StudentGuide RobcadSpot

Robcad Spot Training Guide
Robcad Spot
Version: 9.0
Course Code: WKP202U
Updated: April 2010
Publication Number: MTXW202U-S-09
Table of Contents
Robcad Spot
Student Guide
April 2010
WKP202U Version 9.0
Publication Number
MTXW202U-S-09
ii
Robcad Spot Student Guide
Manual History
Manual
Revision
Product
Version
Publication
Date
V 3.3
July 1996
V 3.4.1
April 1997
V 3.5.1
December 1997
V 3.7.1
December 1998
V 3.8.1
December 1999
V 4.0
December 2000
V 6.0.3
December 2002
V 7.1.2
December 2004
V 7.5
December 2005
V 7.5.1
April 2006
V 8.0
December 2007
V 9.0
April 2010
This edition obsoletes all previous editions.
Siemens Product Lifecycle Management Software Inc..

All rights reserved.
Printed in the United States of America.
Table of Contents
Proprietary and Restricted

Rights Notices
The following proprietary and restricted rights notices apply.
This Guide is delivered subject to the following conditions and
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) This Guide contains proprietary information belonging to
Siemens Product Lifecycle Management Software Inc. Such
information is supplied solely for the purpose of assisting
explicitly and properly authorized users of Robcad.
) No part of its contents may be used for any other purpose,
disclosed to any person or firm or reproduced by any means,
electronic or mechanical, without the express prior written
permission of Siemens Product Lifecycle Management Software
Inc.
) The text and graphics are for the purpose of illustration and
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) The software described in this guide is furnished under a
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) Information in this Guide is subject to change without notice.
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herein are fictitious unless otherwise noted.
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Inc. All rights reserved.
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Execution, CMM Inspection Execution Inspector Function,
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Other company and brand products and service names are
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Table of Contents
Table of Contents
Chapter 1: Introduction to Spot....................................................1-1
Lesson 1: Training Introduction.................................................................................1-2
Lesson 2: Spot Welding Primer..................................................................................1-6
Lesson 3: Overview ...................................................................................................1-9
Chapter 2: The Robcad Spot Weld Process ...................................2-1

Lesson 1: Process Methodology .................................................................................2-3
Lesson 2: Getting Guns into Robcad Spot .................................................................2-6
Lesson 3: Adding Weld Points ...................................................................................2-7
Lesson 4: Projecting Welding Points....................................................................... 2-10
Lesson 5: Creating and Editing a Weld Path ........................................................... 2-19
Lesson 6: Multi-sections ......................................................................................... 2-22
Lesson 7: Test Robots Reachability to the Locations.............................................. 2-30
Lesson 8: Creating Via Locations ............................................................................ 2-48
Lesson 9: Optimizing the Path................................................................................ 2-62
Lesson 10: Automatic Path Planner ........................................................................ 2-66
Chapter 3: Adding to the Spot Welding Process ...........................3-1

Lesson 1: Process Methodology--revisited .................................................................3-2
Lesson 2: Using the Spot Location Attributes Window..............................................3-4
Lesson 3: Signal (I/O) Definition & Simulation....................................................... 3-14
Lesson 4: Multiple Robot Simulation & Work Balance ........................................... 3-21
Lesson 5: Working with Hard and Soft Limits ........................................................ 3-42
Lesson 6: Introduction to SOP................................................................................ 3-45
Lesson 7: Creating a Sequence ............................................................................... 3-51
Chapter 4: Mounted Workpiece Welding .....................................4-1

Lesson 1: Mounted Workpiece States ........................................................................4-2
vi
Lesson 2: Mounting the Workpiece .......................................................................... 4-7

Lesson 3: Creating a Rough Path............................................................................. 4-13
Lesson 4: Orienting Workpiece Locations .............................................................. 4-17
Lesson 5: Using via Locations with a Mounted Workpiece..................................... 4-22
Lesson 6: Using Material Handling via Locations ................................................... 4-27
Chapter 5: Gun Searching.............................................................5-1

Lesson 1: Creating Your Own Attributes for Searching ............................................ 5-2
Lesson 2: Searching and Sets .................................................................................... 5-8
Lesson 3: Smart Search Tools.................................................................................. 5-14
Lesson 4: The Browser ............................................................................................ 5-23
Lesson 5: Gun Search ............................................................................................. 5-26
Chapter 6: Other Selected Topics .................................................6-1

Lesson 1: Servo Guns ................................................................................................ 6-3
Lesson 2: 7th Axis..................................................................................................... 6-12
Lesson 3: Getting Parts with the Browser ............................................................... 6-17
Lesson 4: Spreadsheet ............................................................................................. 6-18
Lesson 5: Using PLPs and Rough Volumes .............................................................. 6-28
Lesson 6: Rough Drafting........................................................................................ 6-31
Lesson 7: Interactive Section Cutting...................................................................... 6-35
Lesson 8: Putting It All Together............................................................................. 6-42
Lesson 9: Where Do We Go From Here?,............................................................... 6-44
Appendix A: Classroom Setup...................................................... A-1

Appendix B: Customizations Used in Training..............................B-1
Appendix C: Update Locations .................................................... C-1
Introduction to Spot
CHAPTER 1
Chapter 1
Introduction to
Spot
About This Chapter
This chapter will give an introduction and add to our knowledge of
kinematics in Robcad, so that we can define our guns. It contains
the following lessons:
) Lesson 1: Training Introduction, page 1-2, gives an
introduction to the typographical conventions used in this
guide.
) Lesson 2: Spot Welding Primer, page 1-6, describes the basic
terms and processes of spot welding.
) Lesson 3: Overview, page 1-9, provides an overview of the spot
weld process.
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1-1
1-2
Lesson 1: Training
Introduction
Introduction to the Training
Manual Structure
The training manual is designed for a classroom containing
between three to seven students. Each student should sit at their
own workstation using their own copy of the data.
See Appendix A for a detailed description of the classroom setup.
Training Guide Typographical

Conventions
It is important for each trainee to understand this syntax before
starting the exercises. The following typographical conventions
will be followed in this training guide:
A training manual is broken down into logical units called
chapters.
The chapters are sub-divided into small lessons that have two
sections: the instructor lecture and the student exercise.
The exercise contains all button clicks required to produce the
result of the concept being taught in the lesson. The following
syntax will be found in the exercises:
Bullet Conventions:
This bullet is used to show an important sub-grouping of a

lesson or exercise. Usually bullet points or steps to do
something follow it.
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CHAPTER 1
This bullet is used to show bullet points in a lesson. It is not

usually found in an exercise.
This bullet is used to highlight the button clicks that need to

be carried out to complete a step of an exercise. Sometimes
they are used in a lesson to denote sub-bullets of the bullet
shown above.
Informational Sidebar Conventions:
This icon is used to show notes of special importance. This

icon type is used most often.
This icon is used to show tips that may be helpful after class.
The manual may only have a sparingly few number of these.
This icon is used to show areas where students usually fall in
a hole. It is meant to warn them before, help them avoid, or
help them get out once they are stuck. Hopefully the
manual has sparingly few of these situations.
Basic Exercise Conventions:
) Each exercise begins with a bold heading that begins with the
word Exercise. An exercise ends at the next bold heading.
) Each exercise is created in an outline format.
) The numbered steps give an overview of what is to be
accomplished.
) Detailed sub-steps enumerated by bullets follow each
numbered step.
Y For example: Here is a sub-step.
) It is suggested that the trainee read the overview step to
understand what is to be done. Then continue to the bulleted
sub-steps for each button click required to complete the step.
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Exercise Button Click Conventions:
) In the exercises the titles of windows, pop-ups, toolbars, or

viewers, are shown in italic.
) Items that should be clicked with the mouse (i.e. action items),
are shown in bold. For example: objects, buttons, icons, menu
selections.
) However, the [OK], [Cancel], [Yes], and [No] buttons are
shown in brackets.
) Special keys from the keyboard are shown in brackets. For
example: [Enter], [Alt], [Ctrl], [Delete], etc
) When an action item from the top menu bar is found in an
exercise it is shown with an arrow between the top menu and
the action item. For example: File -> Exit.
) When an icon is referenced in an exercise of the training
manual, the name of the icon appears in bold in the step
followed by the icon. For example: Open Project
.
Example Usage of Exercise Conventions:
1 There are two ways to refer to a top menu item such as Save:
Y From the File menu, select Save. The current file is saved.
Or
Y Select File -> Save. The current file is saved.

