract window, pick in the From entity field. 47. Pick Link2 (named bool1) just created. 48. In the Subtract window, check the Delete original entities checkbox. 49. Click [OK]. Create LINK3:
Tip: Create LINK3 through LINK5 vertically, then position:
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1. 2. 3. 4. 5. 6.
From the Modeling toolbar, select Create a Cylinder . For Radius enter: 30. For Height enter: 225. Uncheck Maintain Orientation. For Reference on object, select Geometric center from the drop down list. For Locate at, select Working Frame from the drop down list.
7. Click Frame by 6 Values to the right of the Locate at field. 8. In the Location window for Rx, enter 90. 9. Click [OK]. 10. From the Modeling toolbar, select Create a Cylinder . 11. For Radius enter: 67.5. 12. For Height enter: 800. 13. For Locate at, select Working Frame from the drop down list. 14. Click Frame by 6 Values to the right of the Locate at field. 15. In the Location window for Ry, enter 90. 16. In the Location window for X, enter -320. Note: This will place the small cylinder 320 mm from end of pipe. 17. Click [OK]. 18. Click [OK]. 19. Select the last two created cylinders. 20. Right click the highlighted objects and select Relocate . 21. For the From Frame pick (snap) near the middle of the end of the small newly created cylinder. 22. For the To frame, pick near the middle of the inside edge of the forks of the Link3.
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23. Check the Maintain orientation checkbox. 24. Check the Translate only on checkbox. 25. Click Z. 26. Click [OK].
Create LINK4
Note: Creae LINK4:
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1. 2. 3. 4. 5.
From the Modeling toolbar, select Create a Cylinder . For Radius enter: 64 For Height enter: 30. Uncheck Maintain Orientation. For Locate at, pick the middle of the end of the long side of the big Link3 cylinder.
6. Click [OK]. Note: The next chunk of the robot could be made in at least two different ways (option 6a or option 6b). The activity will use option 6b, however here is the information for option 6a: From the Modeling toolbar, select Create a Box . Uncheck Maintain Orientation. For Locate at, pick the middle of the end of the last created cylinder. Enter: 130x130x195. 7. OPTION 6b: Or the End can be made as a cube and a cylinder : 8. From the Modeling toolbar, select Create a Box . 9. Uncheck Maintain Orientation. 10. For Locate at, pick the middle of the end of the last created cylinder. 11. Enter: 130x130x130.
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12. From the Modeling toolbar, select Create a Cylinder . 13. For Reference on object, select Geometric center from the drop down. 14. Uncheck Maintain Orientation. 15. For Locate at, pick the middle of the end of the last created box. 16. For Radius enter: 65. 17. For Height enter: 130. 18. Click Frame by 6 Values to the right of the Locate at field. 19. In the Location window for Rx, enter 90. 20. Click [OK]. 21. Select Modeling -> Edit -> Unite . 22. Select the last created box and cylinder. 23. Click [OK].
24. Create a cutter: 25. Right click on the last created Boolean solid and select Display Only 26. From the Modeling toolbar, select Create a Box . 27. Enter: 200x40x200. 28. For the Locate at field, pick the square back face of the Boolean solid. 29. Click Frame by 6 Values to the right of the Locate at field. 30. In the Location window, click Flip Frame . 31. In the Location window for Ry, enter 90. 32. In the Location window add 60 to the X value, (i.e. 510+60= 570). 33. Make sure the Y value is 0. .
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34. Click [OK]. 35. Click [OK]. 36. Select Modeling -> Edit -> Subtract . 37. For the Subtract entities , pick the last created box. 38. For the From entity, pick the last created Boolean solid. 39. Click [OK]. Create LINK5
Note: Create LINK5:
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1. From the Modeling toolbar, select Create a Cylinder . 2. For Locate at, pick the center of the inside of the radius of the last created Boolean.
3. For Radius enter: 65. 4. For Height enter: 40.
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5. Click [OK]. 6. Right click the last created solid and select Blank . 7. From the Modeling toolbar, select Create a Box . 8. Enter: 40x40x135. 9. For Locate at, pick the center of the inside of the radius of the last created Boolean. 10. Click Frame by 6 Values to the right of the Locate at field. 11. In the Location window add 65 to the X value, (i.e. 640+65= 705). 12. Click [OK]. 13. Click [OK]. 14. Right click on nothing in the Graphic Viewer and select Display All Create LINK6 .
Note: Create LINK6. DON'T FORGET ABOUT THIS ONE:
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1. 2. 3. 4.
From the Modeling toolbar, select Create a Cylinder . For Radius enter: 25 For Height enter: 15 For Locate at, pick the center of the end of the last created box.
5. Click [OK].
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Save and End Modeling Changes
1. From the Object Tree, select your myrobot_userX. 2. Select Modeling -> End Modeling 3. Click Yes. Move the new resource to your library .
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Note: Move the new resource prototype to your eMS resource library 1. In the Navigation Tree, browse into your working folder. 2. Browse into the Importing From Engineering folder. 3. 4. 5. 6. 7. Right click the ResourceLibrary* and select Navigation Tree Expand the resource library. In the first Navigation Tree browse into the Libraries folder. Double click on Resource Library. Expand and locate the Robots library. .
8. Check out the Robots library. 9. Drag and drop the myrobot_userX into the Robots resource library. 10. Click the Back button. 11. Close the second Navigation Tree that was opened.
Drawing for the Robot Modeling Activity
Robot Base
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Robot Link1
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Robot Link2
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Note: In the training class we will make the width 200 instead of 190. Robot Link3
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Robot Link4
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Note: In the training class we will make the large cylinder 30, instead of 830. Robot Link5
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Note: In the training, we will make the extension 40x40x135 Robot Link6
Note:
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Diameter 50 15 Thick
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KINEMATICS BASICS
Activity: Simple Kinematics (Part 1)
The objective of this activity is to define simple kinematics.

Begin Modeling the two blocks object Open the two_blocks object for modeling Open the Kinematics Editor for two_blocks_user## Define each box as its own link Create the Joint Jog the kinematics
Begin Modeling the two blocks object
Note: In the Project_209S project, the instructor should load the Scenario (study) two blocks from the model kinematics studyfolder.
1. If you are not already in Project_209S: o Select File > Close Project and select Yes. o Select File > Open Project. o Select Project_209S and click [OK] 2. In the Navigation Tree of Project_209S , browse to the Studies studyfolder. 3. Browse to the Line## study folder , where ## is the user number assigned to you by the instructor. 4. If not already checked out, right click the model kinematics studyfolder and select Check Out . 5. Check Check Out with Hierarchy, and click [OK]. 6. Right click the two blocks study and select Load in Standard Mode .
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7. From the Process Simulate Object Tree, right click the two blocks object in the Resources folder, and select Display Only 8. Select View > Zoom to Fit . .
Open the two_blocks object for modeling
1. From the Resources folder of the Object Tree, select the two_blocks_user## (replace ## with your user number assigned to you by your instructor) object in the two_blocks compound resource. 2. Select Modeling -> Set Modeling Scope . 3. Select [OK], to the message about unsupported geometry. Note: An M is now shown on top of the icon for the modeled object.
4. Select Yes, if prompted. Open the Kinematics Editor for two_blocks_user##
1. Select the two_blocks_user## (replace ## with your user number; assigned to you by your instructor) object. 2. Select Kinematics -> Kinematics Editor .
Define each box as its own link
1. In the Kinematics Editor window, select Create Link 2. In the Graphic Viewer, pick the bottom box. 3. In the Link Properties window, click [OK]. 4. In the Kinematics Editor window, select Create Link 5. n the Graphic Viewer, pick the top box. 6. In the Link Properties window, click [OK].
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Create the Joint
1. In the Kinematics Editor window, pick the LNK1 link (i.e. the bottom box for the parent link). 2. Hold down the [Ctrl] key and pick the LNK2 link (i.e. top box for the child link 3. Release the [Ctrl] key. Note: A joint can also be created by dragging a line from the parent link to the child link. 4. In the Kinematics Editor, select Create Joint Note: We will use the default axis definition from (0,0,0 to 0,0,100) and Joint type of Revolute 5. Joint Properties window, click [OK]. Note: Next we will test our kinematics using the Joint Jog window. The Joint Jog button can be accessed in several places: from the toolbar of the Kinematics Editor, by right clicking a kinematic object, from the Kinematics toolbar, or from the Kinematics menu. 6. Close the Kinematics Editor window. Jog the kinematics .
1. Verify the Pick Level is Component.
2. Select the two_blocks_user## (replace ## with the user number; assigned to you by your instructor) object. 3. Select Kinematics -> Joint Jog .
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4. Adjust the sensitivity of the joint steering: From the Joint Jog window, click Options and move the Slider sensitivity slider toward low.
5. Click [OK]. 6. In the Joint Jog window, select the Steering gear icon for joint J1 and drag it left and right. Note: You can drag the slider beyond the Joint Jog window, which is OK. 7. Click Reset.
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8. Click Close.
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The objective of this activity is to use simple kinematics.

Open the Kinematics Editor for two_blocks_user## again Edit the joint Jog the kinematics
Open the Kinematics Editor for two_blocks_user## again
1. Select the two_blocks_user## (replace ## with the user number; assigned to you by your instructor) object. 2. Select Kinematics -> Kinematics Editor Edit the joint .
1. In the Kinematics Editor window, double click on the J1 arrow. 2. 3. 4. 5. 6. In the Joint Properties window, click Expand Dialog For Limits type, select Constant. For the High Limit, enter 360. For the Low Limit, enter 0 (the default). Leave the Speed and Acceleration values as they are. .
7. Click [OK].
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8. Close the Kinematics Editor window. Jog the kinematics
1. Verify the Pick Level is Component.
2. Select the two_blocks_user## (replace ## with the user number; assigned to you by your instructor) object. 3. Select Kinematics -> Joint Jog .
4. In the Joint Jog window, select the Steering gear icon for joint J1 and drag it left and right. 5. Click Reset. 6. Click Close.
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The objective of this activity is to use simple kinematics.

Add a pose to the device Move to your new pose Save changes to the 3D data
Add a pose to the device
1. Select the two_blocks_user## (replace ## with your user number; such as 1 for user1) object. 2. Select Kinematics -> Pose Editor . 3. In the Pose Editor window, click New. 4. In the New Pose window, move theSteering gear for j1 to the right. 5. In the New Pose window for Pose name, enter Turn. 6. Click [OK].
Move to your new pose
1. Method 1 to jump to a pose: In the Pose Editor window, pick HOME. 2. Click Jump. Note: You can also double click the pose to jump to it.
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3. 4. 5. 6.
In the Pose Editor window, pick the Turn pose. Click Jump. In the Pose Editor window, click Reset and Close . Select the two_blocks_user## (replace ## with your user number; such as 1 for user1) object. .
7. Method 2 to jump to a pose: Select Kinematics -> Joint Jog
8. Select the Turn pose from the drop down that currently says HOME. 9. Click Reset and Close.
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Save changes to the 3D data
1. Select Modeling -> End Modeling . 2. (When loading the next Scenario (study) we can choose to not save changes to the scenario, since none have been made)
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Activity: Add Joints to a Simple object
The objective of this activity is to add joints to the door.

Open the door with Process Simulate Envision the kinematic tree then define the required links Define the first joint in Process Simulate Define the second joint of the simple object Use Joint Jog, Pose Editor, and End Modeling
Open the door with Process Simulate
1. In the Navigation Tree, browse into your User## 2. Browse into your studyfolder .
working folder. .
3. Right click your temp study and select Load in Standard Mode 4. No, dont save changes to the study. 5. Switch from the Navigation Tree to the Object Tree. 6. Select Modeling -> Insert Component from File . 7. In the Insert Component window, browse into the .\sysroot\Libraries\model_kinematics\toolprototypes folder. 8. Select your room_door_geo_user## (i.e. for user1 select room_door_geo_user1.cojt) Note:
The completed example is called room_door_demo.cojt. The instructor will open the object called room_door_geo_user11.cojt and add the joints to it. All .COJTs are located in .\sysroot\Libraries\model_kinematics\toolprototypes folder. 9. Click Open. Envision the kinematic tree then define the required links
Note: There are only two joints in this case: One for the door at the hinges and another for the handle. 1. In your mind, envision the first joint (j1): The doorframe is fixed and does not move when the door opens. So, the doorframe link will be the parent to the door joint. The axis of this joint goes through the hinges.
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2. In your mind, envision the second joint (j2): The axis of the next joint goes through the center of the door handle. Relative to the door handle joint, the door is the parent link and the handle is the child link. Note: The links and axis have already been created for you. All you have to do is define the joints for the mechanism. Kinematic Tree
3. In the Object Tree or Graphic Viewer, select the room_door_geo object. Note: The room_door_geo_user## resource prototype has a default instance name of room_door_geo. 4. Select Modeling > Set Modeling Scope 5. 6. 7. 8. and click [OK].
Select Kinematics > Kinematics Editor . Use what you have learned to create a link for the doorframe. Use what you have learned to create a link for the door. Use what you have learned to create a link for the handle.
Define the first joint in Process Simulate
Note: Use what you have learned, along with these hints, to define the kinematics.
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1. 2. 3. 4. 5. 6. 7. 8.
In the Kinematics Editor, drag a line from the doorframe to the door. For the Parent Link select door frame For the Child link select the door Click From For the Axis From select the line though the hinges twice Click [OK] to the error message. Change the Z value for the To point of the axis. For Joint Type click Revolute.
9. Click Expand Dialog . 10. Add limits and speeds to the joint. 11. Click [OK]. Define the second joint of the simple object
1. 2. 3. 4. 5. 6. 7. 8.
In the Kinematics Editor, drag a line from the door to the handle. For Parent Link select the door For Child Link select door handle Click From For the Axis From select the line though the handle twice Click [OK] to the error message. Change the X value for the To point of the axis. For Joint Type click Revolute.
9. Click Expand Dialog . 10. Add limits and speeds to the joint. Note: Add the High limit before the Low limit. A negative number is lower than a positive number. Speed and Acceleration are in current units (set on the Tools > Options window). 11. Click [OK]. 12. Close the Kinematics Editor window. Use Joint Jog, Pose Editor, and End Modeling
1. 2. 3. 4. 5. 6.
Right click the door object and select Joint Jog . Jog the joints of the door object using the Joint Jog window. Close the Joint Jog window. Right click the door object and selectPose Editor . Use the Pose Editor to define an open and closed pose for the door. Jump it between these poses.
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7. Return to the HOME pose. 8. Close the Pose Editor window. 9. Select the door object. 10. Select Modeling > End Modeling.
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Activity: Leading Joints and Follow Factors (Gun)
The objective of this activity is to create the kinematics and use leading joint concept for a balanced gun.
Load the study (gun_lf) Create 3 links Create 2 joints Jog the kinematics Save change to the 3D data Set the lower arm to depend on the upper arm Enter the correct follow factor Check the joint motion Save change to the 3D data Change follow factor to negative number Change the HOME pose
Load the study (gun_lf)
1. From the Navigation Tree, expand into the Studies folder. 2. Expand into your Line## studyfolder (i.e. user1 uses Line1, user2 uses Line2, etc). 3. Check out your assigned studyfolder with hierarchy. 4. Expand into the model kinematics studyfolder. 5. Right click gun lf and select Load in Standard Mode . 6. Select the gun_lf_user## (where ## is your user number) object. 7. Select Modeling -> Set Modeling Scope .
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Create 3 links
1. Select the gun_lf_user## (where ## is your user number) object. 2. Select Kinematics -> Kinematics Editor 3. Change Pick Level to Entity. .
4. 5. 6. 7.
In the Kinematics Editor window, select Create Link Pick the orange, body geometry. In the Link Properties window, enter the name body. Click [OK].
8. In the Kinematics Editor window, select Create Link . 9. Pick the green, upper arm geometry. 10. In the Link Properties window, enter the name upr_arm. 11. Click [OK]. 12. In the Kinematics Editor window, select Create Link .
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13. Pick the pink, lower arm geometry. 14. In the Link Properties window, enter the name lwr_arm. 15. Click [OK].
Create 2 joints
1. In the Kinematics Editor window, pick the first link (i.e. the body for the parent link). 2. Hold down the [Ctrl] key and pick the second link (i.e. upr arm for the child link 3. 4. 5. 6. Select Create Joint . Change Pick Intent to Where Picked. In the Joint Properties window, click From for the Axis. Create an axis for the joint to be created by picking two places on the line. Note: Another method is to blank the body and pick the center of the top and bottom of the cylinder where the two arms rotate.
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7. Joint type of Revolute joint should already be selected. 8. Click [OK]. Joint j1 has been defined. 9. Follow the same process to define a joint (j2) from the body (parent link) to the lwr arm (child link). 10. Close the Kinematics Editor window. 11. Change Pick Intent back to Snap.
Jog the kinematics
1. Select the gun_lf object. 2. 3. 4. 5. 6. Select Kinematics -> Joint Jog . Select the joint J1 slider and drag it left and right. Jog joint J2 in the same way. Click Reset. Close the Joint Jog window.
Save change to the 3D data
1. Select the gun_lf_user## (where ## is your user number) object. 2. Select Modeling -> End Modeling Note: When loading the next study we can choose to not save changes to the scenario, since none have been made Set the lower arm to depend on the upper arm .
Note: Set joint J2 to follow (i.e. lower arm to depend on the upper arm) joint J1. 1. Select gun_lf_user## 2. Select Modeling -> Set Modeling Scope 3. Select Yes.
4. Select Kinematics > Kinematics Editor . 5. In the Kinematics Editor window, pick (once) on the follow joint (i.e. j2). 6. Click Joint Kinematics Functions . 7. For Joint Dependency, click Joint Function.
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Note: The default value is Independent. 8. Click the down arrow 9. Click j1. Note: Details of the joint j2 function are displayed in the Joint Function area. Enter the correct follow factor to the right of Joint Name and select j1.
Note: Enter the correct follow factor. This factor is a ratio of one joints motion to another. To define the follow factor for each of the joints so that they will be fully open when the leading joint is fully open: Note: The follow factor might be 2.13, depending on how you define the kinematics. Remember, the follow factor is a ratio of one joints motion to another. Note: Follow factor = Follow joint range / Leading joint range 1. 2. 3. 4. Click Multiplication. Type (-2.13) in the Joint Function window. Click Apply and Close. Close the Kinematics Editor window.
Check the joint motion
1. Change Pick Level back to Component.
2. Select the gun_lf_user## object. 3. Select Kinematics -> Joint Jog . 4. Select the joint J1 slider and drag it left and right. 5. Close the Joint Jog window.
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Save change to the 3D data
1. Select the gun_lf_user## object. 2. Select Modeling -> End Modeling. . 3. (When loading the next study we can choose to not save changes to the scenario, since none have been made) Change follow factor to negative number
1. 2. 3. 4.
Select gun_lf_user## Select Modeling -> Set Modeling Scope . Select Yes. Change follow factor to negative number (or to a positive number), so that the joints (lower and upper arm) move away from each other when jogged. 5. Check the motion of joints and note difference. Change the HOME pose
Note: Use Joint Jog and Pose Editor windows to change the HOME pose so that gun tips are closed when this pose is applied. Note: Normally the HOME pose is where all joints are equal to zero. However, this is not a requirement. There may be a situation when you need the HOME pose to have a different value. 1. In the Joint Jog window, jog the joint until the tips are closed. 2. Right click and select Copy for the joint value shown in this window. 3. In the Pose Editor window, select the HOME pose and click Edit. 4. Right click in the Joint value field and select Paste 5. Click [OK]. .
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Instructor Demo: Kinematic Looping (Optional Activity)
The objective of this activity is to add kinematics to the piston.