2 Here is how an icon from a toolbar is refered to in an exercise:
Y Click Save
from the Standard toolbar.
3 Here is how a button on the keyboard or a common button on

a form is refered to in an exercise:
Y Select the [Enter] key.
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CHAPTER 1
Y Select the [OK] button.
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Lesson 2: Spot Welding

Primer
Introduction
The automotive industry utilizes spot-welding as the most common
method of joining metal sheets. This method uses high pressure and
current to melt two sheets at their point of contact, such that when
the melted areas harden they are fused together. The process
historically used for spot-welding on a mass-production basis was
hard automation, in which many points are welded together at one
time. This method is rapid, but suffers from the disadvantage of
being extremely inflexible: model changes require extensive and
expensive rebuilding of manufacturing machinery, thereby
encouraging manufacturers to continue producing obsolete models
to the detriment of their ability to compete.
The introduction of robotic spot welding, to which this document
applies, has brought a new level of flexibility to manufacturing.
This process spot-welds points one at a time, using either a generalpurpose or a specially built robot which carries a welding gun
constructed from a variety of mechanical, electrical and hydraulic
components.
The points to be spot-welded usually have diameters of 68 mm,
are spaced 10400 mm apart, and should be located a few
millimeters or more away from the edges of the metal sheets. Spotwelding guns usually have three states: fully open, half open, and
closed. One arm usually is movable and the other arm is either
fixed or has a very limited range of movement.
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CHAPTER 1
With some manufacturers, the engineer who designs the spotwelding lines also constructs his own spot-welding guns from basic
components: cylinders, valves, transformers, etc. Other
manufacturers purchase the gun as a single unit, and the engineer
needs only to select the geometry of the shanks. Still other
manufacturers stock the guns complete with their shanks, requiring
the engineer to select only the gun itself.
Welding controllers control the welding guns. They typically
supply five to sixteen different sets of welding currents and current
times, and are activated by output signals from the welding robots.
Designing a Spot-Welding Line

The engineering department responsible for designing the robotic
lines, receives drawings of the individual segments from the design
department. The engineering department then determines the
number and location of the welding points, and also designs the
clamps and arranges them on the fixture.
This process is designated weld study; it produces welding points
marked on the drawing.
The next stage, frequently performed by the same department, is
designing the robotic lines; this operation includes:
) Assigning welding points to each robot
) Assigning a welding gun and shanks to each robot
) Assigning the order of welding the points and the order of the
robots
) Placing the robots and the workpieces relative to each other
All of these steps, together with writing the programs for the robots,
are intended to be performed on the Robcad Spot workstation.
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1-8
Design Targets
The entire design process may require several hours average time
per welding point.
Despite the time required, the design is prone to errors and still
leaves much work for the implementation stage, resulting in a
further waste of time and money. The final design then falls short of
optimum. To minimize these problems, the design work has several
clearly defined goals:
) Determining the correct welding-gun geometry, particularly the
shanks, so as to enable reaching all welding points without
collision, while minimizing cycle time and welding-gun weight.
) Assuring reachability to all welding and intermediate (via)
points, without collision and with an optimal (minimal) cycle
time.
) Assuring maximum usage of stock equipment: robots, guns,
shanks, tips, etc.
) Detecting design errors at the design stage.
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CHAPTER 1
Lesson 3: Overview
Introduction
The goal of this class is too make several spot welding cells for
different situations.
As with all Robcad Spot training, we start with the goal in mind.
We will load the final cells and examine them. As we build up the
workcells, we will then know what our goal is.
Robcad Spot Overview

The Robcad Spot product is a comprehensive tool for designing
and programming robotic spot-welding applications. However, it
emphasizes not programming but design tasks:
) It defines welding locations on the workpiece.
) It performs the conceptual geometrical design of the weldinggun shanks.
) It determines the relative placement of robots and workpieces.
) It reveals and corrects problems of reachability.
) It produces via locations.
) It optimizes the welding path to minimize cycle time while
avoiding collisions.
) It simulates the spot-welding operation.
The flexibility of the Robcad Spot application enables it to
accommodate a variety of industrial situations:
) It accommodates both the design of new welding lines and the
redesign or modification of existing lines.
) It designs subassembly lines and the final assembly line.
) It is able to begin at the initial stage or at any intermediate stage
in the design process.
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) It accommodates designs in which the robot holds either the

welding gun or the part to be welded.
) It is suitable for all of the common weld gun configurations: C,
scissor (X gun) and push gun.
) It satisfies the requirements of a wide variety of users, as
determined by close cooperation between Robcad Spot
personnel and the users community.
EXERCISE 1: Loading the Cell at

the Station (Workcell) Level
Objective: To load and examine two cells created at the workcell
level. This is the most common level for every day Robcad Spot
use.
1 Start Robcad.
Y Double click on the Robcad desktop icon.
2 Load the cell station_02 from the .\WKP202U\projects\intro
project.
Y From the Top Menu, select Layout.
Y Click Load cell.
Y For Project, select .\WKP202U\projects\intro.
Y For Cell, select station_02.
Y Click Accept.
3 Examine the cell.
4 Load the cell station_22 from the .\WKP202U\projects\intro
project.
Y Click Load cell.
Y For Cell, select station_22.
Y Click Accept.
5 Examine the cell.
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CHAPTER 1

the Line Level
Objective: To load and examine the cell created at the line level. A
line contains several workcells. This level is done in either Robcad
Spot or the Tecnomatix eM-Plant product.
1 Load the cell line_200 from the intro project.
Y Select Layout > Load cell.
Y Project: projects/intro
Y Cell: line_200
2 Examine the cell.
NOTE
Usually, processing at this level is done in Plant Simulation or Process Designer.

Smaller chunks are then set to Robcad or Process Simulate for detailed process
creation and validation.

the Plant Level
Objective: To load and examine cell created at the plant level. A
plant is made up of several lines. This level is usually done in the
Tecnomatix eM-Plant product and is rarely done in Robcad Spot.
1 Load the cell plant_0001 from the .\WKP202U\projects\intro
project.
Y Click Load cell.
Y For Cell, select plant_0001.
Y Click Accept.
2 Examine the cell.
NOTE
Usually, processing at this level is done in Plant Simulation or Process Designer.

Smaller chunks are then set to Robcad or Process Simulate for detailed process
creation and validation.
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Chapter Summary
In this chapter the following was learned:
) The basic terms and processes of spot welding.
) Got an overview of the spot weld process.
) How to create some different types of weld gun kinematics.
) How to add lead and follow factor to weld gun kinematics.
) How to add loops to a kinematic tree.
) How to create a kinematic tree with branching.
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The Robcad Spot Weld Process

CHAPTER 2
Chapter 2
The Robcad Spot

Weld Process
About This Chapter
This chapter describes how to use the basic tools in Robcad Spot.
It contains the following lessons:
) Lesson 1: Process Methodology, page 2-3, gives an overview of
the spot weld process.
) Lesson 2: Getting Guns into Robcad Spot, page 2-5, describes
how to get guns into Robcad Spot (Review).
) Lesson 3: Adding Weld Points, page 2-7, describes a method to
get weld points into the workcell.
) Lesson 4: Projecting Welding Points, page 2-10, describes how
to project weld points onto the part thereby creating weld
locations.
) Lesson 5: Creating and Editing a Weld Path, page 2-19,
describes how to create and edit a path of weld locations.
) Lesson 6: Multi-sections, page 2-22, describes how to use the
multi-section tool.
) Lesson 7: Test Robots Reachability to the Locations, page 230, describes how to use several techniques to test the robots
ability to reach locations in its path.
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2-2
) Lesson 8: Creating Via Locations, page 2-48, describes how to

add clearance moves to a weld path.
) Lesson 9: Optimizing the Path, page 2-62, describes how to
optimize the via locations in a weld path.
) Lesson 10: Automatic Path Planner, page 2-66, describes how
to use the Automatic Path Planner tool.
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CHAPTER 2
Lesson 1: Process
Methodology
Principles
Robot Program:
When using a teach pendant, the robot is moved to a position and

the joint angles are recorded.
Robot Program consists of ...
A SEQUENCE of poses consisting of JOINT ANGLES with
associated INSTRUCTIONS
Robcad Spot Program:
Robcad Spot uses Inverse kinematics to determine the joint values

needed to reach a given target location.
Robcad Spot Program consists of ...
A PATH which consists of TARGET LOCATIONS (Position and
Orientation) with associated ATTRIBUTES
With this definition of a program, the process in Robcad Spot is
independent of the robot and the tool. Later, the Robcad Spot
progam can be downloaded to robot program, so that it can control
the robot. This gives the flexibility in Robcad Spot to select a
different robot at any time before we download.
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2-4
The Process: From Least

Constraints to Most Constraints
In Robcad Spot, we start with the simplest situation: a part and a
path. Then we slowly add one more piece to the cell--such as weld
guns, robots, fixtures, etc--until the path is perfected. Here is the
process we follow:
1 Define the guns, if they are not already
2 Place workpiece in cell.
3 Define or import work points.
4 Project target locations on the work piece.
5 Check orientation of the target locations using a first
approximation gun.
6 Create first approximation sequence of weld path.
7 Perform a first run along the path.
8 Test reachability of robot.
9 Check for collisions.
10 Adjust path.
11 Optimize path cycle time.
Strategic Planning
Begin the design process with strategic planning, by viewing the
spot-welding line as a whole. At the workstation equipped with the
Robcad Spot application, load the complete workcell with an
approximate, preliminary placement of its components. Then
observe the workcell with a view to answering these questions:
) How should each robot be positioned relative to the
workpiece?
) What type of welding gun should be used?
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CHAPTER 2
) Which welding points on the workpiece will each robot

handle?
) What will be the rough construction of the welding program?
This consideration includes determining motion from point to
point and the direction from which to approach each point.
) Will the welding gun or the workpiece be mounted on the
robot?
The answers to these questions, together with the calculated
working time for each robot, facilitate assigning welding points to
each robot in the workcell.
Lesson 2: Getting Guns into

Robcad Spot
Introduction
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2-6
This course assumes that weld guns, fixtures, robots, etc have
already been placed into the Robcad library and contain the
appropriate kinematics.
Ways to Get Guns (or other components)
) Model them in Robcad Spot

) Model them in another CAD system and translate them into
Robcad Spot
) Model them in another CAD system and link them to Robcad
Spot
) Get them from the Siemens GTAC download website.
(primarily commercial robots)
NOTE
For more information about translating, CAD linking, or modeling kinematics

in Robcad, see the WKP209U Robcad Advanced Modeling and Kinematics
course.
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CHAPTER 2
Lesson 3: Adding Weld Points

Introduction
Weld Points are points on the workpiece where spot-welding is
intended to occur. These points have position but no orientation;
and therefore are completely specified by three position
coordinates.
Work points can be placed into a Robcad Spot cell in three ways:
1 Get a component that contains weld points
2 Import a text file containing the XYZ locations of weld points
3 Create weld points in Robcad Spot
Once we have our weld points in the cell, we project them onto
the workpiece to create the welding locations. The locations
maintain the position and orientation of each spot weld. In this
lesson, we will place the weld points into the cell. The next lesson,
we will project those points onto the workpiece.
Adding Weld Points

Refer to the Help [F1] for more details.
Robcad > Spot > Weld_locs > Points/
)
Import Copies Cartesian points from a specified file, places

them in the workcell at coordinates referred either to the
working frame or to any other specified frame, and attaches
them one way to a specified workpiece.
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) Create Generates a Cartesian point at a specified position in

the workcell, attaches it one-way to a workcell element. The
workcell element is the workpiece to be welded. The point may
be generated either by picking its intended place, or by
specifying its X, Y, Z coordinates.
EXERCISE: Setting Up the Cell and

Adding Weld Points
Objective: To setup the training cell with weld points
1 Create a new cell named myspot in the
.\WKP202U\projects\processing project.
Y From the Top Menu window, select Robcad -> Spot.
Y From the Spot Top Menu window, select Layout.
Y From the Layout window, select Load cell.
Y Go to the .\WKP202U\projects\processing project.
Y Type in myspot.
Y Click Accept.
Y A new, empty cell is loaded.
2 Setup the cell.
Y From the Top Menu window, select Layout.
Y From the Layout window, select Get component.
Y Click Libraries.
Y Browse to the cell_setups library.

Y Component: cell_base.
Y Click Accept.
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CHAPTER 2
3 Display the car_ref frame that is part of the cell base

component.
Y From the Top Menu window, select Display
Y From the Display window, select Display/All to display the
existing frames.
Y The green frame is the car_ref frame (part of the cell_base).
4 Perform layout of workpiece into the cell.
Y Browse to the parts_97 library.
Y Component: wire_part.
Y Locate at: car_ref frame.
Y Click Accept.
Y Browse to the parts_97 library.
Y Component: surf_part.
Y Click Accept.
Y (Do not get the weld points from this folder).
5 Get the weld points component.
Y From the Layout window, select Get Component.
Y Browse to the points_97 library.
Y Component: weld_points1.
Y Click Accept.
6 Store the cell.
Y From the Layout window, select Store.
Y Click Confirm.
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Lesson 3: Projecting Weld

Locations
Introduction
A weld location in Robcad Spot is unique type of frame that
contain the position and orientation of the TCP frame at a weld
point. Weld locations are generated with their origins placed on
the work points. The origins of the locations are the actual spotwelding points. The weld locations guide the welding gun to the
welding points by defining for each welding point an approach
vector and a vector perpendicular to the workpiece.
Weld locations also contain process information specific to spot
welding such as:
Gun state, Location type, Speed, etc... for a spot weld.
Weld Location Constraints

Weld locations must be on the surface and one axis must be
perpendicular to the surface.
A Weld locations orientation is very important.
) One axis has to be perpendicular to the surface being welded
in order to create a high quality and efficient weld. This axis is
set by default to Z.
) Another axis indicates the direction of approach of the weld.
This axis is set by default to X.
NOTE
Default approach and perpendicular axis are defined and can be modified using
Robcad > Spot > Spot_Setup > Vectors.
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CHAPTER 2
Projecting Weld Locations

Robcad > Spot > Weld_locs > Locations/
Project produces welding locations either on all of the surfaces

contained in a list of workpieces, or on a single surface, while
maintaining the weld location constraints mentioned above. The
resulting weld locations are on the surface and one axis, by default
Z, is perpendicular to the surface.
Usage:
1 Choose the projection type:

Y Automatic projects points on the whole component
Y Manual projects points on specific entity (needed
sometimes)
2 Pick the weld points that will be projected until the surfaces to
create the weld locations.
3 Pick the workpiece(s) associated to the weld points (for

projection).
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Verifying the Weld Location

Orientation
When projecting weld locations, a preliminary orientation of the
weld location is created, so the next step in the process is to check
the orientation of the locations.
Get the first approximation of gun.
Select Layout > Get component: gun1
Verify the approach vector of weld locations.
) Select Robcad -> Spot > Gun > Guns at locations/Create.
) Select gun1.
) Select gun frame.
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CHAPTER 2
) Select a weld location on which you want the copy of the gun
to appear.
) Click Accept.
NOTE
The approach of the gun must be modified to avoid collision between the gun shank
and work piece
Another method of verifying the approach vector:

When modeling the gun, create the Self origin at the Tool Center
Point Frame (TCPF) and use Put to move the gun to a weld
location, instead of the Fixtures menu.
Modifying the Weld Location Orientation, if necessary
Select Robcad > Spot > Weld_locs > Modify orientation/
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Flip location - Rotates weld location about the approach vector

180 degrees to reverse the direction of the perpendicular axis.
Interpolate orientation - Rotates locations to interpolate their
approach vectors between two locations.
Modify the orientation of the weld location approach

vector using
) Select Robcad > Spot > Weld_locs > Modify

orientation/Rotate interactively.
) Click on Name, then select the weld location that the gun is
attached to.
) Now, click on Rotate and use the middle mouse button to
interactively rotate the weld location about the perpendicular
axis.
NOTE
The gun is attached to the weld location; this command rotates the weld location
NOT the gun.
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CHAPTER 2
) Align orientations of the other weld locations to match the

orientation of the above weld location.
) Select Weld_locs > Modify/orientation/Align orientation
) Reference frame - Enter/Pick the correctly oriented weld
location.
) Enter/Pick the weld location to be aligned.

NOTE
Weld locations can be selected by a pick window.

NOTE
This command aligns all orientations while maintaining the perpendicular constraint
of the weld locations.
NOTE
Default approach and perpendicular axes are defined and can be modified using
Select Robcad > Spot > Spot_Setup > Vectors
EXERCISE: Projecting Weld Points

Objective: To Project the weld locations we have created onto the
workpiece and orient them roughly to avoid collision with the
workpiece.
Verify that the myspot.ce cell is loaded from the
.\WKP202U\projects\processing project (the cell from the last
exercise)
1 Project weld points as weld locations on the car surf_part.
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Y
Y
Y
Y
Y
From the Top Menu window, select Robcad > Spot.

From the Spot Top Menu window, select Weld_locs.
From the Weld_locs window, select Locations/Project.
For Point list, window in the weld points to create list.
For Workpiece list, pick surf_part.
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.
2 Get the first approximation of gun.

Y From the guns library.
Y Component: gun1.
3 Use this special menu to put a temporary gun on to a location
to check the locations orientation.
Y From the Spot Top Menu window, select Gun > Guns at
locations/Create to create an approximation gun. Select a
weld location for this gun.
4 Orient the weld location approach vector.
Y From the Spot Top Menu window, select Weld_locs
Y From the Weld_Locs window, select Modify
orientation/Rotate interactively.
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CHAPTER 2
NOTE
Constraint the approach of the gun must be modified to avoid collisions.
Y The following panel will appear at the bottom of the

commands window.
Y Click Name then a location to rotate interactively.

Y Click Perp and use middle mouse button to rotate the
location about Z-axis.
NOTE
NOT the gun. When the location is rotated, the gun will follow.
5 Align orientations of the other weld locations.

Y From the Weld_locs window, select Modify
orientation/Align orientation.
Y For Reference frame, pick frame you just rotated.

Y For Aligned location list, window all locations.
NOTE
NOTE
Weld locations for Aligned location list can be selected with a pick window.
6 Now, delete the temporary gun just created.

Y From the Top Menu window, select Gun
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Y From the Gun window, select Guns at locations / Delete.

Y Confirm No undo: Click Confirm.
7 Store workcell.
Y Click Confirm.
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CHAPTER 2
Lesson 4: Creating and

Editing a Weld Path
Creating a Path
1 Use the Path Editor
2 Click Create Path
.
.
3 In the create Path window, pick in the locations box.
4 Select the locations in the order they will be in the path.

5 Click [OK].
Creating a Weld Path (This is not

an exercise)
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NOTE
Select the weld locations in order of the path sequence.

3 Select the gun, gun frame and the path along which to jog the
gun
NOTE
Make sure that the gun frame has been selected, NOT the weld location.
4 Delete the first approximation gun.
EXERCISE: Adjusting a Weld Path

Objective: To create the weld path from the locations from the
previous exercise and jog a weld gun along it. Verify that the
myspot.ce cell from the .\WKP202U\projects\processing project
is loaded.
1 Create notes on locations.
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
.
From the Toolbox Manager, select Notes Editor
Click the Settings tab.
For Default text, select Name.
Click the Notes tab.
In the Notes Editor window, click Create.
In the Create Note window, click the Mutli-notes tab.
For the Filter type, click Global Locations.
Draw a window around objects in the Graphics Window.
Click [OK].
In the Notes Editor window, click Reposition.
Pick a note and pick a new position for it.
Click Cancel when finished.
2 Create a Path out of the three new weld locations.
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CHAPTER 2
Y From the Toolbox Manager, click Path Editor
.
Y Click Create Path
Y Pick the locations (in the Path Editor or the Graphics
Window) in the order you want them in the path.
Y (Take the default path name of pa1).
Y Click [OK].
Y From the Top Menu window, select Display.
Y From the Display window, select Display / By type >
Frames.
Y From the Top Menu window, select Gun.
Y From the Gun window, select Guns at locations / Create.
Y For Gun, pick the gun you just got.
Y For Gun frame, pick the TCP frame of this gun.
Y For Location or path, pick one of the new locations created.
Y Click Accept.
4 Jog the gun along the path.
Y From the Gun window, select Gun jog / Along a path.
Y For Gun, pick the gun you just got.
Y For Gun frame, pick the TCP frame of this gun (or type fr1).
Y For Path, pick the pa1 weldpath.
Y Click Accept.
5 Delete the temporary gun at the location you where just
rotating, if you did not already.
Y From the Gun window, select Gun at locations / Delete.
Y Select the gun you where just rotating.
Y Click Accept.
Y No undo: Click Confirm.
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Lesson 5: Multi Sections

Steps for Creating Multi Sections
) Create and place a cutting box on weld location (s).
) Create multi-sections of the workpiece to evaluate the
suitability of a gun.
) Edit multi-sections.
) Select gun to be placed on sections and evaluate gun design.
) Based on gun overlay, modify the shank using Modeling OR
choose another gun that is appropriate for this particular
process.
) Close, delete or store as component the multi-section windows.
EXERCISE: Gun Shank Validation

Objective: To create cross-sections of the weld gun at various spot
welds to check for clearance and validate the gun for this process.
Verify that the myspot.ce cell from the
.\WKP202U\projects\processing project is loaded.
1 Get a gun and put it at a weld location.
Y From the Top Menu window, click Gun.
Y From the Gun window, click Guns at locations / Create.
Y In the Place gun at locations window, for Gun, select the

gun.
Y For Gun frame, select the TCP frame of the gun.
Y For Location or path list: Pick the pa1 path.
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CHAPTER 2
Y Click Accept.
2 Create and place cutting box on weld location (s).
Y From the Gun window, click Create sections/Show cutting
box.
Y Click on the weld location that the gun is on.

Y The Cutting parameters window is shown in the lower right
corner of the Graphics Window.
Y In the Cutting parameters window, click the + for the Third

axis.
Y A prompt window is shown in the upper right corner of the
Graphics Window.
Y
Y
Y
Y
Enter 1 and press [Enter].

Click the for the Third axis.
Enter 1 and press [Enter].
Follow the same process to enter 300 for both the Approach
and Perpendicular values.
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Y Notice how the cutting box shape has changed in the

Graphics Window.
3 Create multi-sections of the workpiece to evaluate the
suitability of the gun.
Y From the Gun window, click Create sections/Create multisection.
Y For Location or path list, select the pa1 path.
Y Click Cut list.

Y Pick the surf_part and wire_part (do not pick the gun at this
time).
Y Click Accept.
NOTE
This command forms sections according to the cuttingbox parameters currently

determined for the show cutting box command. This command produces a section
for each location selected, either for all components which the cutting box intersects
or for list of selected components.
Y A new Graphics Window is opened displaying the sections.