Begin Modeling the dump demo Steps for the dump demo
Begin Modeling the dump demo
1. The instructor should Load in Standard Mode the dump demo study from the model kinematics study folder (under the Line 11 studyfolder). Steps for the dump demo
1. Show the kinematic tree of dump2_demo, and joint jog it. 2. Joint jog Pivot_J4 and show how the piston moves.
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Activity: Kinematic Looping
The objective of this activity is to add kinematics to the piston.

Start Modeling the dump2 object Use the crank wizard to define the kinematics Use the Joint Jog window Save change to the 3D data
Start Modeling the dump2 object
1. From the Navigation Tree, expand into the Studies folder. 2. Expand into your Line## studyfolder (i.e. user1 uses Line1, user2 uses Line2, etc). 3. Check out your assigned studyfolder with hierarchy. 4. Expand into the model kinematics studyfolder. 5. Right click dump and select Load in Standard Mode . .
6. Right click the dump2 object and select Display Only
7. Select Modeling -> Set Modeling Scope 8. Select Yes. Use the crank wizard to define the kinematics
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1. Select Kinematics -> Kinematics Editor 2. 3. 4. 5.
In the Kinematics Editor, click Create Crank . For Select Crank type, select Slider (RPRR). Click Next. On the Slider Crank Joints window, click the first point (above the Coupler Link).
6. Pick the equivalent frame in the Graphic Viewer.
7. Repeat this process for the other two axis points. 8. A triangle is drawn in the Graphic Viewer between the points.
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9. Click Next. 10. On the Slider Crank Links window, click the first link.
11. Set the Pick Level to Entity.
12. Pick the equivalent entities for this link in the Graphic Viewer. 13. Repeat this process for the other three links. 14. Click Finish. The kinematic tree is defined.
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Use the Joint Jog window
1. Close the Kinematic Editor window. 2. Use the Joint Jog window to jog the joints. 3. Reset the mechanism with finished. Save change to the 3D data
1. Select the object. 2. Select Modeling -> End Modeling . 3. (When loading the next study we can choose to not save changes to the scenario, since none have been made)
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Activity: Gun Kinematic Definition (Part 1)
The objective of this activity is to define a gun with a piston (a loop).

Start modeling the gun_geo object Kinematic Definition Use the crank wizard to define the kinematics Create a joint between the base and the lwr links Test with Joint jog
Start modeling the gun_geo object
1. From the Navigation Tree, expand into the Studies folder. 2. Expand into your Line## studyfolder (i.e. user1 uses Line1, user2 uses Line2, etc). 3. Check out your assigned studyfolder with hierarchy. 4. Expand into the model kinematics studyfolder. 5. Right click gun geo and select Load in Standard Mode . 6. Right click the gun_geo_user## object in the Graphic Viewer or Object Tree and select Display Only . 7. Select Modeling -> Set Modeling Scope 8. Select Yes. .
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Kinematic Definition
1. Select Kinematics -> Kinematics Editor . 2. The following links have already been created for you: o lwr_arm o upr_arm o rod o cyl o bracket Use the crank wizard to define the kinematics
Note: This activity provides ONE way to define the kinematics of this gun. There are several ways that it could be done. Please make sure that you are able to perform the steps as written before trying other ways of doing the kinematics. 1. In the Kinematics Editor, click Create Crank .
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2. For Select Crank type, select Slider (RPRR). 3. Click Next. 4. On the Slider Crank Joints window, click the first point (above the Couple Link).
5. In the Object Tree, pick the fr1 frame within your gun_geo object. Note: This is the frame between the blue and yellow links. Note: All three frames should be created in advance and should exist on one plane down the middle of the gun. We have suggested in the activity to pick the frames in the Object Tree in order to guarantee that the correct point is selected. If the wrong point is selected (and the mistake is not found until you are done defining the crank), all crank kinematics must be deleted and recreated. 6. On the Slider Crank Joints window, click the second point (to the right of the Fixed Link). 7. In the Object Tree, pick the fr2 frame within your gun_geo object. Note: This is the frame between the blue and yellow links. 8. On the Slider Crank Joints window, click the second point (to the left of the Fixed Link). 9. In the Object Tree, pick the fr3 frame within your gun_geo object. Note: This is the frame between the blue and yellow links. Note:
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A triangle is drawn in the Graphic Viewer between the three points. 10. Click Next. 11. Click Next, again to create the crank Without offset. 12. On the Slider Crank Joints window, click the first link (Fixed Link).
13. On the Slider Crank Joints window, click Existing Link. 14. Pick the equivalent link in drop down (lwr). 15. Repeat this process for the Input Link, Couple Link, and Output Link. Link Name base (green) upr (yellow) rod (magenta) cyl (blue) lwr (orange) Correlation to Crank Linkage Diagram (not shown, well add it later) Output Link Input Link Coupler Link Fixed Link
16. Click Finish. The crank kinematic tree is defined. Create a joint between the base and the lwr links
1. In the Kinematic Editor window, create a joint by dragging a line from the base to the lwr link. 2. In the Joint Properties window, pick From and pick fr3 from the Object Tree. 3. In the Joint Properties window, pick To and pick fr3 from the Object Tree. 4. Click [OK] to the error message. 5. For the Y value for To, enter 100. 6. Click [OK]. 7. Close the Kinematic Editor window. Test with Joint jog
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1. Right click your gun_geo and select Joint Jog Note: There are only two joints to jog. 2. Jog the two joints of the object. Note:
J1 rotates the lower arm. The other joint moves the upper gun arm with the solenoid. See the first part of this topic to see why there are only two jogable joints for a mechanism with five joints defined. Remember, there are no joint limits set. Note: When you jog the gun, only one of the jaws moves. It may look a little strange right now. Tip: If the motion seems wrong (i.e. the two jaws don't open but it spins around) select the joint just created and click Reverse Joint from the Kinematic Editor.
3. Remember to click Reset before leaving Joint Jog. 4. Close the Joint Jog window. 5. What we would like is for both of the guns jaws to open and close. To create this balanced gun we will need to add another function to the kinematics. See the next activity for details.
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Activity: Gun Kinematics (Part 2)
The objective of this activity is to see two ways to make the two jaws open: follow factor or a function.
Continue and create a balanced joint gun Go to Joint Jog and test Edit the Function Save change to the 3D data
Continue and create a balanced joint gun
Note: Both arms will move the same amount in opposite directions. This can be accomplished by making the upper arms joint the leading joint and the lower arms joint the follow joint with a factor of 2 (or -2.13). 1. Open the Kinematic Editor. 2. Pick the joint that moves the lower arm (J2). 3. Use what youve learned to add this function to the joint: (T(fixed_InputJ1))*(-2) Go to Joint Jog and test
1. Close the Kinematic Editor. 2. Right click your gun_geo and select Joint Jog Note: There are only one joint to jog. This means that there is only one independent joint. J1 moves both arms at the same time, but in opposite directions. Remember there are no joint limits set. 3. Remember to go to the HOME pose before leaving Joint Jog Edit the Function 1. Try editing the function and changing the 2 to some other value (i.e. 2). 2. Then jog it and notice affect on motion. Save change to the 3D data .
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1. Right click it and selectHOME
2. Select Modeling -> End Modeling . 3. (When loading the next study we can choose to not save changes to the scenario, since none have been made). Note: This gun now has functions added to the joints from two sources. The first ones were created automatically by Process Simulate because the gun contains a kinematic loop. The functions created by Process Simulate are editable by the user. The second function we just created in this activity to balance the movement of our gun. It is editable by the user.
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Activity: Speed and Acceleration
The objective of this activity is to define the max speed and acceleration on our gun joint.
Add speed and acceleration values Test it Move the object home and end modeling
Add speed and acceleration values
1. Select your gun_geo. 2. Select Modeling > Set Modeling Scope
3. Select Kinematics -> Kinematics Editor . 4. In the Kinematics Editor window, double click on the joint. 5. 6. 7. 8. 9. Test it In the Joint Properties window, click Expand Dialog For (Maximum) Speed, enter 9999. For (Maximum) Acceleration, enter 9999. Click [OK]. Click Close. .
1. Use the Kinematics > Pose Editor to create two poses that are different for your gun_geo named TEST1 and TEST2. 2. Select your gun_geo, hold down the [Ctrl] key, and select a parent operation from the Operation Tree. 3. Select Operations > New Operation > New Device Operation 4. Select TEST1 for the From Pose, TEST2 for the To Pose. .
5. Click Expand Dialog , set the Duration to 0.1, and click [OK]. 6. Use the Kinematics > Pose Editor to jump your gun_geo to the TEST1 pose. 7. Use the Sequence Editor to play the simulation. 8. Use Operation > Operation Properties to notice how the time of simulation is increased to how long will it take for the joints to move between the poses, based on the assigned speed and acceleration. 9. Use the Kinematics > Kinematics Editor to change the speed and acceleration for the joint to 99. 10. Use the Sequence Editor to play the same simulation again.
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11. Use Operation > Operation Properties to notice how the time of simulation is increased to how long it will take for the joints to move between the poses, based on the assigned speed and acceleration. Move the object home and end modeling
1. Right click it and selectHOME 2. Select the object.
. .
3. Select Modeling > End modeling
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Activity: Defining OPEN, SEMIOPEN, and CLOSE Poses
The objective of this activity is to learn how to define OPEN, SEMIOPENED, and CLOSE states for the gun.
Open gun_geo for modeling Verify that the linear units are set to mm (and not inches) Create the CLOSE pose Create the SEMIOPEN pose Create the OPEN pose Test the poses then Reset the mechanism
Open gun_geo for modeling
1. Continue using the same data loaded in Process Simulate (gun geo). Note: This activity is a continuation of the previous one, and the kinematics must already be defined.
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2. Select the gun_geo object. 3. Select Kinematics -> Home Note: Return the gun to the position it was in when you first defined the kinematics (that is, j1=0, j2=0). This is called the HOME pose. 4. Select Modeling -> Set Modeling Scope 5. Select Yes. . .
Verify that the linear units are set to mm (and not inches)
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3. Select mm from the Linear pull-down list. 4. Click [OK]. Create the CLOSE pose
1. Select Kinematics -> Pose Editor . The Pose Editor window is displayed. 2. In the Pose Editor window, click New. The New Pose window is displayed. 3. Click the up/down arrows for the joint value until it is 0. Note: On some guns the CLOSE pose is not zero degrees. In this case, enter the proper joint value using the same technique described in the next step. 4. Pose Editor window, pick the pos1 just created, pick it again and enter CLOSE. 5. Click [OK]. 6. (Do not close the Pose Editor window yet). Create the SEMIOPEN pose
1. In the Pose Editor window, click New. The New Pose window is displayed. 2. Click the up/down arrows for the joint value until it is-15 (or 15, depends on the axis direction). Note:
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This gun has two joints, but only one shows in the list. Do you remember why? It is because j2 is dependant on j1. 3. Click [OK]. 4. Pose Editor window, pick the pos1 just created, pick it again and enter SEMIOPEN. 5. (Do not close the Pose Editor window yet). Create the OPEN pose
Note: Jog the gun to the open position (or type in the value in the Pose Editor directly). 1. Select Kinematics -> Joint Jog . 2. In the Joint Jog window, select the blue j1 slider, and move the mouse left and right in the Graphic Viewer to jog the gun to an open position. 3. From the Pose Editor window, click New. 4. Click [OK]. 5. Pose Editor window, pick the pos1 just created, pick it again and enter OPEN. Test the poses then Reset the mechanism
1. In the Pose Editor window, select CLOSE then click Jump. 2. Select OPEN, and then click Jump again. This jumps the gun from the CLOSE pose to the OPEN pose. 3. In the Pose Editor or Joint Jog windows, click Reset to reset the mechanism back to the HOME pose.
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Activity: Create the TCP and MNT Frames
The objective of this activity is to create the frames required by the Tool Definition button. Note: The TCP Frame represents the Tool Center Point Frame of the robot. The robot TCP is super-imposed onto each location (workpoint) in the robotic path. The TCP Frame of the robot is placed on the gun TCP frame defined by the tool definition command. Note: The Mount Frame represents how the gun will be mounted to the TOOLFRAME of the robot. By default the mount frame will be superimposed onto the TOOLFRAME of the robot. Every robot has a TOOLFRAME located on the faceplate at the end of the robot arm.
Create the TCP frame Create the Mount frame
Create the TCP frame
1. Continue modeling the same gun data loaded in Process Simulate (gun geo). 2. 3. 4. 5. 6. Select Modeling -> Create Frame -> Frame by 6 values . Pick once in space (on nothing to get the orientation). In the Create Frame By 6 Points window, click Position. Pick the top middle of the bottom gun tip (cap). Click [OK]. (Usually this frame is created between the two gun tips).
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7. On the Object Tree, name the frame tcp (pick it, press the [F2] key, and enter tcp). 8. Select the tcp frame. 9. Select Modeling > Edit > Set as Preserved Objects Create the Mount frame .
1. Select Modeling -> Create Frame -> Frame by 6 values . 2. Pick the self origin of the gun (Usually this frame is centered on the gun mounting plate). 3. Click [OK].
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4. On the Object Tree, name the frame mnt (pick it, press the [F2] key, and enter mnt). 5. Select the mnt frame. 6. Select Modeling > Edit > Set as Preserved Objects Note: Continue modeling the gun. .
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Activity: Defining an object as a Spot Weld Gun
The objective of this activity is to use the Tool Definition command.