4 Show side view of multi-section (line them up).
Y From the Gun window, click Edit sections / Show side
view.
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CHAPTER 2
Y Pick anywhere on the multi-section.

Y Right click in the in the new cross section Graphics
Window and select Full View
to zoom out.
5 To identify a section on the workpiece.

Y From the Gun window, click Edit sections/ Identify section.
Y Click on a section to identify in the cross section Graphics

Window.
Y The location at that location in highlighted in the main
Graphics Window.
Y Click Reset.
6 Select the gun to be placed on sections and evaluate gun
design.
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Y Place gun in multi-section window: From the Gun window,

click Select gun / Place.
Y In the Place gun on sections window for Gun, select the gun
on the location in the main Graphics Window.
Y For Gun tcp frame, select the TCPF of the gun on the
location in the main Graphics Window (or type fr1).
Y For Section, select one of the sections in the cross section
Graphics Window.
Y Click Accept.
7 Measure the required throat depth and throat height of the cross
sections.
NOTE
Throat depth is measured from the weld location back towards the approach side
(in this case along the positive Z axis) .
Throat height is measured perpendicular to the throat depth on the plane of the
cross section (in this case from the top to the bottom of the cross section along the
X axis of the cross section location).
Y
Y
Y
Y
Y
From the Top Menu, select Query.

From the Query window, select PTP distance.
Press [F11] until the Pick Intent is set the Where Picked.
Pick the desired two points for the Throat depth.
Write down the values or press [F4] to save a picture of the
Graphics Window.
Y Pick the desired two points for the Throat depth.
Y Write down the values or press [F4] to save a picture of the
Graphics Window.
Y
8 Check the collisions between thee gun and section.
Y Press [F12] until the Pick Level is set to Component.
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CHAPTER 2
Y From the Toolbox Manager, select Collision Setup
Y
Y
Y
Y
Y
In the Collision Setup window, select Define pair.

Change your Pick level to Component.
Select the gun in the cross section for the First list.
Select the crosssection for the Second list.
In the Toolbox Manager window, turn collision checking to
Lists:
9 Use the Transfer panel of the Placement Editor to move the gun
along the crosssections (Y axis of the gun frame).
Y Rotate a little in the cross section Graphics Window to an
isometric view.
Y Press [F12] until the Pick Level is set to Component.
Y Right click on the gun in the cross section Graphics
Y
Y
Y
Y
Y
Y
.
Window and select Placement
Click Other.
For Other frame, select the TCP frame of the cross section
gun (or the location that it at).
Click Accept.
Click Y.
Hold down the middle mouse button and move the mouse
left to right to slide the gun along the cross sections.
Verify that there are no collisions between the gun and the
part (Robcad will highlight then in red or beep).
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NOTE
Based on gun overlay, modify the shank using Modeling OR choose another gun
that is appropriate for this particular process would be suggested.
10 Store the multi-section as a component.

Y From the Top Menu, select Gun.
Y From the Gun window, click Store as component.
Y For Multi-section, pick the section.

Y For New component name, enter a name such as
my_section.
Y Click Accept.
11 Close the multi-section window.
Y Move your mouse pointer into the multi-section window.
Y Press the [F5] key and select Close window.
NOTE
When a multi-section window is closed, the sections remain in the geometry of the
cell and can be opened in a multi-section window.
12 If you want to open the section window again later for this
section:
Y Right click in the in the Graphics Window and select Full
to zoom out.
View
Y From the Gun window, click Edit sections/ Open multisection win command.
Y For Multi-section, select the multi-section.
13 Remove the gun at the section.
Y From the Gun window, click Select gun/ Delete.
Y For Gun, select the gun on the multi-section.
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CHAPTER 2
Y Click Confirm.
14 Remove the multi section.
Y From the Gun window, click Edit sections/ Delete mutlisection.
Y For Multi-section, select the multi-section
Y Click Confirm.
15 Remove cutting box.
Y From the Gun window, select Create sections/ Remove
cutting box.
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Lesson 6: Test Robots

Reachability to the Locations
Introduction
Anther constrain we will add to the process creation is the
reachability of the robot. These steps must be done before you can
test the robots reachability:
) Bring robot into the cell.
Y From the Top Menu window, click Layout.
Y From the Layout window, click Get component: robot
) Mount gun to robot and define TCPF.
Y From the Toolbox Manager, click Motion

Y
Y
Y
Y
Y
Y
From the Motion window, Settings

Click Mount.
Check the gun.
Click Accept.
Click Tcpf.
Choose the TCPF on the gun.
.
.
The following three methods allow you to check the reachability of

a robot to locations.
NOTE
The active mechanism must be the robot.
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CHAPTER 2
Method 1: Transfer Panel

1 From the Toolbox Manager, click Motion
2 From the Motion window, Reachability
3 Select the robot as the active mechanism.

4 Select Reach target and pick the path.
5 Use the panel to move robot to a position in which all locations
are reachable by the robot.
Y Blue locations = reachable

Y Red locations = not reachable
Method 2: Place Robot/Workpeice

NOTE: This method is basically a copy of the Reachability
tab of the Motion
interface.
window, but with a slightly different
1 Choose locations to check.

Y From the Top Menu window, click Placement.
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Y From the Placement window, click Define setup/ Locations

to check.
Y Select the locations for which to check robots reachability .
2 Perform placement.
Y From the Placement window, click Perform placement/
Place robot/workpiece.
Y Opens a panel for interactively adjusting the position of the
robot or the workpiece the robot is attempting to weld. to
improve the ability of the robot to reach the welding
locations on the workpiece.
Y Go to place - Puts the object being moved on the frame
selected.
Y Mark place - Used to reference the position of the object
being moved at a later time; Creates a frame at the self
origin of the object being moved.
Y Show time - If all locations are reachable, shows the cycle
time of the process using the current positions of the robot
and the workpiece.
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CHAPTER 2
3 Click Placed Object on the panel.

4 Click on the robot or the workpiece.
5 Adjust the position of the object using the panel.
Method 3 and 4: Autoplace

Calculates placements within a specified search domain for a robot
from which it can superimpose its TCPF on specified locations.
Each such calculated placement for the robot is a solution.
1 Open the Autoplace window.
Y From the Toolbox Manager, select Autoplace
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NOTE
By default the Robot and Place Object are set to the Active Mechanism (if it is a
robot).
2 Select all the locations the robot is required to reach.

Y In the Autoplace window, click Locations.
Y In the Set Locations / Paths and Tcpf window, click Add.
Y Pick your path and click Accept.

NOTE
If your gun has more than one TCPF, choose the desired one. In this case, we
have only one.
Y In the Set Locations / Paths and Tcpf window, click Close.

3 Specify the size of the domain, a region within which to test
different placements of the robot, AND interval within the
domain at which to test placements of the robot.
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CHAPTER 2
Y In the Autoplace window, click Define grid.
NOTE
This command creates grid points representing all possible solutions at the intervals
specified.
Y In the Autoplace settings window, set the Search mode to

Static (Method 3) or to Analyze (Method 4).
NOTE
Proximity specifies how closely joints may approach their limits for auto-placement
solution to be reported as acceptable. The proximity value is specified as a
percentage of the total joint travel.
4 Execute the auto-placement procedure. Pick stop to terminate

the procedure prematurely.
Y In the Autoplace window, click Run.
NOTE
The tested grid points are colored to indicate the degree of success.
Y The number of grid points are shown at which the robot

was able to reach the specified locations.
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Y To place the robot at meaningful grid points, click Mark

Solutions to generate workcell frames on them.
EXERCISE 1: Testing Reachability

(Method 1)
Objective: To add the constraint of the robots reachabilty to the
path.
Verify that the myspot cell in the .\WKP202U\projects\processing
project is loaded.
1 Bring robot into the cell.
Y From the Top Menu window, click Layout.
Y From the Layout window, click Get component.
Y From the robots library.
Y For Component, select gmfs420.co.
Y For Locate at, pick on the floor in front of the path.
Y Click [OK].
2 Mount gun to robot.
Y
Y
Y
Y
From the Toolbox Manager, click Motion

Select Active mechanism.
For Mechanism, pick the robot.
Press the [Enter] key.
NOTE
The Active mechanism button is on the right click menu.
Y From the Motion window, pick the Settings

Y Click Mount.
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tab.

CHAPTER 2
Y For the Gun, pick the gun.

Y Click Accept.
3 You will want to orient the gun so that the tips point up. This
can be done by rotating the gun around its self origin Z axis (90
degrees).
Y From the Toolbox Manager, click Placement Editor
Y
Y
Y
Y
Y
.
Double click on the gun.
Click Rotate.
Click Lz.
Enter 90.
Click Accept.
4 Define TCPF (tool center point frame) using the Robcad Spot
Placement menu.
tab.
Y From the Motion window, pick the Settings
Y Click Tcpf.
Y For the Frame name, pick the TCP frame on the gun.
5 Test robots reachability to the locations.
NOTE
The same functionality can be found one Robcad Spot -> Placement window:
Click Locations to Check and pick the path.
Place robot/workpeice and pick the robot.
Move it in the X,Y
Y From the Motion window Reachability

Y Select the Robot as the active mechanism.
Y Select Reach target and pick the path.
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tab.
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Y Use the panel to move robot to a position in which all

locations are reachable by the robot. Locations colored
Blue are reachable and Red locations are not reachable.
NOTE
Use the panel to move robot to a position in which all locations are reachable
(blue).
6 Move the robot along the welding path.
Y From the Motion window, click Move

Move Along
tab, click
7 Store the cell.

Y From the Top Menu window, click Layout
Y From the Layout window, click Store.
Y Click Confirm.
NOTE
We will talk about Method 2 for placing the part towards the robot in a later chapter
when we talk about mounted workpeice spot welding.
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CHAPTER 2

(Method 3)
Objective: To add the constraint of the ability of the robot to reach
the path.
Verify that the myspot.ce cell in the
1 Make sure the robot is the active mechanism.
2 Open the Autoplace window.
Y From the Toolbox Manager, select Autoplace
NOTE
By default the Robot and Place Object are set to the Active Mechanism (if it is a
robot).
3 Select all the locations the robot is required to reach.

Y In the Autoplace window, click Locations.
Y In the Set Locations / Paths and Tcpf window, click Add.
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Y Pick the pa1 path and click Accept.
NOTE
If your gun has more than one TCPF, choose the desired one. In this case, we
have only one.
Y In the Set Locations / Paths and Tcpf window, click Close.
4 Define a grid points representing all possible solutions at the

intervals specified.
Y In the Autoplace window, click Define grid.
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CHAPTER 2
Y
Y
Y
Y
Y
Size x: 2000
Step x: 100
Size y: 2000
Step y: 100
Click Accept.
5 Change the Autoplace settings.

Y In the Autoplace window, click Settings.

Static.
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NOTE
Y Click Close.
6 Select Run to execute the auto-placement procedure. Pick stop
to terminate the procedure prematurely.
NOTE
7 Look at the spreadsheet for this run to see which locations are
best. The positions to be put the robot are listed in this
spreadsheet so that the best ones are first and the worse ones
are last.
Y In the Autoplace - Simulation Results window, scroll to the
top of the list.
Y Grid points that had full inverse for all locations in the path
are shown with a Yes in the Result column.
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CHAPTER 2
8 Use Mark solutions to create a frame at each grid point.

Y From the Autoplace window, click Mark solutions.
Y Right click on all the grid point names in the Autoplace
Simulation Results window to copy/paste the names into the
Point window.
Y In the Mark solutions window, click Accept.

9 Move the robot to one of the blue frames.
Y
Y
Y
Y
From the Motion window Reachability

tab.
Select the Robot as the active mechanism.
Select Jump to Place.
Pick one of the blue frames just created on the grid points.
are last.
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11 You can use the Robcad Spot file utilities to view this file later.
Y From the Top Menu window, click Data
Y From the Data window, click File Utilities.
Y Select Operate on > Other.
Y Browse in the source file window into your project folder.
Y Then browse into the workcell folder (end in .ce).
Y Pick the autoplace_results file.
Y Select Show.

(Method 4)
Objective: To add the constraint of the ability of the robot to reach
the path.
1 Continue from the previous Autoplace exercise. The setup for
the Analyze Autoplace technique is the same as for the Static
technique.
2 Select Analyze search mode.
Y In the Autoplace window, click Settings.

Analyze.
NOTE
Y Click the Save as csv file button.

Y Enter the name results2.
Y Press the [Enter] key.
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CHAPTER 2
Y Click Close.
3 Select Run to execute the auto-placement procedure. Pick stop
to terminate the procedure prematurely.
NOTE
are last.
Y In the Autoplace - Simulation Results window, scroll to the
top of the list.
Y Grid points that had full inverse for all locations in the path
are shown with a Yes in the Result column.
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Y Also notice the cycle time shown for each grid point.
5 Use Mark solutions to create a frame at each grid point.
Y From the Autoplace window, click Mark solutions.
Y Right click on all the grid point names in the Autoplace
Simulation Results window to copy/paste the names into the
Point window.
Y In the Mark solutions window, click Accept.

6 Move the robot to one of the blue frames (method1):
Y In the Autoplace window, click Jump to Solution.
Y Pick a grid point.
NOTE
Another method to move the robot to one of the blue frames.
From the Motion window Reachability
Right click the robot and select Set as active.
Select Place Object, and pick the robot.
Select Jump to Place.
Pick one of the blue frames just created on the grid points.
tab.
7 Compare these results with those from the Static search mode
run.
Y From the Top Menu window, click Robcad -> Workcell.
Y From the Top Menu window, click Data.
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CHAPTER 2
Y
Y
Y
Y
Y
Y
Y
Y
From the Data window, click File Utilities.

Select Operate on > Other.
Browse in the Source file window into your project folder.
Then Browse into the workcell folder (end in .ce).
Pick the autoplace_results file.
Select Show.
Look at the contents of the file again.
From the Top Menu window, click Robcad -> Spot.
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Lesson 7: Creating Via

Locations
Introduction
In this lesson, we will create via locations. A via location is any
location that is not a spot weld (or arc weld location). Typically
these are locations where the robot is moving in the air (not
touching a part). We will use them in order to clear the clamps
and designate the start and end locations for the path.
Methods to tell vias from other locations:
) Weld locations are brown and via locations are white

) Some commands that create via locations add a _v to the name
) Could rename weld locations to _weld, then others are via
locations
) Use a teach pendant to see the location type (described in the
WKP211 Robcad OLP course)
) Use the Location Attribute window to see the location type
The methods for creating via are located on these menus:
They are described below.