Open the tool definition window Enter the tool definition parameters for this gun Save and end modeling
Open the tool definition window
1. Continue modeling the same gun loaded in Process Simulate (gun geo). 2. Select the gun, either in the Graphic Viewer or the Object Tree. 3. Select Kinematics -> Tool Definition Enter the tool definition parameters for this gun .
1. In the Tool Definition window, select Gun from the Tool Type drop down list. 2. In the TCP Frame field, select the tcp frame from the drop down list, the Graphic Viewer or the Object Tree. Note: You can temporarily modify the position of the selected frame by clicking the drop down arrow next to Frame of Reference and specifying the new location of the frame using one of the four methods available. 3. In the Base Frame field, select the mnt frame from the drop down list, the Graphic Viewer or the Object Tree. 4. In the Do not check for collisions with area, specify the objects which may collide with the tool (i.e. the weldgun) by selecting them in the Graphic Viewer. For example, the tips (or caps) of the gun arms. This means that collisions between the specified objects and the tool are neither checked for nor noted. 5. Click [OK]. The selected device is defined as a tool of type gun. Note: In order for this definition to work, the object must be kinematic and have the OPEN, SEMIOPEN, and CLOSE poses defined (case sensitive). Save and end modeling
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1. Select Modeling -> End Modeling
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Activity: Defining an object as a Gripper
The objective of this activity is to define an existing kinematic object as a gripper.

Begin Modeling the box gripper object Define the gripper kinematics Create and test the gripper joints and poses Define it as a gripper Save and end modeling Define another gripper (Optional Extra Credit)
Begin Modeling the box gripper object
1. In the Navigation Tree, browse and select the temp study. 2. Select File > Load in Line Standard Mode .
3. Select Modeling -> Insert Component from File . 4. Browse and select your box_gripper_user## object (i.e. for user1 select box_gripper_user##.cojt. Instructor should use user11) from the .\sysroot\Libraries\modeling_kinematics\grippers folder. 5. Click Open. 6. Right click your box_gripper_user## and select Display Only 7. Select Modeling -> Set Modeling Scope . Define the gripper kinematics .
1. Verify that the MNT frame and TCP are in the correct positions. 2. Select the object and pick Kinematics > Kinematics Editor 3. In the Kinematics Editor window, click Create Link 4. Create the base link and select its geometry 5. Click [OK]. 6. In the Kinematics Editor window, click Create Link 7. Create the left arm link and select its geometry 8. Click [OK]. 9. In the Kinematics Editor window, click Create Link 10. Create the right arm link and select its geometry 11. Click [OK]. . .
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Create and test the gripper joints and poses
Note: Jump from one pose to the other just to understand how the gripper functions, to find the gripping entities (the pink ones) and to verify it has kinematics. 1. Create the first joint between base and left arm. It should be named j1 and move prismatically along the X axis 2. Create the second joint between base and right arm. It should be named j2 and move prismatically along the X axis. 3. Test the (direct) kinematics and reset them to HOME when done. 4. Add an OPEN pose and a CLOSE pose using the Pose Editor . 5. Jump from one pose to the other. Note: The existence of kinematics is a prerequisite to define any tool. 6. Close the Pose Editor window. Define it as a gripper
1. Select the box_gripper_user## object. 2. Select Kinematics -> Tool Definition . 3. In the Tool Definition window, select Gripper as the Tool Type. 4. Leave the TCP Frame and the Base Frame fields untouched with the values as seen in the picture. 5. Select the cylinders on the gripper as the gripping entities. 6. Leave the offset as 1. 7. Click [OK]. Note: The gripping entities and the offset value define which parts will be attached to the gripper when a Gripper operation is simulated. This is a mechanism that is applied only when the gripper operation starts: It calculates which parts collide with the gripping entities (taking into account the offset) and these parts will be automatically attached to the TCP Frame of the gripper. As a result of this automatic detection of parts to attach, there is a significant importance to the selection of the gripping entities for two reasons:
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Performance while simulation is running in order to gain performance and reduce the time it takes to find the parts to attach, a minimal number of entities as possible should be defined as the gripping entities and minimal offset value. o Accuracy the gripping entity list must include all entities in such a way that all parts that should be attached to the gripper will be found by the automatic detection mechanism. In this activity, we could select only one gripping pair (right or left one), reducing the calculations during the simulation by factor of 2 or even select one entity (if we know the part touches it), reducing it by x4. Due to the fact that both entities and part have very simple geometry, this reduction will not be noticeable anyway. 8. Click [OK] to complete the gripper definition.
o
Save and end modeling
1. Select Modeling -> End Modeling Define another gripper (Optional Extra Credit)
1. In the Navigation Tree, browse and select the temp study. 2. Select File > Load in Line Standard Mode .
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3. Select Modeling -> Insert Component from File . 4. Browse and select your gripper1_user##.co object (i.e. for user1 select gripper1_user1.cojt. Instructor should use user11) from the .\sysroot\Libraries\modeling_kinematics\grippers folder. 5. Click Open. 6. Right click your box_gripper_user## and select Display Only 7. Select Modeling -> Set Modeling Scope . 8. Follow the same process to define this as a gripper. .
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Activity: Adding Kinematics to a Robot Model
The objective of this activity is to add kinematics to the robot created in an earlier activity in order to learn the kinematic tools provided in Process Simulate.
Get the my robot geo object Envision the kinematic chain in your head and then begin modeling Create the first link Create the second link Define the next 5 links the same way Axis Definition Define the first joint Define the second joint of the robot Continue this process to define all six joints Save and end modeling
Get the my robot geo object
1. Load in Standard Mode the temp study with Process Simulate. 2. No, dont save changes to the study. 3. Select Modeling -> Insert Component from File . 4. In the Insert Component window, browse into the .\sysroot\Libraries\modeling_kinematics\robots folder. 5. Select your myrobot_geo_user##.cojt robot that you just modeled: (i.e. for user1, select myrobot__geo_user1.cojt). 6. Click Open. Envision the kinematic chain in your head and then begin modeling
1. Right click the my_robot_geo_user## object and select Display Only
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2. What are the links, what are the joints, and so on. We will need to define 7 links and 6 joints Note: The 7 links will be named: base, lnk1, lnk2, lnk3, lnk3, lnk4, lnk5, and lnk6. The joints will be names J1, J2, J3, J4, J5, and J6. 3. Select the robot. 4. Select Modeling -> Set Modeling Scope
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5. Click Yes. 6. Create frames in an easy to select location to be used to create the axes of the robot (one for each axis). Remember that when entering the axis for joint, the From/To point coordinates are in reference to the working frame. Create the first link
1. Select the robot object. 2. Select Kinematics -> Kinematics Editor . . 3. In the Kinematics Editor window, click Create Link 4. Select the bottom three solids for the first link.
5. In the Link Properties window for name, enter base. 6. Click [OK]. 7. The three entities colors are changed to orange. Create the second link
1. In the Kinematics Editor window, click Create Link 2. Select the next three solids from the bottom.
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3. Click [OK]. 4. The three entities colors are changed to green. Note: The default name lnk1 is assigned to this link Define the next 5 links the same way
1. Define the next 5 links the same way, for a total of 7 links: Here is lnk2:
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Here is lnk3:
Here is lnk4:
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Here is lnk5:
Here is lnk6:
Axis Definition
1. Here are the axes we will use: Tip: In this step, we will create a frame to make an easily selectable point for the axis definition. See the steps that follow.
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2. Set Pick Intent to Snap. 3. Select Modeling > Create Frame > Frame By 6 Values . 4. In the Frame By 6 Values window, click Position. 5. Pick the center of the one of the ends of the cylinders that is shown above to be an axis. Note:
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We only need to create one frame for each axis representation. The same axis can be used for the definition of the J4 and J6 joints. 6. Click [OK] 7. Repeat this process for the other axes shown in the picture above. Note: We don't need to create a frame for the axis between the base and lnk1 links. Define the first joint
1. Pick the base link. 2. Hold down the [Ctrl] key. 3. Pick lnk1. 4. In the Kinematics Editor window, click Create Joint 5. In the Joint Properties window, click Expand Dialog 6. For Limits type, select Constant. 7. For High Limit, enter 180. 8. For Low Limit, enter -180. 9. For Speed, enter 110. 10. For Acceleration, enter 9999. 11. Click [OK] Define the second joint of the robot . .
1. Pick the lnk1 link. 2. Hold down the [Ctrl] key. 3. Pick lnk2. 4. In the Kinematics Editor window, click Create Joint 5. Pick From. .
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6. In the Graphic Viewer, pick the center of the end of the depicted cylinder. 7. Pick the center of the center of the end of the opposite end of the cylinder. 8. In the Joint Properties window, click Expand Dialog 9. For Limits type, select Constant. 10. For High Limit, enter 70. 11. For Low Limit, enter -70. 12. For Speed, enter 110. 13. For Acceleration, enter 9999. 14. Click [OK]. Continue this process to define all six joints .
Note: Reference joint range values for the purposes of this activity only. Choose the appropriate axis for each joint.J4 and J5 use the same axis. 1. Continue this process to define all six joints. Use this table for reference: Joint J3 J4 J5 J6 Note: Normally the joint ranges for J2 and J3 are dependant on each other. In this activity, we will define them as constant. This is not suggested for production robotic kinematics. Parent Link lnk2 lnk3 lnk4 lnk5 Child Link lnk3 lnk4 lnk5 lnk6 Constant Low Limit -70 -190 -110 -340 Constant High Limit 70 90 110 340 Max Speed 110 170 170 240 Max Accel. 9999 9999 9999 9999
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1. Select Modeling -> End Modeling
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Activity: Using Direct Kinematics to Move the Robot
The objective of this activity is to test the kinematics of the robot that we created.
Test the 6 joints in the mechanism
Test the 6 joints in the mechanism
1. Change the Pick Level to Component.
2. Right click the robot and select Joint Jog . 3. Move the sliders for each joint and observe how it moves. Note: The current value of the joint being jogged is displayed in the Joint Jog window are relative to home pose. Note: The range is specified based upon all joint values being 0 at the home pose. HOME pose is defined by the position of the links when you defined the kinematics. 4. Return the robot to HOME pose: Click Reset. Caution: Don't forget to click Reset on the Joint Jog window before closing the window.
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Activity: Adding a Toolframe
The objective of this activity is to add a TOOLFRAME onto the kinematic device in order to make it into a robot (able to use inverse kinematics).
Continue modeling the my robot geo object Look at the kinematic links Define Inverse Kinematics Save and end modeling
Continue modeling the my robot geo object
1. 2. 3. 4.
Continue using the same data loaded in Process Simulate. Select the robot. Select Modeling -> Set Modeling Scope . Click Yes.
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Look at the kinematic links
Note: Look at the temporary coloring of the kinematic links of the mechanism. 1. Select the robot. 2. Select Kinematics -> Kinematics Editor .
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Note: Recall that this robot has 6 joints that are all rotational (i.e. its primary kinematic branch configuration is RRRRRR). Define Inverse Kinematics
Note: Make this device into a robot (i.e. inverse kinematics). 1. In the Graphics Window zoom in on the robots wrist.
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2. Change the Pick Level to Entity 3. Change the Pick Intent to Snap .
4. From the Kinematics Editor window, click Create Toolframe . 5. Pick (Snap) the middle of the end of lnk6 (the cyan link) at the end of the robot wrist. 6. In the Create Toolframe window, verify the Attach to link field is highlighted. 7. Pick anywhere on the lnk6 (the cyan link), at the end of the robot wrist. (Yes, pick it again). 8. Click [OK]. 9. Look at the robots entities in the Object Tree. 10. (Several frames, including the TOOLFRAME are created.)
11. Close the Kinematics Editor window.

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1. Select Modeling -> End Modeling Note:
The GTAC website (http:\\support.ugs.com) contains several hundred commercial robots from robotic vendors. In most cases you will not have to model your own robots.
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Activity: Using Inverse Kinematics to Move the Robot
The objective of this activity is to use the inverse kinematics that have been defined.
Use Robot Jog to move the robot Create new robotic operation for the robot Create a location for the robot Create another via location for the robot Play the simple simulation
Use Robot Jog to move the robot
Note: Notice how this type of movement is different from Joint Jog. 1. Continue using the same data. 2. Right click the robot and select Robot Jog shown below. to open the Robot Jog window, as
3. Grab the Robot Jog Manipulator Frame in the Graphic Viewer and pull the robot around. 4. Dont close the Robot Jog window yet.
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Note: The robot jog window is only available for robot objects (i.e. objects with a TCPF frame at the end of its kinematic tree). Create new robotic operation for the robot
1. Select your robot. 2. Select Operations -> New Operation -> New Weld Operation . 3. In the New Weld Operation window for the Scope, select Operation Root from the drop down. 4. Take the defaults for the rest of the fields and click [OK]. Note: The creation and validation of proper weld processes is described in detail later in this course. The information provided in this topic should not be considered enough to begin processing welds in the Process Simulate environment. Create a location for the robot
1. On the Operation Tree viewer, pick the new bolded Weld_Op robotic operation. 2. Select Operations -> Path Editing -> Add Current Location Note: The path editing buttons can also be found on the Path toolbar which is turned off by default. Create another via location for the robot .
1. On the Operation Tree viewer, pick the new location in the new bolded Weld_Op robotic operation. 2. Select Operation -> Path Editing -> Add Location After . 3. Use the Manipulator Frame or Robot Jog window to move the robot to another position. 4. Close the Robot Jog window.
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5. When you are done, select Kinematics -> Home Play the simple simulation
to return to the HOME pose.
1. On the Sequence Editor, click Play Simulation Forward 2. After the simulation runs, click Jump Simulation to Start
. .
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Activity: More Inverse Kinematics (Optional Extra Credit)
The objective of this activity is to provide additional inverse kinematics examples. These are considered optional activities. In this case, only the basic steps will be provided.
Defining Transporter (AGV) Kinematics Defining Fork Lift Kinematics Defining Overhead Crane Kinematics Defining another Type of Crane Kinematics Defining (Regular) Lift Assist Kinematics Defining (Special) Lift Assist Kinematics
Defining Transporter (AGV) Kinematics
Note: We will model the crawler and crawler_top as separate objects. Later we would define the crawler top as a tool to be mounted to the transporter. In this case this tool would contain the one translational joint and would add flexibility to how the poses could be applied for it. (Otherwise if the bed kinematics were part of the crawler, the poses would contain all the joints of the robot and the bed, making the modification of the simulation difficult). Note: If you are not sure what the kinematics should look like, open crawler_demo and crawler_top_demo, mount it, then Robot Jog it. Delete it from the study when finished.
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1. 2. 3. 4.
Right click the crawler_user## in the Object Tree and select Display Only Select Modeling -> Set Modeling Scope . Create four empty links. Add all the geometry (except the bed) to link4 Note: You do not have to put geometry into a link.
5. The first joint (between link1 and link2) should be named X and move prismatically along the X axis. Note:
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It does not matter where the axis is defined for prismatic joints as long as it goes in the right direction. 6. The second joint (between link2 and link3) should be named Y and move prismatically along the Y axis. 7. The third joint (between link3 and link4) should be named Rz and move rotationally around the Z axis. 8. Test the (direct) kinematics and reset them to HOME when done. 9. Add a TOOLFRAME to link4, located on the ground between the front wheels (pick fr1 frame from the Objects Tree). 10. Test the (inverse) kinematics and reset them to HOME when done. 11. Select Modeling -> End Modeling . 12. Right click the crawler_top_user## in the Object Tree and select Display Only . 13. Select Modeling -> Set Modeling Scope . 14. Create two empty links. 15. Add the bed geometry to link2 16. The one joint (between link1 and link2) should be named lift and move prismatically along the Z axis. 17. Select Modeling -> End Modeling Defining Fork Lift Kinematics .
Warning: There is no usable data for a forklift in the training data. These steps are here for reference. 1. Follow the same basic process described for the crawler, except use forklift geometry (minus the fork). 2. Follow the same basic process described for the crawler_top, except use forklift fork geometry. Defining Overhead Crane Kinematics
Note: If you are not sure what the kinematics should look like, open crane2_demo and Robot Jog it. Delete it from the study when finished.
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1. Right clickCrane2_user## in the Object Tree and select Display Only 2. Select Modeling -> Set Modeling Scope . 3. Create a frame on the top of the crane top (Modeling -> Create Frame 4. 5. 6. 7. 8. Shift it down in the Z 10 feet using Placement Manipulator . Create four empty links. Add all the geometry from the crane2_user## (not top) to link2 Add all the geometry from the crane2_user## (top) to link3. Add the fr1 frame to link4.
. ).
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9. The first joint (between link1 and link2) should be named X and move prismatically along the X axis (0,0,0) (10,0,0) 10. The second joint (between link2 and link3) should be named Y and move prismatically along the Y axis. (0,0,0) (0,10,0) 11. The third joint (between link3 and link4) should be named z and move prismatically along the Z axis. (0,0,0) (0,0,10) 12. Add limits to the joints? 13. Test the (direct) kinematics and reset them to HOME when done. 14. Add a TOOLFRAME to link4, located on the fr1 frame 15. Test the (inverse) kinematics and reset them to HOME when done. 16. Click File > eMServer Selective Update [OK]. , select Operations, and Click
Defining another Type of Crane Kinematics
Note: If you are not sure what the kinematics should look like, open crane1_demo and Robot Jog it. Delete it from the study when finished.
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Note: In this case, we will create hook as a separate device with one linear joint that we will mount to the end of the crane to give us to type of flexibility we want during simulation.
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1. 2. 3. 4.
Right click crane1_user## in the Object Tree and select Display Only Select Modeling -> Set Modeling Scope . Define the kinematics as shown in the demo object or as desired. Add a TOOLFRAME to the last link.
5. Click File > eMServer Selective Update [OK].
, select Operations, and Click
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Defining (Regular) Lift Assist Kinematics
Note: If you are not sure what the kinematics should look like, open lift_assist_demo and Robot Jog it. Delete it from the study when finished.
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1. 2. 3. 4. 5.
Select Lift_Assist_user## in the Object Tree. Select Modeling -> Set Modeling Scope . Define seven links as shown in the picture above Joints 1, 2, and 3 are rotational using the Z-axis of the frames on the top of the arm. Joint 4 is rotational and Joint 5 is linear along the Z-axis Note: This robot can be used in conjunction with the human (follow the weld operation of the lift assist).
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6. Add a TOOLFRAME to link4. 7. Click File > eMServer Selective Update [OK]. , select Operations, and Click
Defining (Special) Lift Assist Kinematics
Note: If you are not sure what the kinematics should look like, open top_lift_assist_demo.cojt and Robot Jog it. Delete it from the study when finished.
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1. 2. 3. 4. 5.
Right click top_lift_assist_user1 in the Object Tree and select Display Only . Select Modeling -> Set Modeling Scope . The first two joints are prismatic along the X-axis and Y-axis. Joints 3, 4, and 5 are rotational using the Z-axis of the frames on the top of the arm. Joint 6 is rotational and Joint 7 is linear along the Z-axis Note: This robot can be used in conjunction with the human (follow the weld operation of the lift assist).
6. Add a TOOLFRAME to link4. 7. Click File > eMServer Selective Update [OK]. , select Operations, and Click
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OTHER SELECTED MODELING & KINEMATICS TOPICS