) Robcad > Spot > Via_locs > Create & Verify
) Toolbox Manager -> Motion
There are three methods to create via locations:
) Method 1: By interpolation
) Method 2: By Jog
) Method 3: By Pick
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CHAPTER 2
Method 1: By Interpolation
This method generates new via locations between two existing
locations that are specified, by joint or Cartesian interpolation. The
new locations are colored according to their reachability.
) This command requires that the active mechanism be a robot.
Usage:
) First pick two locations (the start and end locations for the
segment to be modified)
) Enter how many locations to create.
Method 2: By Jog
NOTE
This method is very similar to the method described earlier to create locations in a
path using the Joint Jog or Robot Jog tabs the Motion window
This method generates via locations by jogging a robot or any joint

thereof, and then by marking the current location of the robot
TCPF; the new via locations are generated superimposed on the
TCPF.
For example:
) Click From loc on panel. (This will create a via location after
the specified location.)
) Click on lo1 or lo8 depending on direction of your path.
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) Click on World, then Y and move mouse with middle button

pressed slightly to the right.
NOTE
The Path is being stretched.
) Click Mark via loc on panel to create via location at this point.
) Click To loc on panel. (This will create a via location before the
specified location).
) Click on lo1 or lo8 depending on the direction of your path and
create the next via location.
Method 3: By Pick
This method generates via locations at places selected by picking.
The orientation of every via location is the same as the orientation
of either first_location or second_location, whichever is closer to
the via location.
Usage:
) First pick two locations (the start and end locations for the
segment to be modified)
) Continue to pick on path (with Where Picked) to add another
location to the path.
An Approach plane or Perpendicular plane must be

selected:
) If the approach plane option is selected, the via locations lie on

the plane formed by the approach and third vectors of the
nearer of the two existing locations.
) If the perpendicular plane option is selected, the via locations
lie on the plane formed by the perpendicular and third vectors
of the nearer of the two existing locations.
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CHAPTER 2
Steps to Detecting Collisions

) (Step up the cell and create a process)
) Define a collision list
) Activate collision lists
) Run the current process
How Does It Work?
Collision detection is accomplished by looking for a collision

between each component in one list against each component in
another list. We must create a pair of lists to use for collision
detection.
Important Collision Detection

Ideas
(1) The collision lists are only processed at the graphics update
time interval.
This means that a collision will only be detected if it occurs at a
time interval boundary. It is possible that the interval is such that a
collision occurs between updates and will not be detected. The
smaller the interval, the less likely this will occur. To set the time
interval:
) From the Toolbox Manager, click Motion
) From the Motion, click the Settings

) Click Time interval
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The speed and acceleration of the object can affect the detection of
collisions. If they are very high, it may be advisable to reduce the
update time interval.
(2) Collisions are determined by the distance between surface
facets of the objects. Hence, if objects to be checked for collisions
have highly curved surfaces, higher display precision should be
used. To adjust precision:
Display > Precision & direction > Modify display precision
EXERCISE 1: Creating Start and

End Vias
Objective: To create the pounce (start) and end (clear) via locations
in the spot path.
Here is an easy method to create start and end vias:
Now add the first and last locations to the path. The robot should
start and stop at a location that allows the part to be moved in and
out. Do not worry about the gun colliding with the part right now.
Well take care of that later.
1 Make your pa1 path the Target of the Motion window.
2 If your automatic mode is set to Move:
Y Double click on the first location in the path.
Y From the Motion, click the Move

Y Set the Automatic Mode to Move.
3 Go to Robot Jog.
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tab.

CHAPTER 2
Y From the Motion, click the Robot Jog
tab.
4 Create a location in the path before the first location.

Y Click Create by jog.
Y In the Create via by jog window, click Before.
Y Pick the first location in the path in the Graphics Window.
Y Click Accept.
Y Send the robot home by clicking Home
Y Click Mark Loc.

Y Select Done.
5 If your automatic mode is set to Move, double-click on the last
location in the path.
tab.
Y From the Motion, click the Move
Y In the Graphics Window, double click on the last location
in the path.
6 Go to Robot Jog.
Y From the Motion, click the Robot Jog
tab.
7 Create a location in the path after the last location in the path.
Y Select Create by jog.
Y In the Create via by jog, select After.
Y Pick the last location in the path in the Graphics Window.
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Y Click Accept.
Y Send the robot home by clicking Home
Y Click Mark Loc.

Y Select Done.
8 Open the Path Editor.
Y From the Toolbox Manager window, click Path Editor
.
9 Rename the first location in the path to pounce.
Y In the Path Editor window, select the first location in the
path you just created.
Y Select Rename
Y Enter pounce.
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CHAPTER 2
Y Click [OK].
10 Rename the last location in the path to clear.
Y In the Path Editor window, select the last location in the
path you just created.
Y Select Rename
Y Enter clear.
Y Click [OK].
11 Close the Path Editor window.
Y In the Toolbox Manager window, click Path Editor

again to get rid of it.
12 Store your cell.
Y From the Top Menu, click Layout.
Y Click Store.
Y Click Confirm.
EXERCISE 2: Approach / Retract

Locations in the Path
Objective: To create locations to approach and retract from the
part.
1 Create two locations before the first weld location in the path
using Create by Jog. Use TCPF as the reference frame and jog
along X and Z to create the approach location.
2 Create two locations after the last weld location in the path
using Create by Jog. Use TCPF as the reference frame and jog
along X and Z to create the approach location.
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EXERCISE 3: Creating Collisions

Lists
Objective: To create a collision list.
1 Define collision list by selecting the crashing cars icon once.
Y From the Toolbox Manager, click Collision Setup

2 Define a collision list pair.
Y From the Collision Setup window, click Define pair.
3 Give the collision list pair a name.
Y In the Pair definition window, pick Pair name and type

gun_to_workpiece.
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CHAPTER 2

4 Change your pick level to component.
Y Toggle the [F12] key until pick level is set to Component.
5 Add the gun and robot to the first list.
Y For First list, click Add.
Y In the Add window pick the gun and the robot.

Y Select Accept on the gray Add window to accept these two
components for the first list.
6 Add the two parts to the second list.
Y For Second list, click Add.
Y Select the surf_part.
Y Select the wire_part.
Y Click Accept on the gray Add window to accept these two
components for the first list.
7 Congratulations! You have now setup the two lists that will be
used in our collision list pair. To create the collision list pair,
click Accept on the blue pair definition box.
Y Click Accept.
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8 Make it beep at every collision by picking on the button that

says Off and selecting On.
Y In the Collision Setup window, select Collision parameters
\ Bell > On.
9 Now, minimize the Collision setup window.
Y Click Collision Setup

window again.
in the Toolbox Manager
10 To start checking for collisions, select the button in the lower

right hand corner of the toolbox that says off and select Lists.
Y Change collision checking from off to Lists.
NOTE
If objects are blanked, they will not be detected in a collision
11 Get the r1_clamps, r2_clamps, and r3_clamps (from the clamps

library) and locate them on the car_ref frame of the cell_base
component
12 Add the clamps to a new collision list (a second list with the car
part)
Y From thee Toolbox Manager, click on Collision Setup
.
Y From the Collision Setup window, select Define pair.
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CHAPTER 2
Y In the Pair definition window, pick Pair name and type

gun_to_clamps.
Y Add the robot and the gun to the first list.
Y Add all three clamps to the second list.
Y Accept the creation of the collision list pair.
Y Close the Collision Setup window.
13 Store your cell
Y From the Top Menu window, select Layout
Y From the Layout window, select Store as. (So that we can
have a copy of our cell without of the vias from Exercise 4).
Y Enter for_method2 for the new name and press [Enter].
EXERCISE 4: Creating Vias to Avoid

Collisions (Method 1)
Objective: To create via locations to avoid collisions.
1 Create two vias by interpolation between the first two weld
points.
Y From the Top Menu window, select Via_locs.
Y From the Spot Via Locs window, select Create & verify / By
interpolation.
Y Pick the first weld location.

Y Pick the second weld location.
Y Enter 2 for the amount of vias to create.
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Y Click Accept.
NOTES:
You can also use create via locations in order to clear the part:
- From the Spot Via Locs window, select Create & verify / By pick.
- Figure out where you want to put a via location.