Activity: Sample Rail Creation Overview
The objective of this activity is to create a simple rail.

Open a new prototype for the rail Define the Rail Geometry Place the carriage on one end of the rail Define the links and Joints End the modeling session
Open a new prototype for the rail
1. The same project should still be opened from the previous activity. 2. Right click on temp study and select Load in Standard Mode 3. No, dont store changes to the study. 4. 5. 6. 7. 8. .
Modeling > Create Part Resource > New Resource In the New Resource window, select ToolPrototype. Click [OK]. Pick the new object name and press the [F2] key. Name it rail1_user## (Replace ## with your user id to the end of the name for training purposes).
Define the Rail Geometry
Note: The geometry for the rail could be created in a CAD system, such as NX. However, the kinematics should be defined in Process Simulate. Note: It can consist of two boxes. One is the rail track and the other is the carriage that carries the robot along the track. Example: Dimensions: 1. Rail 15,000 x 800 x 1000 (box 2. Carriage 800 x 100 x 1000 (box ) )
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Place the carriage on one end of the rail
1. Use what you've learned to place the carriage on one end of the rail. Define the links and Joints
1. After creating the links, define the rail as a kinematic device having a single prismatic joint (J1) to move the rail along the track. End the modeling session
1. From the Object Tree, select your rail1_user##. 2. Select Modeling -> End Modeling . 3. Save it into the .\sysroot\Libraries\modeling_kinematics\toolprototypes folder.
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Instructor Demo: Other Slider Cranks including RPRR Offset Slider
The objective of this activity is to look at an example of kinematic motion of various cranks and defining the kinematics using the Kinematics RPRR offset slider.
Insert the various crank object examples Look at the Joint Functions and Jog the Device Start Modeling the RPRR Slider with Offset Define the crank for the RPRR Slider with Offset
Insert the various crank object examples
1. The same project and study should still be opened from the previous activity. 2. Select Modeling > Insert Component from File . 3. Browse and select these COJTs from the .\sysroot\libraries\model_kinematics\more_kin folder: rrrp.cojt, prrr.cojt, rprr_offset.cojt, prrr_offset.cojt, rprr_offset_geo.cojt, and rrrp_offset.cojt. Note: rprr_offset_geo.cojt does not have any kinematics. We will add them later in this activity. 4. Right click in the Graphic Viewer and select Display All 5. Use Fast Placement .
to move the objects so that they are not overlapping.
Look at the Joint Functions and Jog the Device
1. Joint Jog one of the crank objects. 2. Open the Kinematics Editor window for one of the crank objects. Note: Look at the functions on the joints using the Joint Kinematics Functions button on the Kinematics Editor toolbar. Start Modeling the RPRR Slider with Offset
1. Select the rprr_offset_geo object in the Graphic Viewer or Object Tree.
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2. Select Modeling -> Set Modeling Scope 3. Select Yes.
. . .
4. Right click the rprr_offset_geo object and select Display Only
5. Right click the rprr_offset_geo object and select Zoom to Selection 6. Select Kinematics -> Kinematics Editor Define the crank for the RPRR Slider with Offset .
1. In the Kinematics Editor, click Create Crank 2. For Select Crank type, select Slider (RPRR). 3. Click Next. Link Name gray entity green entity red entity blue entity
Correlation to Linkage Diagram Fixed Link Input Link Coupler Link Output Link
4. On the Slider Crank Joints window, click one of the three points on the Linkage Diagram and pick the equivalent point in the Graphic Viewer
Point po7 po8 po9
Location Between Fixed Link and Input Link Between Input Link and Coupler Link Between Coupler Link and Output Link
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Note: A triangle is drawn in the Graphic Viewer between the three points. 5. Click Next. 6. Check With offset.
7. In the Graphic Viewer for the From point, pick the end of line_3 sticking out of the green input link. 8. In the Slider Crank Joints window, pick in the To point field. 9. In the Graphic Viewer for the To point, pick the end of line_3 sticking out of the yellow coupler link. 10. Click Next. 11. On the Slider Crank Joints window, click the first link (Fixed Link).
12. On the Slider Crank Joints window, click Existing Link. 13. Pick the equivalent link in drop down. DO NOT RECREATE THE LINKS. 14. Repeat this process for the other three links. 15. Click Finish. The kinematic tree is defined.
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Instructor Demo: Implementing Joint Logic with Functions (Optional Activity)
The objective of this activity is to look at an example of kinematic motion added to a weld gun. In this example the upper arm until a certain limit before the bottom arm begins to move.
Instructor opens Gun Geo Advanced Joint jog the gun Look at the Kinematic Joint Functions
Instructor opens Gun Geo Advanced
Warning: This is not a student activity. 1. The same project should still be opened from the previous activity. 2. Load the gun geo advanced study from the model kinematics study folder. Note: Students could use the temp study and insert the gun funobject into it. However, they should not save any changes to this object, since the whole class is looking at the same gun .COJT. Joint jog the gun
1. Joint Jog
the gun.
Look at the Kinematic Joint Functions
Note: Look at the functions on the joints using the Joint Kinematics Functions Kinematics Editor toolbar. 1. Open the Kinematics Editor window for this gun. button on the
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2. J1 is an independent joint (so theres no function) 3. J2 function: (((D(j1)<=41.275)*(.005497*D(j1)))+((D(j1)>41.275)*(.2269))) Note: J2 NOTE: Expression1 is D(j1)<=41.275: If prismatic joint j1 is less than or equal to 41.275, then evaluate to 1 else evaluate to 0. o Expression2 is .005497*D(j1): prismatic joint j1 times 0.005497 o Expression3 is D(j1)>41.275: If prismatic joint j1 is greater than 41.275, then evaluate to 1 else evaluate to 0. o Expression4 is 0.2269 o J2s Logic: Multiply expression1 times expression2 plus expression3 times expression4: This means that j2 will depend on expression2 for its joint value when j1 is less than or equal to 41.275, but will depend on expression4 when j1 is greater than 41.275. 4. J3 function: ((D(j1)>41.275)*((-.004810)*(D(j1)-41.275))) Note: J3 NOTE: Expression1 is D(j1)>41.275: If prismatic joint j1 is greater than 41.275, then evaluate to 1 else evaluate to 0. o Expression2 is -.004810)*(D(j1)-41.275): prismatic joint j1 minus 41.275 times -0.004810 o J3s Logic: Multiply expression1 times expression2. This means that j3 will always have a value of zero unless j1 is greater than 41.275 5. J4 function: (((D(j1)<=41.275)*((-.003145)*D(j1)))+((D(j1)>41.275)*((-.1298)+((.002806)*(D(j1)-41.275)))))
o o
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Note: J4 NOTE:
o o o o o
Expression1 is D(j1)<=41.275 Expression2 is (-.003145)*D(j1) Expression3 is D(j1)>41.275 Expression4 is (-.1298)+ ((-.002806)*(D(j1)-41.275))) J4s Logic: Multiply expression1 times expression2 plus expression3 times expression4. This means that j4 will depend on expression2 for its joint value when j1 is less than or equal to 41.275, but will depend on expression4 when j1 is greater than 41.275.
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Instructor Demo: Kinematics Following a Surface (Optional Activity)
The objective of this activity is to look at an example of kinematic motion that follows a surface defined by a mathematical function.
Insert the surface tracker object Joint jog the gun Look at the Kinematic Joint Functions
Insert the surface tracker object
1. The same project should still be opened from the previous activity. 2. Select Modeling > Insert Component from File . 3. Browse and select the surfacetracker.cojt (CAM Motion Example) object from the .\sysroot\Libraries\model_kinematics\more_kin folder. 4. Click Open. Note: It is OK for the .COJT filename to be different than the name shown in Process Simulate. They are two different attributes of the object. 5. Right click the CAM Motion Example (surface tracker) object and select Display Only .
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Joint jog the gun
1. Joint Jog
the CAM Motion Example (surface tracker) object.
Look at the Kinematic Joint Functions
1. Select the CAM Motion Example (surface tracker) object. 2. Select Modeling > Set Modeling Scope . 3. Open the Kinematics Editor window for the surface tracker object.
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4. Select the Z joint. 5. From the Kinematics Editor window, select Joint Kinematics Functions .
6. Click Close 7. Click Close 8. Select the CAM Motion Example (surface tracker) object. 9. Select Modeling > Reload Component . 10. Select Yes,
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Instructor Demo: Examine the Train Joint
The objective of this activity is to examine the trainj. There is an example object named trainj available for examination. It has all of the functions defined and works properly.
Steps for the Train Joint
Steps for the Train Joint
1. The same project should still be opened from the previous activity. 2. Insert the trainj.cojt from the .\sysroot\libraries\modeling_kineamtics\functions folder and begin modeling it. 3. Right click the trainj object and select Display Only .
4. 5. 6. 7.
Begin modeling it. Jog the joints of the trainj and see how it works. Return to the HOME pose. Edit each of the joints and look at the functions. Using the Kinematics Editor, look at the functions defined for the cpin joint on this device. 8. Follow the same process to look at the function for the barpin joint. 9. Open and jog some of the other train related objects.
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Instructor Demo: Examine the Cam Joint
The objective of this activity is to examine the camfinalj. There is an example object named camfinalj available for examination. It has all of the functions defined and works properly.
Steps for the cam joint object
Steps for the cam joint object
1. The same project should still be opened from the previous activity. 2. Insert the camfinal.cojt from the .\sysroot\libraries\modeling_kineamtics\functions folder and begin modeling it. 3. Right click the camfinal object and select Display Only .
4. 5. 6. 7.
Begin modeling it. Jog the joints and see how it works. Return to the HOME pose. Edit each of the joints and look at the functions. Using the Kinematics Editor, look at the functions defined for the first joint on this device. 8. Open and jog some of the other cam related objects.
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Activity: Setting up Compound Equipment
The objective of this activity is to setup some compound equipment.

Create the first part of the Robot and Rail Equipment Create the second part of the Robot and Rail Equipment Place the robot on the rail Attach it to the Rail Set it up as an external axis and finish up
Create the first part of the Robot and Rail Equipment
1. Continue using the same data loaded in Process Simulate. 2. Load in Standard Mode an empty study such as the tempstudy RobcadStudy. 3. In the Navigation Tree, browse into the Libraries collection. 4. Right click the Resource Library and select Navigation Tree 5. Browse into the Modeling and Kinematics library. 6. Right click the compound_equipment click [OK]. . and
library and select Check Out
7. Right click the compound_equipment library and select New . 8. In the New window for EquipmentPrototype name, enter Rail and click [OK]. 9. Right click the compound_equipment [OK]. Note: This will allow others to check out this library. 10. Right click the Rail EquipmentPrototype and select Check Out Note: This will allow you to continue editing your EquipmentPrototype. 11. In the Navigation Tree displaying the Resource Library , drag and drop the e_carriage_l and e_rail_l25 resource prototypes (from the compound_equipment2 library) unto the Rail equipment prototype. and click [OK]. library and select Check In and click
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Create the second part of the Robot and Rail Equipment
1. Right click the compound_equipment library and select New . 2. In the New window for EquipmentPrototype name, enter Robot and Rail user## and click [OK]. 3. Right click the compound_equipment [OK]. Note: This will allow others to check out this library. 4. Right click the Robot and Rail EquipmentPrototype and select Check Out click [OK]. Note: This will allow you to continue editing your EquipmentPrototype. 5. In the Navigation Tree drag and drop the Rail equipment prototype onto the Robot and Raill equipment prototype. 6. In the Navigation Tree, drag and drop the real_robot robot (from the robots library) onto the Robot and Rail equipment prototype. and library and select Check In and click
7. Drag and drop the Robot and Rail user## object from the compound_equipment library to the Graphic Viewer. Place the robot on the rail
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1. Select Modeling > Set Modeling Scope 2. In the Object Tree, select the Rail.
and click [OK].
3. Select View > Display . 4. Right click the Robot and Rail user## equipment instance. in the Object Tree and select Display Only .
5. Right click the real_robot and select Relocate . 6. Pick the magenta frame on the rail's carriage and click Apply and Close. Attach it to the Rail
1. In the Object Tree, select the Robot and Rail user## equipment instance. 2. Select Kinematics > Kinematics Editor .
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3. Click Create Link
, click [OK], and Close.
4. Click Create Link , click [OK], and Close. 5. Drag a joint between the two links just created and click [OK]. Note: The root of the compound equipment must contain some type of kinematic information (one joint at minimum) in order to be able to store the attachment of objects within it. Now when you end modeling this object, it will prompt you for the location to store the new .COJT. 6. Select the real_robot. 7. Select Modeling > Attach . .
8. Change the Pick Level to Entity
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9. Select on the geometry of the e_carriange_l (the k1 link should be selected). 10. Select [OK]. 11. Change the Pick Level to Component Set it up as an external axis and finish up 1. Right click the real_robot and select Configuration, Properties, and Settings > Robot Properties . 2. In the Robot Properties window, select the External Axes tab. 3. Click Add, select e_carriage_l for the Device, and click [OK]. Note: j1 is already selected as the Joint. .
4. Click Close. 5. Select the Robot and Rail user##. 6. Select Modeling > End Modeling . 7. In the Save Component As window, browse into the Libraries > Model_kinematics > compound_equipment folder. 8. Enter CompEquip_User## for the name and click Save. 9. Select File > eMServer Selective Update and click [OK].
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Note: Equipment instantiation is performed the same way as the instantiation of any other object in the Resource library
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GENERAL ROBOTICS
Activity: Creating a New Study (Again)
The objective of this activity is to create another study.

Open your Basics Project Browse to your study folder Create a new RobcadStudy in the Line ## studyfolder Open the study with Process Simulate
Open your Basics Project 1. Select File > Close Project. 2. When prompted: You are about to close the porject. Do you wish to updae eMServer? selectNo. 3. Select File > Open Project. 4. From the Open Project window, select the Basics Project user## project (where ## is the user number assigned to your by the instructor). 5. Click [OK]. Browse to your study folder
1. In the Navigation Tree, expand the Studies StudyFolder. 2. Locate your study folder according to this table: eMS User ID administrator user1 user2 user3 user4 user5 user6 etc... user8 user9 StudyFolder Line 0 Line 1 Line 2 Line 3 Line 4 Line 5 Line 6 etc... Line 8 Line 9
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3. Right click your Line ## StudyFolder and select Check out 4. Select with Hierarchy (This is one of the rare times we will use Check out with Hierarchy). 5. Click [OK]. 6. Expand your Line ## study folder. Create a new RobcadStudy in the Line ## studyfolder
1. 2. 3. 4. 5.
Right click on your Line ## StudyFolder and select New . From the New window, check the checkbox for RobcadStudy . Rename it to Study2. Click [OK]. Drag and drop the Operation Tree CompoundOperation onto the study. Expand the tree under the study. Note: Normally you would not add the entire operation tree to a study. Normally it would be a smaller chunk of related processes and resources.
6. Close all the Navigation Tree viewers except for the original one. Open the study with Process Simulate
1. Right click the Study2
RobcadStudy and select Load in Standard Mode . .
2. Right click in the Graphic Viewer and select Display All 3. Right click in the Graphic Viewer and select Zoom to Fit
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Activity: Training Data Overview
The objective of this activity is to load and examine two studies created at the Scenario (study) level. This is the most common level for every day Process Simulate use.
Start Process Simulate Define your working folder Load the station22 Scenario (study) Load the station02 Scenario (study) Load the pnp Scenario (study) Load the arc multi axisScenario (study)
Start Process Simulate
1. Double click on the Process Simulate desktop icon.
2. Login using your instructor assigned user id.
3. Click [OK]. 4. Open the Robotics Sim Begin (user##) assigned by the instructor). 5. Click [OK]. Define your working folder
project (where ## is the user number
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1. In the Navigation Tree of Robotics Sim Begin (user##) , browse into the Working Folders. collection. 2. Select the User## folder, where ## is the user number assigned to you by your instructor. 3. Right click it and select Check Out . 4. Click [OK]. 5. Select File > Project Management > Set as Working Folder. Load the station22 Scenario (study)
1. From the Navigation Tree, expand into the Studies folder. 2. Expand into your Line## studyfolder (i.e. user1 uses Line1, user2 uses Line2, etc). 3. Check out your assigned studyfolder with hierarchy. 4. From the Navigation Tree, expand into your mount_wp studyfolder. 5. Right click station22 and select Load in Standard Mode .
6. Examine the Scenario (study). Load the station02 Scenario (study)
1. Expand into the Processing studyfolder. 2. Expand into your Line## (where ## is your assigned user number). 3. Right click station02 study and select Load in Standard Mode .
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4. Examine the Scenario (study). Load the pnp Scenario (study)
1. Expand into the Other Selected
studyfolder. .
2. Right click pnp and select Load in Standard Mode 3. Examine the Scenario (study). Load the arc multi axisScenario (study)
1. Expand into the Other Selected
studyfolder. .
2. Right click arc multi axis and select Load in Standard Mode 3. Examine the Scenario (study).
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SPOT WELDING APPLICATIONS

Activity: Viewing Spot Mfg Features in Process Simulate
The objective of this activity is to view spot manufacturing features in Process Simulate.
Load the Station02 Study Open the Mfg Viewer View some of the attributes of the weld locations
Load the Station02 Study
1. Process Simulate should already be started, and you may have already opened the Robotics Sim Begin (user##) project , and loaded thestation02 study. If so, skip to step 3. Note: this would only be the case if you were following the instructor's demo. 2. If you are NOT already in the Robotics Sim Begin (user##) project with the station02 study loaded: o Select File > Close Project, if a different one is open. o Select File > Open Project. o Select Robotics Sim Begin (user##) and click [OK]. o In the Navigation Tree displaying theRobotics Sim Begin (user##) project, browse to the Studies studyfolder. o Browse to the Line ## studyfolder , where ## is the user number assigned to you by the instructor. o If not already checked out, right click the Line ## studyfolder and select Check Out . o Check Check Out with Hierarchy, and Click [OK]. o Browse into the processing studyfolder.
o
Right click the station02 study and select Load in Standard Mode
Open the Mfg Viewer 1. From the Process Simulate Object Tree, select a part and chooseView > Zoom to Selection . 2. Notice the Mfg Features in the Graphic Viewer.
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3. Select View -> Viewers -> Mfg Viewer. 4. In the Mfg Viewer, click the down arrow to the right of the Filter WeldPoint is selected. 5. Notice the Mfg Features in the Mfg Viewer. and verify
View some of the attributes of the weld locations
1. In the Mfg Viewer, click Customize
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2. In the Field Selection window, select Projection Indication and Assignment indication attributes under Mfg Viewer Fields and move them to the Available Fields list. 3. In the Field Selection window, select the desired attributes under WeldPoint and click to move them to the Show properties in following order list. 4. Click [OK].
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Activity: Projecting Spot Mfg Features
The objective of this activity is to project the weld locations we have created onto the workpiece and orient them roughly to avoid collision with the workpiece.
Start Projecting Spot Mfg Features
Start Projecting Spot Mfg Features
Note: By projecting the Spot Mfg Features onto its related parts, we will get a robotic simulative operation, where each spot will be represented as a location operation. 1. Continue in Process Simulate from where the last activity left off. Note: The station02 study should be loaded from the Processing studyfolder .
2. From the Operations Tree, expand into station02 and click the display status square for the pink WeldOperation 1 simulative operation, if it is not currently displayed. Note: A dotted line is shown in the Graphic Viewer which represents the order of the Mfg Features in simulative operation. 3. Select the pink WeldOperation 1 simulative operation. 4. Select Weld -> Spot > Project Weld Points .
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Note:
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The default approach and perpendicular axis are defined and can be modified by either clicking Options tab. or by selectingTools -> Options and select the Weld
5. Check Project on approximation only. Note: Only JTs in the XTBRep format support projecting weld points on exact geometry. If the part exact geometry is not available in the JT file (i.e., it is a location that did not retrieve the exact geometry), users are asked whether to project based on an approximation or skip the projection for the weld points which failed for exact projection. 6. Click Project and Click [OK]. Note: Notice that each location has a blue check mark next to it in the Project Weld Points window, meaning that the projection was successful. Note: Constraint weld locations must be on the surface and perpendicular to it. They will be used to determine the orientation of the weld gun when approaching or at this location. 7. Click Close.
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Activity: Adjusting a Weld Path
The objective of this activity is to edit the weld path of locations from the previous activity and jog a weld gun along it. The station02 study should be loaded from the Processing
Graphically label the locations Reorder the locations in the path Get the first approximation (guess) of a gun Orient the weld location approach vector Align the orientations of the other weld locations to this one Simulate the gun along the path Update the database
studyfolder .
Graphically label the locations
1. Continue using the same data loaded in Process Simulate. 2. From the Operations Tree, pick the first location in the pink WeldOperation 1 simulative operation. 3. Hold down the [Shift] key and pick the last location in the path.
4. Select Tools -> Notes -> Object Notes . 5. Place the notes into non-overlapping positions by dragging and dropping them in the Graphic Viewer.
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Reorder the locations in the path
1. From the Operations Tree, right click the pink WeldOperation 1 simulative operation and select Set Current Operation Note: If the Sequence Editor is not shown, select View > Viewers > Sequence Editor. 2. From the Sequence Editor, right click on nothing and select Tree Filters Editor. 3. In the Tree Filters Editor window, check all three unchecked boxes. .
4. Click [OK]. 5. From the Sequence Editor, expand the pink WeldOperation 1 simulative operation to show all the locations.
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6. Looking at the Graphic Viewer: Drag and drop the locations on the Sequence Editor (in between other locations) so that they are in sequential order from right to left (i.e. starting with e254 and ending with e278). Get the first approximation (guess) of a gun
1. On the Operations Tree, right click on the pink WeldOperation 1 simulative operation and select Operation Properties . 2. In the Operation Properties window, select the Process tab. 3. Pick in the Gun field. Note: We will NOT select the robot at this time. This will occur in a later topic. 4. Pick the gun on the robot sitting near the top of the car door (named gun1). Note: Do not select gun1_2. That is for the other robot and weld operation. 5. Click [OK]. Orient the weld location approach vector
1. Select the first location in the pink WeldOperation 1 simulative operation (i.e. e254). 2. Select Weld -> Rotate Locations location. . A temporary gun is placed at the selected
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3. Rotate the weld location around the Z-axis (as shown above). Note: Constraint the approach of the gun must be modified to avoid collisions. Note: While the Rotate Location window is open, the gun is attached to the weld location. This command rotates the weld location NOT the gun. When the location is rotated, the gun will follow. 4. Close the Rotate Location window. Align the orientations of the other weld locations to this one
1. Select the pink WeldOperation 1 simulative operation. 2. Select Weld -> Align Locations . 3. For Align Selected Locations to, pick the location you just rotated (i.e. e254).
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Note: This command aligns all orientations while maintaining the perpendicular constraint of the weld locations. Note: Weld locations for Selected Locations list can also be selected with a pick window.
4. In the Align Locations window, Click [OK]. Simulate the gun along the path
1. From the Sequence Editor, click Play Simulation Forward Note:
Watch the gun simulating and imagine the robot attached. Does this orientation for the gun make sense? Are there any sharp changes in orientation (i.e. flips) ? 2. Click Jump Simulation to Start .
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3. In the Sequence Editor, click Zoom to Fit Note:
Originally there was no time associated to these location operations. However, based on the gun time (no robot motion yet) a time has been assigned to the locations.
Update the database
1. Select File -> eMServer Selective Update 2. Select Parts, Operations, and Resources.
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3. Click [OK]. 4. Click [OK].
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Activity: Gun Shank Validation
The objective of this activity is to create cross-sections of the weld gun at various spot welds to check for clearance and validate the gun for this process. The station02 study should be loaded from the Processing
Get a gun and put it at a weld location Create and place the cutting box on weld location(s) Show side view of multi-section (line them up) Identify a section on the workpiece Store the multi-section as an object
studyfolder .
Get a gun and put it at a weld location
1. Continue using the same data loaded in Process Simulate. Note: The Scenario (study) should contain a pink WeldOperation 1 simulative operation, and product related to the path. 2. Select the pink WeldOperation 1 simulative operation. 3. Select Weld -> Multi Sections . 4. Look for collisions (i.e. an X beside the weld in the Locations list).
Create and place the cutting box on weld location(s)
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1. In the MultiSections window, click Expand Dialog . 2. Verify that Show Cutting Box of Selected Section and Show Gun are checked.
3. In the MultiSections window, double click on a weld location in the Locations list. Note: The gun is shown in the Graphic Viewer of the MultiSections window at the location; and a transparent cutting box and gun are shown in the main Graphic Viewer at the location. 4. Modify the dimensions of the cutting box to define rough volume of gun by clicking Fit all Cutting Boxes to Gun . 5. Modify the dimensions of the cutting box to be a 2D section by entering new values from the keyboard to adjust dimensions: Click on one of the current values.
6. In the Cutting Box Dimensions window for Y Dimension, enter -1 for the Low and 1 for the High value. 7. Make the other four values 20 mm larger.
8. Click [OK].
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9. Notice how the cutting box shape has changed, as well as the resulting sections. Note: The MultiSections window forms sections according to the cuttingbox parameters. It produces a section for each location displayed in the Locations list. Show side view of multi-section (line them up)
1. From the MultiSections window, click Show section side view 2. Zoom in the area around the gun tips.
Identify a section on the workpiece
1. From the MultiSections window, click another location from the Locations list.
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Note: The frame representing the location is highlighted in magenta and the section plane is moved in the main Graphic Viewer to the selected location. 2. The gun is jumped to that location in the Graphic Viewer and MultiSections window if the location is double clicked. Note: It is possible, based on gun overlay, to modify the shank (in Process Simulate modeling or by sending a .JT of the sections to the gun designer in another CAD system) OR choose another gun that is appropriate for this particular process. Store the multi-section as an object
1. From the MultiSections window for Store Sections, click All Sections as one Component. Note: The output of this command can be either a .JT or .COJT, depending on what was set for the File Format using the Settings button of the MultiSections window.
2. Click Save as. 3. In the Save Component As window, browse to the .\sysroot\sections\user## folder. 4. Click Save.
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Note: A JT file is created in a .COJT folder which contains all sections shown in the MultiSections window. 5. From the MultiSections window, click Close.
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Activity: Using Weld Distribution Center (with Automatic Approach Angle)
In this activity, you learn how to use the Weld Distribution Center with automatic approach angle.
Locate a Spot Weld Operation Open and Setup the Weld Distribution Center Weld Distribution Center Settings and Filters Using the Pie Chart and Automatic Approach Angle in Weld Distribution Center
Locate a Spot Weld Operation
1. Continue using the same Scenario (study). Note: Need to have a spot weld simulative operation with projected locations. 2. Save your changes to the Scenario (study) back to the database, if you haven't already. 3. Select the pink WeldOperation 1 simulative operation. Note: Ideally with the command you would select welds from several robot's paths. Open and Setup the Weld Distribution Center
1. Select Weld > Weld Distribution Center
and wait for a few seconds.
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2. In the Weld Distribution Center window, click Configure Attributes List . 3. In the Weld Distribution Center Properties Customization window, expand WeldPoint. 4. Select WPMWPForce. 5. Click Add 6. Click [OK]. Note: If a weld force had been assigned to these weld Manufacturing Features, it would show here. Weld Distribution Center Settings and Filters .
1. Click Settings
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2. In the Settings window, click Apply Automatic Approach Angle on Assignment. 3. Click [OK]. 4. In the Weld Distribution Center window, click the down arrow Filter .
to the right of
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5. Look at the list of available filters. Using the Pie Chart and Automatic Approach Angle in Weld Distribution Center
1. In the Weld Distribution Center, pick the first weld . Note: You could change the assignment of a weld from one robot (weld operation) to another by checking the unchecked checkbox for the weld (under the desired weld operation) 2. Hold down the [Shift] key. 3. Pick the last weld. 4. Release the [Shift] key 5. Select Automatic Approach Angle 6. Pick a single weld 7. Select Open Pie Chart Note: Currently the pie chart shows white because a robot has not been assigned to this weld location yet. 8. In the Location Pie Chart window, check the checkbox for Opened Gun. 9. Move the slider to manually adjust the location orientation. . .
10. Undo your changes here by clicking Reset. 11. Click Close to close the Location Pie Chart window. 12. Close the Weld Distribution Center window.
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Activity: Putting the Gripper on the Robot (for Ped. Welding)
The objective of this activity is to prepare for pedestal welding.

Load your Station22 Measure the thickness of the spacer Mount the gripper to the robot Attach the endspacer (one way) to the gripper fixed link Update the database
Load your Station22
1. From the Navigation Tree, expand into the Studies studyfolder. 2. Expand into your Line## studyfolder, where ## is the user number assigned to you by your instructor. 3. Check Out your assigned studyfolder with hierarchy, if it is not already. 4. Expand into the mount wp studyfolder. 5. Right click station22 and select Load in Standard Mode . .
6. Right click in the Graphic Viewer and select Display All Measure the thickness of the spacer
1. In Process Simulate, select Tools -> Measurements -> PTP Distance 2. For the First Object, select the edge of the spacer touching the robot. 3. For the Second Object, select the opposite end of the spacer.
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4. Write down the X distance. (i.e. 95.5 mm). 5. Close the Point to Point Distance window. Mount the gripper to the robot
Note: The mount command places the mounted object, attaches it to the TOOLFRAME of the robot, and sets the robot TCPF to the predefined position and orientation on the mounted object. Caution: Notice that we are mounting the gripper to the robot, not the spacer. The spacer will be attached to the gripper. 1. Select the robot. 2. 3. 4. 5. Select Kinematics -> Mount Tool . In the Mount Tool window for the Tool, select the gripper. For the Frame on the tool, select fr4. For the Frame on the robot, select TOOLFRAME (the default). Note: The Mount Tool command is designed to do at least three things: move the tool into position, attach the tool to the robot TOOLFRAME, and move the robot
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TCPF to the pre-defined TCP position and orientation in the tool. However, if the tool is already in position (and don't want the Mount Tool command to move it, pick the same frame for the Mounted Tool: Frame and Mounting Tool: Frame.
6. Click Frame by 6 values to the right of the Frame on the robot prompt. 7. Figure out the increased X value by distance measured in the last step (i.e. 1830 + 95.5 = 1925.5). And type that value in. Note: It is X because this user interface enters and displays information according to the Working Frame axes. 8. In the Location window, Click [OK]. 9. Click Apply and Close. Attach the endspacer (one way) to the gripper fixed link
1. Pick the endspacer. 2. 3. 4. 5. Select Modeling -> Attach . (In the Attach window, click One way). For the To Object, select (the fr1 frame of) the gripper. Click [OK]. Tip: Only the gripper should be mounted to the robot tool frame. All spacers should be attached to the gripper.
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Update the database
1. Select File -> eMServer Selective Update . 2. Make sure that at least Operations is selected.
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3. Click [OK]. 4. Click [OK]. Note: In the next activity we will attach the station22 product assembly to the gripper using a gripper operation. Eventually, this is a tree of what our attachments (including the tool mount) should be in this Scenario (study):
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Activity: Get/Put the Part in the Fixture
The objective of this activity is to create a pick and place path (operation).
Create a new Pick and Place operation Add a location to the path just created before the first location Add a location after the last location Make separate pickup and drop off paths Sequence the operations Add a pause event and play the simulation Reset the simulation and update the database
Create a new Pick and Place operation
1. Continue using the same data loaded in Process Simulate. 2. From the Operation Tree, right click station22 and select Set Current Operation . 3. Select the robot. 4. Hold down the [Ctrl] key. 5. Pick station22 from the Operation Tree and release the [Ctrl] key 6. Select Operations -> New Operation > New Pick and Place Operation 7. For Pick pose, select st41_clse. 8. For the Place pose, select st41_pick_opn. .
9. Pick the frame just below the part for both the Pick and the Place location (it is part of the fixture). 10. Click [OK]. Operation s420a_PNP_Op1 is created.
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Add a location to the path just created before the first location
1. On the Operations Tree, click the pick location. 2. Select Operations -> Path Editing -> Add Location Before 3. Right click the robot and select Home. 4. Close the Robot Jog window. Add a location after the last location .
1. On the Operations Tree, click the place location. 2. Select Operations -> Path Editing -> Add Location After 3. Right click the robot and select Home 4. Close Robot Jog window. Make separate pickup and drop off paths . .
1. On the Operations Tree, drag and drop s420a_PNP_Op1 onto station22 with the [Ctrl] key depressed. 2. Name one copy Pick up and the other Drop off. 3. Delete the place location from the Pick up operation. 4. Delete the pick location from the Drop off operation.
Sequence the operations
1. In the Sequence Editor, select Pick up. 2. Hold down the [Ctrl] key and select WeldOperation and then Drop off. 3. Release the [Ctrl] key. 4. Click Link . 5. Right click on station22 and select Reorder by Links. Add a pause event and play the simulation
1. On the Gantt chart of the Sequence Editor, right click on the end of the Pick up operation and select Pause Event. 2. Enter 0 seconds Before End of Task.
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3. Click [OK]. 4. From the Sequence Editor, click Play Simulation Forward . The robot should start at home, move into the fixture, pick up the part, and return to home pose. Reset the simulation and update the database
1. From the Sequence Editor, click Jump Simulation to Start 2. Select File -> eMServer Selective Update . 3. Make sure that at least Operations is selected.
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Activity: Creating a Rough Mounted Workpiece Path
The objective of this activity is to learn how to rough in the path.

Prepare the mounted workpiece data Project the MFG features into locations Associate the locations to the welding frame on the sw40d Play the simulation Check reachability Jump the robot to the reachable locations
Prepare the mounted workpiece data
1. Continue using the same data loaded in Process Simulate. 2. From the Sequence Editor, click Play Simulation Forward to simulate the path. The robot should start at home, move into the fixture, pick up the part, and return to home pose. Project the MFG features into locations
1. From the Operations Tree, click the display status square WeldOperation simulative operation. 2. Select the pink WeldOperation simulative operation. 3. Select Weld -> Spot > Project Weld Points Note: .
for the pink
The default approach and perpendicular axis are defined and can be modified by either clicking Options tab. or by selectingTools -> Options and select the Weld
4. Click Project on Approximation only. 5. Click Project. 6. Click [OK], and Close. Associate the locations to the welding frame on the sw40d
Note: The locations we just created are mounted workpiece locations. So we need to associate the locations with the welding frame on the sw40d.
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1. From the Operations Tree, right click the pink WeldOperation simulative 2. 3. 4. 5. operation and select Operation Properties . From the Properties window, select the Process tab. For Robot select the S420a robot. For Gun select the green sw40d (i.e. not the gripper). Check the External TCP checkbox.
6. Click [OK]. 7. The icon for the weld operation changes (because External TCP was checked). Play the simulation
1. From the Sequence Editor, click Jump Simulation to Start 2. Click Play Simulation Forward 3. Click Play Simulation Forward 4. Close the error window. 5. Click Jump Simulation to Start Check reachability again.
the simulation
the simulation. (It pauses after the pickup).
. (We will fix the path in the next activity).
1. Click Play Simulation Forward 2. Select the robot.
to move the simulation to the pause event.
3. Select Kinematics -> Reach Test . 4. Select the pink WeldOperation simulative operation. 5. Look at which locations are blue (fully reachable), yellow (partially reachable), and red (not reachable). 6. Close the Reach Test window. Jump the robot to the reachable locations
Note: Jump the robot to the reachable locations to see how they look (i.e. is the sheetmetal part colliding with the sw40d) ?
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1. Select the robot. 2. Select Kinematics -> Jump to Location to start jump to location Mode). 3. On the Operations Tree, pick each of the locations in order. 4. Select Kinematics -> Jump to Location to end jump to location Mode. 5. Notice that all four locations will need to have changes made to them. 6. Jump Simulation to Start activity). the simulation. (We will fix the path in the next .
7. If the robot does not return to his HOME pose, right click it and select Home 8. If the product assembly does not go back to its proper start position select station_22 from the Parts folder of the Object Tree and chooseTools > Placement > Restore Design Relative Location 9. Click Play Simulation Forward . to move the simulation to the pause event.
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Activity: Orient the Locations
The objective of this activity is to orient the locations.

Get a better location orientation Use the pie chart command to verify that the location is reachable Align the rest of the locations and play the simulation Reset the simulation and update the database
Get a better location orientation
1. Continue using the same data loaded in Process Simulate. 2. Select location wp4 in the pink WeldOperation simulative operation. 3. Select Weld -> Rotate Locations .
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Note: A shadow of the sw40d may be placed at the location (and the robot will not move) if only the ped. gun is associated to the weld operation. If both the ped. gun and robot are associated to the weld operation, then the robot will move to the ped gun.
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4. Rotate the weld location (using the yellow arc of the manipulator frame) so that the sw40d is on the opposite side of the part as the robot. 5. Close the Rotate Location window. Use the pie chart command to verify that the location is reachable
1. Select location wp5 in the pink WeldOperation simulative operation. 2. Select Weld -> Pie Chart Note: Closed Gun should not be checked. .
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3. In the Location Pie Chart window, move the slider below the pie left and right until the longer axis (X-axis) is in the blue (reachable) area of the pie. 4. Close the window. Note: This type of reach check considers the reach envelope of the robot, but not collisions between the part and the sw40d. Note:
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The Rotate Interactively tool considers the collisions between the part and the sw40d, but the reach envelope of the robot would not be considered. Align the rest of the locations and play the simulation
Note: We used one technique to fix the alignment of wp4 and another for wp5. In this case, align the rest of the locations in the pink WeldOperation simulative operation to match our wp4 reference location. 1. Select the pink WeldOperation simulative operation. 2. Select Weld -> Align Locations . 3. For Align Selected Locations to, pick the wp4 location you just rotated.
4. Click [OK]. 5. Perform the reach test again. 6. Click Jump Simulation to Start . 7. From the Gantt chart of the Sequence Editor, right click the pause event and select Delete .
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8. Click Play Simulation Forward
Reset the simulation and update the database
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Activity: Weld Gun Search
The objective of this activity is to use the Weld Gun Search tool in Spot. It is a step-bystep wizard that guides the user to find the optimum gun for welding.
Load the Station02 Study Start Gun Search Use weld guns from the resource library Check if the guns collide Define the gun search options Display gun search results Save the gun results to an Excel file Insert the resulting gun into the Scenario (study)
Load the Station02 Study
1. Process Simulate should already be started, the Robotics Sim Begin (user##) opened, and the station02 study loaded. If so, skip to step 3. 2. If you are NOT already in Robotics Sim Begin (user##) with the station02 study loaded: o Select File > Close Project, if a different one is open. o Select File > Open Project. o Select Robotics Sim Begin and Click [OK]. o In the Navigation Tree of Robotics Sim Begin (user##), browse to the Studies studyfolder. o Browse to the Line ## Study Folder , where ## is the user number assigned to you by the instructor. o If not already checked out, right click the Line ## studyfolder and select Check Out . o Check Check Out with Hierarchy, and Click [OK]. o Browse into the processing studyfolder.
o
Right click the station02 study and select Load in Standard Mode
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Start Gun Search
1. Select Weld -> Geometric Gun Search
2. In the Geometric Gun Search window, select Next.
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3. Select the pink WeldOperation 1 simulative operation from the Operation Tree that we have used during the first part of class. 4. In the Geometric Gun Search Targets window, select Next. Use weld guns from the resource library 1. In the Geometric Gun Search Select Guns window, select Library from the Select guns from drop-down. 2. Browse into Resource Library and Robot Tools and Guns and select the Spotweld Guns library. Note: If you have a ResourceLibrary* that is checked out, ignore it for now. This library contains the new objects that you created in the modeling activities. 3. Click Use .
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Note: Lists of guns can be stored or loaded for later use by clicking either Load Gun Set or Store Gun Set 4. Click Next. Check if the guns collide .
Note: Parts or tooling can be selected for checking the guns against. Gun poses that will be used at each location can be chosen. 1. From the Object Tree, select the product assemblies being welded. In this case the parts are surf_part and door_frame.
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2. In the Geometric Gun Search Collision Check window, click Next. Define the gun search options 1. In the Geometric Gun Search Options window, uncheck Closed and select SemiOpen. 2. Check Check gun flipped around approach axis. 3. Check Rotate Gun Around Perpendicular Axis. 4. Enter an Angle of Rotation of 30 degrees. 5. Enter 2 for the Number of steps.
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6. Click Next. Display gun search results In the Geometric Gun Search Search window, click Search.
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Note: The picture above is for reference only. Your results may be different. The description of how to define a resource prototype as a gun is described in the earlier in this course. Save the gun results to an Excel file
1. Geometric Gun Search Search window, click Save to File . 2. In the Save As window, browse into the .\sysroot\Documents folder. 3. Name the file according to your user id and Scenario (study) name (i.e. user##_M11LH_gun).
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4. Click Save. Insert the resulting gun into the Scenario (study)
1. Check the checkboxes for all non-colliding (suitable) weld guns (i.e. ). 2. Click Insert Guns 3. Click [OK]. Note: The following guns are inserted into at the origin of the study. (The picture below shows the guns spread out, when in reality they will be in a big pile at the origin) .
4. Click Close to close the Geometric Gun Search window. 5. If you wanted to switch which gun is used, you should fist unmount (Kinematics > Unmount Tool) the existing gun on the robot then mount (Kinematics > Mount Tool) the new gun. However, we will not do that in this activity.
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Instructor Demo: Simulating Robots with Servo Guns
The objective of this activity is to load an existing cell and simulate a robot with servo guns.
Load the cables servo demo Scenario (study) Play and reset the simulation
Load the cables servo demo Scenario (study)
1. Continue using the same data loaded in Process Simulate. 2. From the Navigation Tree, expand into the Studies studyfolder. 3. Expand into your Line## Study Folder , where ## is the user number assigned to you by your instructor. Note: In this case the demo can, and should, only be checked out and performed by the instructor. 4. Check out your assigned studyfolder with hierarchy, if it is not already. 5. Expand into the Other selected studyfolder. 6. Right click cables servo demo Play and reset the simulation and select Load in Standard Mode .
Note: The guns in this Scenario (study) are servo guns. 1. In the Operation Tree, right click on cables_servo Demo and select Set Current Operation . . it. 2. From the Sequence Editor, clickPlay Simulation Forward 3. Click Jump Simulation to Start
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Activity: Working with Servo Guns
The objective of this activity is to work with servo guns.

Load the cables servo Scenario (study) Open the Joint Jog window Set the servo gun as an external axis of the robot Move the robot in front of the location to its left (lo1) Assign the robot to the path Assign external values for a location Simulate it in the Path Editor Look at the external axis value for the gun in the Path Editor Update the database
Load the cables servo Scenario (study)
1. Continue using the same data loaded in Process Simulate. 2. From the Navigation Tree, expand into the Studies folder. 3. Expand into your Line## Study Folder , where ## is the user number assigned to you by your instructor. 4. Check out your assigned studyfolder with hierarchy, if it is not already. 5. Expand into the Other selected studyfolder. 6. Right click cables servo and select Load in Standard Mode . 7. Right click in the Graphic Viewer and select Display All. 8. Zoom to an area: Hold down the [Alt[ key and draw a box around the r120_3 robot and its gun (the only robot with an orange gun next to it) 9. Pick an object in the field of the view and select View > Graphic Viewer > View Center .
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Open the Joint Jog window
1. Right click the r120_3 robot and select Joint Jog . 2. Notice the main joint of the servo gun is not shown. 3. Close the Joint Jog window. Note: The main joint of a servo gun, also designated the dynamic or active arm, is controlled by an electric motor; mounting a servo gun on a robot makes the main joint an external axis of the robot. Set the servo gun as an external axis of the robot
1. Select the r120_3 robot. 2. Select Kinematics -> Robot Properties Note: This button can also be found on the right click of a robot. 3. In the Robot Properties window, click the External Axis tab. 4. Notice the servo gun joint does not show. 5. Click the Settings tab. 6. From the Robot Properties window, click Mount Tool . .
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Note: The same Mount Tool command can be accessed from the Robot Properties window, the Kinematics menu, Kinematics toolbar, or the robot right click. 7. Pick the gun for this robot. 8. For the Frame on the gun, select the mtg frame. 9. Click Apply and Close. 10. Click the External Axes tab again. Notice the servo gun joint does show.
Note: If it does not show, close and reopen the Robot Properties window again. 11. In the Robot Properties window, click Close. Move the robot in front of the location to its left (lo1)
1. Right click the robot and select Joint Jog . 2. Notice the main joint of the servo gun is shown.
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3. From the Joint Jog window, jog external joint j1 (srtc_u0181_l1). 4. Notice the main point of the servo gun moves. Tip: Leave the Joint Jog window open throughout this activity and do not reset this joint value at this time. Assign the robot to the path
1. From the Operations Tree, browse and right click pa3 and select Operation Properties . 2. In the Properties window, click the Process tab. 3. Select the r120_3 robot. 4. click [OK] Assign external values for a location
1. From the Operations Tree, browse and select the first location of pa3 (r3pounce). 2. Select Kinematics -> Set External Axes Values .
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3. In the Set External Axes Values window, check the Approach Value checkbox. Note: The current value for the external axis joint is automatically copied from the Joint Jog window to the Approach Value field in the Set External Axes Values window. 4. In the Joint Jog window, move the slider for the j1 (srtc_u0181_l1) joint to a different value. Note: In this case we want to have a different value for the external axis when approaching and departing from this location. 5. In the Set External Axes Values window, check the Depart Value checkbox. Note: The current value for the external axis joint is automatically copied from the Joint Jog window to the Depart Value field in the Set External Axes Values window. Note: You can also, just type the desired value into this field. Or if several locations need the same value you can copy and paste the value to the other fields (using right click
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copy/paste or [Ctrl]-[C] / [Ctrl]-[V]). Finally, the Follow Mode Current Joint Value can be used as well.
and Get
6. In the Set External Axes Values window, Click [OK]. 7. Click Next Location . 8. Enter the Approach Value and Depart Value for this location using the desired technique. 9. Repeat for two or three locations 10. Close the Joint Jog window. Simulate it in the Path Editor
1. In the Operations Tree, select the pa3 simulative operation 2. From the Path Editor, click Add Operations to Editor . Note: Another way to add a path to the Path Editor is to drag and drop it here from the Operations Tree. 3. Click Play Simulation Forward 4. Click Jump Simulation to Start . .
Look at the external axis value for the gun in the Path Editor
1. On the Path Editor, click Customize Columns . 2. In the Customize Columns window in the Available columns list, expand into the General group of attributes. 3. Select Depart External Axes Values and External Axes Values and click Add. Note: This list of attributes can be saved and loaded for later use using these buttons: and .
4. In the Customize Columns window in the Available columns list, expand into the General group of attributes. 5. Add any other desired columns such as Joint Speed, Motion Type, and Zone. 6. Click [OK].
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7. Scroll to the right and locate the Depart External Axes Values or External Axes Values columns. 8. Mouse over the pencil icon in the Depart External Axes Values or External Axes Values columns to see the external axis joint values for each location.
Update the database
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MATERIAL HANDLING APPLICATIONS

Activity: Pick and Place (Material Handling) Setup
The objective of this activity is to setup the pick and place (material handling) simulation. Load the PNP Study Mount the gripper to the robot using the Mount Tool window Duplicate the boxes Update the database Load the PNP Study
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From the Navigation Tree, expand into the Studies collection. Expand into your Line## Study Folder where ## is the user number assigned to you by your instructor. Check out your assigned studyfolder with hierarchy, if not already checked out. Expand into the other selected studyfolder. Right click pnp and select Load in Standard Mode . .
Right click in the Graphic Viewer and select Display All Mount the gripper to the robot using the Mount Tool window
1. Select the robot. 2. 3. 4. 5. 6. Select Kinematics -> Mount Tool . In the Mount Tool window for the Tool, select the box gripper. For the Frame on the tool, select mnt. For the Frame on the robot, select TOOLFRAME. Click Apply and Close.
Duplicate the boxes
1. With the robot facing you (and the container in front of the robot), pick the box on the left conveyor. Notice it is named box24x24x12_left1. 2. With the robot facing you (and the container in front of the robot), pick the box on the right conveyor. Notice it is named box24x24x12_right1. 3. Pick the box24x24x12_left1. 4. Hold down the [Ctrl] key. 5. Pick the box24x24x12_right1. 6. Release the [Ctrl] key. 7. Select Modeling -> Duplicate Objects Note: In the WKP215 course (for intermediate users) we will describe how to create appearances of the parts so that copies do not need to be created and managed. We will also use logic to determine the next path instead of the hard coded sequence described here. But, hey, you've got to start somewhere. 8. In the Duplicate Objects window for Number along X, enter 2. 9. In the Duplicate Objects window for X spacing, enter 0. 10. Click [OK]. Note: .
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This make another copy of the boxes in their current position. 11. From the Object Tree, rename the left box duplicate to box24x24x12_left2. 12. From the Object Tree, rename the right box duplicate to box24x24x12_right2. 13. From the Object Tree, blank box24x24x12_left2. 14. From the Object Tree, blank box24x24x12_right2. Update the database
1. Select File -> eMServer Selective Update . 2. Make sure that Parts, Operations, and Resources are selected.
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Activity: Create the Basic (PNP) Process
The objective of this activity is to create a basic collection of pick and place paths (operation) for one box from the left and one from the right. Create a new Pick and Place operation for the left box Check Reachability Again, make separate pickup and drop off paths Stick the part to the gripper Add a location before/after the pick (left1) location Add a location before/after the place (drop left bottom) location Sequence the operations for the first pass Simulate the pnp path so far Rotate the Place location and its approach/retract locations Reset the simulation and update the database Create a new Pick and Place operation for the left box
1. 2. 3. 4. 5. 6. 7. 8. 9.
Continue using the same data loaded in Process Simulate. Select the robot. Hold down the [Ctrl] key. In the Operation Tree, pick pnp. Release the [Ctrl] key. Select Operations -> New Operation > New Pick and Place Operation For Pick pose, select CLOSE. For the Place pose, select OPEN. Change the Pick Intent to Self Origin. .
10. For Pick, choose the part on the left 11. Change the Pick Intent to Where Picked.
12. For Place, choose near the middle of the left third of the bottom.
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13. Click [OK] to create operation kawasaki_uz100_PNP_Op1. Check Reachability
1. 2. 3. 4. 5. 6. 7. 8.
Select the container. Hold down the [Ctrl] key. Pick the location in the container. Release the [Ctrl] key. Right click the highlighted objects and select Placement Manipulator. Select the robot. Select Kinematics > Reach Test. Pick the kawasaki_uz100_PNP_Op1 simulative operation.
9. In the Graphic Viewer, grab the X axis of the Manipulator Frame and drag it toward the robot until the place location gets a blue check in the Reach Test window. 10. Close the Placement Manipulator window and the Reach Test window.
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Again, make separate pickup and drop off paths
1. On the Operations Tree, drag and drop kawasaki_uz100_PNP_Op1 onto pnp with the [Ctrl] key depressed. 2. Name one copy kawasaki_uz100_pick_left1 and the other kawasaki_uz100_drop_left_bottom. 3. Delete the place location from the kawasaki_uz100_pick_left1 operation. 4. Delete the pick location from the kawasaki_uz100_drop_left_bottom operation.
Stick the part to the gripper
1. In the Operation Tree, right click kawasaki_uz100_pick_left1 and select Set Current Operation . . 2. From the Sequence Editor, click Play Simulation Forward Tip: As long as you don't jump the simulation to the beginning, the attachment will remain. Add a location before/after the pick (left1) location
1. On the Operations Tree, click the pick location. 2. Select Operations -> Path Editing -> Add Location Before 3. In the Robot Jog window, click Z. 4. Enter 600 and press [Enter]. Note: 600 mm approximately equal to 24 inches. 5. Close the Robot Jog window. 6. On the Operations Tree, click the via location. .
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7. Drag and drop it on kawasaki_uz100_pick_left1 with the [Ctrl] key depressed. Add a location before/after the place (drop left bottom) location
1. On the Operations Tree, click the place location. 2. 3. 4. 5. 6. Select Operations -> Path Editing -> Add Location Before . In the Robot Jog window, click Z. Enter 900 and press [Enter]. Close the Robot Jog window. Drag and drop it on kawasaki_uz100_drop_left_bottom with the [Ctrl] key depressed.
Sequence the operations for the first pass
1. In the Operation Tree, right click pnp and select New Compound Operation. 2. In the New Compound Operation window for Name, enter FirstPass. 3. Move the two robotic operations into the FirstPass compound operation. 4. 5. 6. 7. 8. In the Operation Tree, right click pnp and select Set Current Operation Click [OK] to reset the simulation. In the Sequence Editor, select kawasaki_uz100_pick_left1. Hold down the [Ctrl] key and select kawasaki_uz100_drop_left_bottom. Release the [Ctrl] key. .
9. Click Link . 10. In the Sequence Editor, right click first pass and select Reorder by Links. Simulate the pnp path so far
1. From the Sequence Editor, click Play Simulation Forward pick up the box and put it into the container. Note:
. The robot should
Notice that when the robot puts the box into the container, it collides with side of the box. (You can step the simulation backwards or setup and turn on collision detection to see it). This problem can be easily solved by rotating the place location (and its approach/retract locations) 90 degrees. We will do this in the next step.
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2. Click Jump Simulation to Start
the simulation.
Rotate the Place location and its approach/retract locations
1. On the Operations Tree, pick all three locations in the kawasaki_uz100_drop_left_bottom simulative operation with the [Ctrl] key depressed. Note: A simulative operation is a generic term for the operations created by Process Simulate to represent a simulation. In this case the simulative operation is a robot operation. 2. 3. 4. 5. Select Tools > Placement > Placement Manipulator In the Placement Manipulator window, click Rz. Enter 90 and press [Enter]. Click Close .
6. From the Sequence Editor, click Play Simulation Forward . The robot should pick up the box and put it into the container. This time the place location is rotated 90 degrees.
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Reset the simulation and update the database
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Activity: Stacking Boxes
The objective of this activity is to build on the results of the previous activity. After this activity we will have 2 rows or 2 boxes in he container. Create a new Pick operation for the right box Move the path's locations to the right side Create a new Place operation for the right box Move the path's locations to stack the box on the left top Farther sequence the operations of the first pass Add Display Events Reset the simulation and update the database Create a new Pick operation for the right box
1. Continue using the same data loaded in Process Simulate. 2. From the Sequence Editor, click Play Simulation Forward . The robot should pick up the box and put it into the container. 3. Drag and drop the kawasaki_uz100_pick_left1 to the FirstPass with the [Ctrl] key depressed. 4. Rename the duplicate operation to kawasaki_uz100_pick_right1. Move the path's locations to the right side
1. On the Operations Tree, pick all three locations in the kawasaki_uz100_pick_right1 simulative operation with the [Ctrl] key depressed. Note: A simulative operation is a generic term for the operations created by Process Simulate to represent a simulation. In this case the simulative operation is a robot operation. 2. Select Tools > Placement > Relocate 3. Change the Pick Intent to Self Origin. .
4. Pick in the From frame field. 5. Choose the Pick location for the part on the left. 6. Pick in the To frame field.
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7. Choose the part on the right 8. Click Apply and Close Create a new Place operation for the right box
1. Drag and drop the kawasaki_uz100_drop_left_bottom to the FirstPass with the [Ctrl] key depressed. 2. Rename the duplicate operation to kawasaki_uz100_drop_left_top. Move the path's locations to stack the box on the left top
1. On the Operations Tree, pick all three locations in the kawasaki_uz100_drop_left_top simulative operation with the [Ctrl] key depressed. Note: A simulative operation is a generic term for the operations created by Process Simulate to represent a simulation. In this case the simulative operation is a robot operation. 2. Select Tools > Placement > Placement Manipulator 3. Change the Pick Intent to Snap. .
4. In the Placement Manipulator window, click Z. 5. Enter 304.8 and press [Enter]. Note: This number was found by measuring the height of the box. 6. Click Close Farther sequence the operations of the first pass
1. In the Sequence Editor, select kawasaki_uz100_drop_left_bottom. 2. Hold down the [Ctrl] key and select kawasaki_uz100_pick_right1 and kawasaki_uz100_drop_left_top. 3. Release the [Ctrl] key. 4. Click Link .
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, if needed. . The robot should
6. From the Sequence Editor, click Play Simulation Forward pick up the each box and stack them in the container.
Add Display Events
1. Reset the simulation. 2. If not blanked already: from the Object Tree blank box24x24x12_left2 and box24x24x12_right2 3. on the Gantt chart of the Sequence Editor, right click on the end of the FirstPass compound operation and select Display Event. 4. For the Display Event window, pick the box24x24x12_left2 and box24x24x12_right2 objects from the Object Tree. 5. For the Start Time, enter 0 seconds Before End of Task 6. Click [OK]. Reset the simulation and update the database
1. From the Sequence Editor, click Jump Simulation to Start 2. Select File -> eMServer Selective Update .
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3. Make sure that at least Operations is selected.
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Activity: Doing the Second Pass (Optional Activity)
The objective of this activity is to create a process for the second stack of boxes. Create a new Pick and Place operations for the second set of boxes Move the Place operations for the second stack Sequence the operations of the second pass Simulate the first and second pass Reset the simulation and update the database Create a new Pick and Place operations for the second set of boxes
1. Continue using the same data loaded in Process Simulate. 2. From the Sequence Editor, click Play Simulation Forward . The robot should pick up the box and put it into the container. 3. Drag and drop the FirstPass to the pnp with the [Ctrl] key depressed. 4. Rename the duplicate operation to SecondPass. Move the Place operations for the second stack
1. On the Operations Tree, browse into the SecondPass. 2. On the Operations Tree, pick all three locations in the kawasaki_uz100_drop_right_top and all three locations in the kawasaki_uz100_drop_right_bottom simulative operations with the [Ctrl] key depressed. Note: A simulative operation is a generic term for the operations created by Process Simulate to represent a simulation. In this case the simulative operation is a robot operation. 3. Select Tools > Placement > Placement Manipulator 4. Change the Pick Intent to Snap. .
5. In the Placement Manipulator window, click Y. 6. Enter 800 and press [Enter]. Note:
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To put the stack for the second pass in the other half of the box 7. Click Close Sequence the operations of the second pass
1. In the Sequence Editor, select FirstPass. 2. Hold down the [Ctrl] key and select SecondPass. 3. Release the [Ctrl] key. 4. Click Link .
Simulate the first and second pass
, if needed. . The robot should
2. From the Sequence Editor, clickPlay Simulation Forward pick up the each box and stack them in the container. Reset the simulation and update the database
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CONTINUOUS APPLICATIONS
Activity: Using Continuous Feature Operations
The objective of this activity is to use continuous feature operations. Create a new Continuous Feature Operation Assign a Continuous Mfg to the Continuous Feature Operation Now reload the arc 7th axis Scenario (study) Look at the Continuous Mfg in the MFG Tree View some of the attributes of the weld locations Associate the robot and tool (arc weld gun) to the Continuous Feature Compare the orientation of assigned TCPF with the parameters for locations that will be created Begin creating the continuous seam and continuous seam locations Flip the locations Update the database Create a new Continuous Feature Operation
1. In the Navigation Tree, browse into the Process and Plant
collection.
2. Right click the Robotics operation tree and select Navigation Tree . 3. In the new Navigation Tree (2), browse into your Line## area (where ## is the user number assigned to you by your instructor) and locate the arc 7th axis station under Other Selected.
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4. Check out 5. 6. 7. 8.
your arc 7th axis station, if it is not already.
Right click it and select New . Check the checkbox for ContinuousFeatureOperation. Click [OK]. Expand arc 7th axis to show the new ContinuousFeatureOperation.
Assign a Continuous Mfg to the Continuous Feature Operation
1. In the original Navigation Tree, browse into the Welds collection. 2. Right click the Continuous MfgLibrary and select Navigation Tree.
Note: The Continuous MFG has a geometric line associated to it. It will be the basis for the path generated from the Continuous Feature Operation that it is associated to. 3. In the new Navigation Tree (3), drag and drop the 7a1 continuous Mfg feature in the library onto the new ContinuousFeatureOperation. 4. Rename it to Continuous MFG Operation. 5. Close the two new Navigation Tree viewers. Now reload the arc 7th axis Scenario (study)
1. Now reload the arc 7th axis Scenario (study) from the Other selected studyfolder. 2. Expand into your Line## Study Folder , where ## is the user number assigned to you by your instructor. 3. Check out your assigned studyfolder with hierarchy, if it isn't already. 4. Expand into the Other selected studyfolder.
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5. Right click arc 7th axis
(not demo) and select Load in Standard Mode
Look at the Continuous Mfg in the MFG Tree
1. In Process Simulate, notice the Mfg Features in the Graphic Viewer. 2. Select View -> Viewers -> Mfg Viewer. 3. In the Mfg Viewer, click the down arrow to the right of the Filter ContinuousMfg. 4. Notice the Mfg Features in the Mfg Viewer. and select
View some of the attributes of the weld locations
1. In the Mfg Viewer, click Customize . 2. In the Field Selection window, select Projection Indication and Assignment indication attributes under Mfg Viewer Fields and move them to the Available Fields list. 3. Click [OK]. Associate the robot and tool (arc weld gun) to the Continuous Feature
1. In the Operations Tree, right click on the Continuous Feature Operation and select Operation Properties . 2. In the Properties window, click the Process tab. 3. Click in the Robot field, and select the other robot (the one not used by the spot simulation).
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4. Click [OK]. Compare the orientation of assigned TCPF with the parameters for locations that will be created
1. Select Tools -> Options. 2. In the Options window, click the Continuous tab.
Note:
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Notice that the setup for continuous MFG projection is on a different tab than the spot weld project setup (located on the Weld tab of the Options window). 3. For thePermitted Deviation Angle (Normal), enter 360 degrees. 4. Click [OK]. Begin creating the continuous seam and continuous seam locations
1. In the Operations Tree, select the Continuous Feature Operation. 2. Select Weld -> Continuous -> Project Continuous MFG Features Note: Maximal Segment Length Maximum allowable distance between two location created when projecting a Continuous MFG Feature. o Maximal Tolerance Maximum allowable distance between a location and the curve that defines the seam geometry. 3. For Maximal Segment Length, enter 3000. 4. Check Project on approximation only.
o
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5. Click Project.
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6. Close the Project Continuous Mfgs window. 7. Look at the results in the Graphic Viewer and Operations Tree. Note: One continuous seam operation is created for each continuous MFG feature assigned to the continuous MFG feature operation. The continuous seam operation contains continuous seam location operations (the number of which was determined by the length of the geometry assigned to the MFG feature and its curvature). Flip the locations
1. 2. 3. 4.
In the Operation Tree, select ls1 (the first continuous mfg location). Hold down the [Ctr] key and select ls2 (the second continuous mfg location) Release the [Ctrl] key. Select Weld > Flip Locations > Flip Locations on Surface . Note: We will mount the gun on the robot, put the robot on the rail, and check robot reach later in this course.
Update the database
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Activity: Creating Arc MFGs for the Whitehouse Part
The objective of this activity is to create the Mfg Features needed in order to create the continuous Mfg features to be used for arc weld seams Load the arc multi axis Scenario (study) Get the view setup to create the arc MFG feature Create the Geometry for Arc Continuous Mfg Feature Create the Arc Continuous Mfg Feature Load the arc multi axis Scenario (study)
Note: Now perform the activity by first loading the arc multi axis Scenario (study) from the other selected studyfolder. 1. From the Navigation Tree, expand into the Studies collection. 2. Expand into your Line## Study Folder , where ## is the user number assigned to you by your instructor. 3. Check out your assigned studyfolder with hierarchy, if it is not already. 4. Expand into the Other selected studyfolder. 5. Right click arc multi axis 6. Select View -> Display All (not demo) and select Load in Standard Mode . .
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Get the view setup to create the arc MFG feature
1. In the Objects Tree, expand into the Parts
and Resources
folders.
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2. From the Parts folder, select the FRONT_whitehouse_weldpart part in the Arc multi axis compoundPart (the product assembly sitting on the positioner). 3. Hold down the [Ctrl] key. 4. From the Resources folder, select the st_gun3_30 gun (the arc weld torch at the end of the robot's wrist) in the Arc multi axis compoundResource. 5. Release the [Ctrl] key. 6. Select View > Display Only . 7. Pick off the objects to deselect them. 8. In the Graphic Viewer (or Object Tree), right click on the FRONT_whitehouse_weldpart part (the curved part in the assembly on the positioner) and select Zoom to Selection .
Create the Geometry for Arc Continuous Mfg Feature
Note: More is described on modeling objects earlier in this in the course. 1. Select the FRONT_whitehouse_weldpart part, if it is not already selected. 2. Change your view point so that you are looking at the bottom of the part. Note: This can be done by hold down the right and middle mouse buttons and moving your hand in a circle; or by clicking the [down arrow] key about three times. 3. Zoom in on the bottom edge of the part. Note: This can be down by holding down the middle button and moving the mouse to the right; or by holding down the [Alt] key and drawing a zoom window with the left mouse button.
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4. Select Modeling > Set Modeling Scope 5. Change the Pick Level to Entity.
7. Select Modeling > Create 2D > Curve on Borders . 8. In the Curve on Borders window for Name, enter Front_Whitehouse_ArcSeams_user##. 9. In the Curve on Borders window, pick the Entity field. 10. For Entity, pick the bottom face of the solid not near an edge.
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11. Click Preview. Warning: If the curve is not created along the bottom face of this solid, pick it again and click Preview. 12. Click [OK].
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Note: The new Front_Whitehouse_ArcSeams_user## curve is created in the FRONT_whitehouse weldpart. However, we will not store this change permanently in this part. Instead, we will store this geometry into a separate .COJT related to a continuous MFG feature (in the next page of this activity). 13. Change the Pick Intent to Snap.
Note: In this activity we used the Modeling > Create 2D > Intersection Curve command to create the curve. Other commands could have also been used to create the curve. Or the curves can be created in a CAD system, converted to a .COJT, and associated to an existing MFG feature. Create the Arc Continuous Mfg Feature
1. From the Object Tree or Graphic Viewer, select the Front_Whitehouse_ArcSeams_user## curve. 2. Select Weld > Continuous > Create Continuous Mfg from Curve . 3. In the Create Continuous Mfg from Curve window, pick the Assign to part field. 4. Pick the BOTTOM_whitehouse_weldpart part from the Object Tree. Note: When we create the arc weld seam the FRONT part will be the side wall and BOTTOM part will be the bottom wall. We derived the curve from an edge of the FRONT part. Therefore, it is suggested to associate the MFG feature containing the curve with the BOTTOM part. Eventually we will associate both parts with the MFG feature, however the MFG will move only with the assigned part. 5. For 3D folder location, click Browse folder. Note: In production, the exact folder name could be anything under the system root folder. However, you should create a standard for what to name the MFG features and where they should be placed. and select the .\sysroot\Libraries\mfgs
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6. Click [OK]. Note: This command will create a new .JT file (in a .COJT folder) that will contain this curve. This .COJT will be associated to a new MFG feature which will be shown in the MFG Viewer. After executing this command we can either delete this curve from the original part (FRONT_whitehouse_weldpart) or just reload the original part. We will do this later. 7. To see the Mfg Feature just created, select View > Viewers > Mfg Viewer.
8. Continue to the next whitehouse part activity on creating a debur MFG feature.
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Activity: Creating Debur MFGs for the Whitehouse Part
The objective of this activity is to create the Mfg Features needed in order to create the continuous Mfg features to be used for debur paths. A similar process could be followed to create glue paths. Create the Geometry for Debur Continuous Mfg Feature Create the Debur Continuous Mfg Feature Create the Geometry for Debur Continuous Mfg Feature
Note: More is described on modeling objects earlier in this in the course. 1. Continue from where the last whitehouse part activity left off. 2. Change your view point so that you are looking at the top of the part. Note: This can be done by hold down the right and middle mouse buttons and moving your hand in a circle; or by clicking the [up arrow] key about three times.
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Note: We are still modeling the part from the previous activity and the Pick Level is still set to Entity.
4. Select Modeling > Create 2D > Curve on Borders . 5. In the Curve on Borders window for Name, enter Front_Whitehouse_Debur_user##. 6. In the Curve on Borders window, pick the Entity field. 7. For Entity, pick the top face of the solid not near an edge.
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8. Click Preview. Warning: If the curve is not created along the front face of this solid, pick it again and click Preview. 9. Click [OK]. Note: The new Front_Whitehouse_Debur_user## curve is created in the FRONT_whitehouse weldpart. However, we will not store this change permanently in this part. Instead, we will store this geometry into a separate .COJT related to a continuous MFG feature (in the next page of this activity).
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10. Change the Pick Intent to Snap.
Note: In this activity we used the Modeling > Create 2D > Intersection Curve command to create the curve. Other commands could have also been used to create the curve. Or the curves can be created in a CAD system, converted to a .COJT, and associated to an existing MFG feature. Create the Debur Continuous Mfg Feature
1. From the Object Tree or Graphic Viewer, select the Front_Whitehouse_Debur_user## curve. 2. Select Weld > Continuous > Create Continuous Mfg from Curve . 3. In the Create Continuous Mfg from Curve window, pick the Assign to part field. 4. Pick the FRONT_whitehouse_weldpart part. Note: In this case the MFG feature will only be associated with one part (not like the arc weld seam that is associated to two parts). 5. For 3D folder location, click Browse folder. Note: In production, the exact folder name could be anything under the system root folder. However, you should create a standard for what to name the MFG features and where they should be placed. and select the .\sysroot\Libraries\mfgs
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8. Continue to the next whitehouse part activity to create the Paint MFGs.
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Activity: Creating Paint MFGs for the Whitehouse Part
The objective of this activity is to create the Mfg Features needed in order to create the continuous Mfg features to be used for paint paths. Create the Geometry for Paint Continuous Mfg Feature Create the Paint Continuous Mfg Feature Reload the FRONT whitehouse weldpart Update the database Create the Geometry for Paint Continuous Mfg Feature
Note: More is described on modeling objects earlier in this in the course. 1. Continue from where the last whitehouse part activity left off. 2. From the Mfg Viewer, blank both MFG features by clicking their display status squares . Note: Later in this activity we want to pick the curves of the FRONT_whitehouse_weldpart part not of the MFG features. 3. Change your view point so that you are looking at the top of the part. Note: This can be done by hold down the right and middle mouse buttons and moving your hand in a circle; or by clicking the [down arrow] key about one time. Note: We are still modeling the FRONT_whitehouse_weldpart part from the previous activity and the Pick Level is still set to Entity and the Pick Intent is set to Snap.
4. Select Model > Create 2D > Split Curve on Intersection
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5. From the Graphic Viewer, pick the Front_Whitehouse_ArcSeams_user## (the curve along the bottom edge of the part). 6. In the Split Curve on Intersection window, select Split point. 7. Select the lower left corner of the front face of the FRONT_whitehouse_weldpart.
8. Check Delete original entities. 9. Click [OK]. Note: The Front_Whitehouse_ArcSeams_user## curve is deleted and the Front_Whitehouse_ArcSeams_user##_1 straight line and Front_Whitehouse_ArcSeams_user##_2 curve are created.
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10. Follow the same process to split the Front_Whitehouse_ArcSeams_user##_2 curve again. This time for the Split point, pick the lower right corner of the front face of the FRONT_whitehouse_weldpart Note: The Front_Whitehouse_ArcSeams_user##_2 curve is deleted and the Front_Whitehouse_ArcSeams_user##_2_1 and Front_Whitehouse_ArcSeams_user##_2_2 curves are created. We will use the curve across the front of the part. 11. Select Front_Whitehouse_ArcSeams_user##_2_1 curve, press [F2], and change the name of this curve to Front_Whitehouse_Paint_user##. 12. Select the Front_Whitehouse_Paint_user## curve. 13. Select Modeling > Duplicate Objects. 14. In the Duplicate Objects window for Number along Z, enter 3. 15. In the Duplicate Objects window for Z Spacing, enter 50. 16. Click Preview. 17. Click [OK].
Note:
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The new Front_Whitehouse_Paint_user##_1 and Front_Whitehouse_Paint_user##_2 curves are created in the FRONT_whitehouse_weldpart only along the front face. However, we will not store this change permanently in this part. Instead, we will store this geometry into a separate .COJT related to a continuous MFG feature (in the next page of this activity). Note: In this activity we just copied the same curve across the part. Another option would have been to create a box that is bigger than the part, move one of its faces to the desired position on the part and then use the Modeling > Create 2D > Intersection Curve command to create the curve. Or the curves can be created in a CAD system, converted to a .COJT, and associated to an existing MFG feature. Create the Paint Continuous Mfg Feature
1. From the Object Tree or Graphic Viewer, select the Front_Whitehouse_Paint_user##_1 curve. 2. Hold down the [Ctrl] key. 3. From the Object Tree or Graphic Viewer, select the Front_Whitehouse_Paint_user##_2 curve. 4. Release the [Ctrl] key. 5. Select Weld > Continuous > Create Continuous Mfg from Curve . 6. In the Create Continuous Mfg from Curve window, pick the Assign to part field. 7. Pick the FRONT_whitehouse_weldpart part. Note: In this case the MFG feature will only be associated with one part (not like the arc weld seam that is associated to two parts). 8. For 3D folder location, click Browse folder. Note: In production, the exact folder name could be anything under the system root folder. However, you should create a standard for what to name the MFG features and where they should be placed. and select the .\sysroot\Libraries\mfgs
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Reload the FRONT whitehouse weldpart
1. Change the Pick Level to Component.
2. Select the FRONT_whitehouse_weldpart. 3. Select Modeling > Reload Component Note:
This command will undo all changes made to this object since that last time it was saved. 4. Click Yes. Update the database
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3. Click [OK]. 4. Click [OK] again.
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Activity: Creating Arc Seams for the Whitehouse part (using Project Arc Seam)
The objective of this activity is to create seams using the MFG Features created in the previous activity. Setup Continuous Features Set the Start Point and Direction Create the simulative operation and seam Split off the seam along the bottom front edge Update the database Setup Continuous Features
1. Continue using the same data loaded in Process Simulate. 2. Select Tools > Options. 3. In the Options window, click the Continuous tab.
4. For the Movement Vector, select Y. 5. Click [OK]. Set the Start Point and Direction
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1. From the Mfg Viewer, select the Front_Whitehouse_ArcSeams_user## Mfg feature. 2. 3. 4. 5. Select View > Display Only . Select Weld > Continuous > Indicate Seam Start . In the Indicate Seam Start window, pick in the Start point field. For Start Point, pick in the Graphic Viewer in the lower left corner of the Front_Whitehouse_ArcSeams_user##_Mfg Mfg feature. Note: A red point is shown at the pick point 6. In the Indicate Seam Start window, pick in the Via direction point field. 7. For Via direction point, pick a point in the Graphic Viewer about half way across the bottom edge of the front of the Front_Whitehouse_ArcSeams_user##_Mfg Mfg feature. Note: A blue point is shown at the pick point
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8. Click [OK]. Create the simulative operation and seam
Note: A simulative operation is a generic term for the operations created by Process Simulate to represent a simulation. In this case the simulative operation is a robot operation. 1. From the Object Tree, display the BOTTOM_whitehouse_weldpart and FRONT_whitehouse_weldpart parts by clicking its display status square . 2. Change the Pick Level to Component.
3. From the Mfg Viewer, select the Front_Whitehouse_ArcSeams_user##_Mfg Mfg feature. 4. Hold down the [Ctrl] key and select Arc multi axis in the Operation Tree. 5. Release the [Ctrl] key. 6. Select Operations > New Operation > New Continuous Feature Operation . 7. For Name, enter Front_ArcSeams_Op. 8. Click [OK]. Note: An empty (but special) compound operation is created named Front_ArcSeams_Op.
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9. Right click the FRONT_whitehouse_weldpart and select Placement Manipulator. 10. In the Placement Manipulator window, pick Z, enter 0.2 and press [Enter]. 11. Click Close. 12. From the Operations Tree, select the pink Front_ArcSeams_Op simulative operation. 13. Select Weld > Continuous > Project Arc Seam . 14. In the Project Arc Seam window, expand below the Front_Whitehouse_ArcSeams_user##_Mfg MFG feature.
15. Pick on the Front_Whitehouse_ArcSeams_user##_Mfg MFG feature and click Edit Mfg Feature data .
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16. In the Edit Mfg Feature Data window, pick the Side part field. 17. From the Object Tree or Graphic Viewer, pick the FRONT_whitehouse_weldpart. Note: If you have selected the wrong parts for the Base part or Side part, click Swap Parts . By default the Base part is the part that is assigned to the MFG feature. This is the part that controls the placement of the MFG feature. To change the assigned part (before opening the Project Arc Seam window), select Weld > Assign Parts. 18. Click [OK] to close the Edit Mfg Feature Data window. 19. Verify the General Arc Alignment Parameters are as desired. Note: We will keep the defaults in this case. However, in production you may want to change them in order to push or drag the arc torch. 20. Click Project. 21. Click Close.
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Split off the seam along the bottom front edge
1. Select Weld > Continuous > Split Seam Operation . 2. In the Split Seam Operation window for Operation, select the Front_Whitehouse_ArcSeams_user##_Mfg_op just created, (where ## is the user number assigned to you by your instructor). 3. For Split location, pick the location along the bottom front edge on the opposite end from the start point (on the right).
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Note: The split location will be added to both seams resulting from the split. 4. Click [OK]. Note: Now there are two seams in the Front_ArcSeams_Op. Update the database
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WKP115S-Process Simulate Basic Robotic Simulation

etc... student student 4. Click [OK].

etc... user8 user9

Activity: Setting and Viewing Basic Options

Activity: Create the High-Level Operation Tree (1)

collection (folder) and select

collection (folder) and select object type.

8. In the New window, click [OK]. 9. Expand the Operation folder.

10. Right click the Operation Tree Navigation Tree .

CompoundOperation (not the folder) and select

Add two stations to it (to hold their operations)

1. In the Navigation Tree (2) (with Operation Tree

as the root object), right click object type.

Activity: Create the High-Level Resource Tree (2)

collection (folder) and select

collection (folder) and select object type.

9. Right click the Resource Tree Navigation Tree .

CompoundResource (not the folder) and select

Add two stations to it (to hold their resources)

Activity: Associate the Trees Together

1. From the Navigation Tree browse into the Libraries

collection (folder) and right

Activity: Examine the Object Types that are Available

Activity: Examine the Part Library

1. Right click a PartPrototype object in the PartLibrary Note:

and select Properties

Open the product tree using the Navigation Tree viewer

1. Right click the highlighted Part 2. 3. 4. 5.

object in the Product Tree

Activity: Examine the Resource Library

1. In the Navigation Tree, browse into the Resource

Activity: Setting the Working Folder

User8 Working Folder User9 Working Folder

Activity: Creating a New Study

Right click your

Create a new RobcadStudy in the Demo folder

1. Right click the Study

RobcadStudy and select Load in Standard Mode . .

Activity: Browsing the Process Simulate Scene

folder and select Expand -> 3

Activity: Docking and Floating Windows

Dock it to another position

Or click the Pin

Activity: Saving a Window Layout

Activity: Using a Window Layout

1. Apply the Standard window layout shown in the list.

PROCESS SIMULATE ON EMS ENVIRONMENT

User9 Working Folder

Activity: Object Tree Basics and Groups

and Replace Compounds with Groups Note:

Activity: Using the Right Click Popup Menu

Activity: Basic Graphic Viewer Controls

3D Space Mouse Movement Options

- nudge left and right

Pan Up/Down Zoom Tilt

Regular Mouse Movement Options

Activity: Selecting Objects in the Graphic Viewer

1. Set the Pick Level to Component.

Blank and Display the object from the Graphic View

Highlight objects using the mouse wheel

5. Select Modeling > PMI > Load PMI

Activity: Additional Methods of Multiple Entity Selection

Object Tree Object Selection

Using the View Menu