- Pick the location in the path before this new via to be created.
2 Follow the same process two create 2 interpolated vias between

the next two weld spots.
3 Follow the same process to create 2 interpolated vias between
the rest of the weld spots (except for the last two).
4 Play the simulation. If collisions occur, use Drag Loc from the
Motion window to move the existing vias around (or add more
via locations using one of the techniques already learned).
NOTES:
Drag Loc may not work when Collision Stop is activated.
5 Other things to try in the Motion window:

Y Try Drag Loc or Create by Jog to get around the clamp.
6 Verify that all collisions are removed from the path.
7 Store your cell.
EXERCISE 5: Creating Vias to Avoid

Collisions (Method 2)
Objective: To create via locations to avoid collisions.
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CHAPTER 2
Verify that the myspot.ce in the .\WKP202U\projects\processing

project is loaded.
1 Load the for_method2.ce workcell. (Created at the end of
Exercise 3).
2 Play the simulation once and write down the cycle time.
3 Reset the simulation and cycle time.
4 Make sure that collision checking is activated and that Collision
Stop is off.
5 Start the automatic path planner.
Y From the Top Menu window, select Via_locs.
Y From the Spot Via Locs window, select Automatic path
planner.
Y Select the segment of the path between the first weld spot in
the channel and the second as the last weld spot in the
chanel.
Y Click Accept.
6 Play the simulation and see what it did.
7 Store the workcell.
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Lesson 8: Optimizing the Path

Optimizing the Cycle Time
Optimizing the cycle time can only be done through adjusting via
locations.
) Via_locs > Optimize/Automatic
NOTE
Via_locs > Optimize/Automatic can also be used to see how cycle time
changes. However this technique requires user intervention.
This option optimizes a path segment by modifying intermediate

locations between two specified locations, in order to minimize the
time, which the robot requires, to move from the first specified
location through the intermediate locations to the second specified
location.
) If collision checking is enabled, the intermediate locations are
modified also to ensure that collisions do not occur.
) BUT if a collision occurs anywhere along the path segment
before it is optimized, no optimization occurs.
NOTE
Collision checking is used to optimize path. Parameters that affect collision

detection may need to be adjusted
Optimizing the Robots Joint

Movement
) Via_locs > Optimize/Bottleneck
This option interactively modifies locations to minimize the travel
of individual robot joints during movement toward them, by
distributing the contribution to cycle time equally among all joints.
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CHAPTER 2
) This command is restricted to modifying joint movement only

toward via locations.
) It is also restricted to motion type joint or slew.
EXERCISE: Optimizing Your Vias

Objective: To optimize your path by removing unneeded via
locations.
1 Store your cell first just in case.
2 Play the simulation once and write down the cycle time.
3 Reset the simulation and cycle time.
4 Make your collision lists active.
Y From the Toolbox Manager window, select or use a
collision list, via Collision Setup
.
Y From the Toolbox Manager window, select Lists
5 Optimize the cycle time through via locations.

Y From the Top Menu window, select Via_locs
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NOTE
The first location in the path must have a gun state on it. Automatic via (this may
take awhile).
Y From the Spot Via Locs window, select Optimize /

Automatic.
Y Select the first weld point.

Y Select the last weld point.
Y Click Accept.
NOTE
Collision checking is used to optimize path. Parameters that affect collision

detection may need to be adjusted.
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CHAPTER 2
Y A message about the improvement of the cycle time is

displayed below the Graphics Window.
6 Play the simulation and see how it has been changed.
7 Reset the colors of the locations:
Y From the Spot Via Locs window, select Create & modify/
Reset location colors.
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Lesson 9: Automatic Path

Planner
Introduction
A new module based on state-of-the-art technology automatically
generates collision-free paths for part assembly/disassembly and
spot welding.
Users provide the input of start and end locations and the module
generates a collision-free bypass.
Automatic Path Planner provides the following benefits:
) Automates generation of assembly and robotic operations with
significant time savings in finding collision-free paths
) Enables users to perform more studies
) Allows a greater number of users to work (not only experts)
The Automatic Path Planning application requires a license.
Exercise
Objective: To use the automatic path planner.
1 Store your workcell first (for backup purposes).
2 From the Robcad Spot Toolbox Manager, click Path Planner
.
3 Select the required fields.
Y From the Automatic Path Planner window, click Robot.
Y Select the desired robot.
Y Click Select.
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CHAPTER 2
Y From the Automatic Path Planner window, click Path.

Y Select the desired path.
Y Click Select.
4 Change the Settings.
Y Click Settings.
Y Enter the desired settings on the General tab.
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Y Click the Advanced tab.
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CHAPTER 2
Y Enter the desired settings on the Advanced tab.

Y Click [OK].
5 Begin the process.
Y From the Automatic Path Planner window, click Start.
6 Close the Automatic Path Planner window.
7 Play the simulation to check the results.
8 If you like the results, store the cell.
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Chapter Summary
) Spot process overview
) A method to get weld points into the workcell.
) How to project weld points onto the part thereby creating weld
locations.
) How to create and edit a path of weld locations.
) How to use the multi-section tool.
) How to use several techniques to test the robots ability to
reach locations in its path.
) How to add clearance moves to a weld path.
) How to optimize via locations in a weld path.
) How to use the Automatic Path Planner tool.
The Process: From Least Constraints to Most Constraints
Now lets review the last few lessons of processing. Remember, we

process our spot cells from least constraints to most constraints:
1 Define gun states
approximation gun.
10 Adjust path.
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Adding to the Spot Welding Process

CHAPTER 3
Chapter 3
Adding to the
Spot Welding
Process
About This Chapter
This chapter describes how to use the more tools in Robcad Spot.
It contains the following lessons:
) Lesson 1: Process Methodology--revisited, page 3-2, describes
the process methodology used in this chapter.
) Lesson 2: Using the Location Attributes Window, page 3-4,
describes how to edit the attributes of a location.
) Lesson 3: Signal (I/O) Definition & Simulation, page 3-14,
describes how to do signal I/O using Location Attributes.
) Lesson 4: Multiple Robot Simulation & Work Balance, page 321, describes how to do multiple robot work balancing using
Location Attributes and Interference Zone.
) Lesson 5: Working with Hard and Soft Limits, page 3-42,
describes how to set kinematic soft limits.
) Lesson 6: Introduction to SOP, page 3-45, recall how to do
basic signal I/O with SOP.
) Lesson 7: Creating a Sequence, page 3-51, describes how to
create a basic sequence.
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Lesson 1: Process
Methodology, revisited
Principles
Robot Program:
When using a teach pendant, the robot is moved to a position and

the joint angles are recorded.
Robot Program consists of ...
A SEQUENCE of poses consisting of JOINT ANGLES with
associated INSTRUCTIONS
Robcad Spot Program:
Robcad uses Inverse kinematics to determine the joint values

needed to reach a given target location.
Robcad Program consists of ...
A PATH that consists of TARGET LOCATIONS (Position and
Orientation) with associated ATTRIBUTES
With this definition of a program, the process in Robcad is
independent of the robot and the tool. Later, the Robcad program
can be downloaded to robot program, so that it can control the
robot. This gives the flexibility in Robcad to select a different robot
at any time before we download.
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CHAPTER 3
The Process: From Least

Constraints to Most Constraints
In Robcad, we start with the simplest situation: a part and a path.
Then we slowly add one more piece to the cellsuch as weld
guns, robots, fixtures, etc...until the path is perfected. Here is the
process we follow:
1 Define the guns, if they are not already
approximation gun.
10 Adjust path.
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Lesson 2: Using the Location

Attributes Window
Introduction
In this lesson we will learn how to use the Location Attributes
window. We will set the motion type, zone, speed, and
wait time.
) Motion Type Describes how a robot will move in between
locations.
Y Joint typically causes the robot to move in an arc between
locations
Y Linear causes the robot to move straight between the
locations.
) Zone Describes how the robot will approach/arrive at a
location.
Y Fine causes the robot to slow and arrive at the location
Y No Decel cause the robot to not slow and approach the
location (However, arrival is not a requirement).
) Speed
Y Joint Speed measured in degrees.
Y Linear Speed measured in mm/sec.
) Wait Time measured in seconds.
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CHAPTER 3
Instructor Demo
The instructor will create a small path with 3 locations. He will
use the Set tcpf track and Set motion params abilities in the
tab of the Motion window to show how the robot
Settings
really moves. Instructor: run the path once with joint motion type,
then run it again (with a different track color) with linear motion
type. Use a similar process to explain
Exercise 1: Custom columns in the

Location Attributes Window
Objective: To add attributes to the Location Attributes view.
1 Open the Location Attributes window.
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Y From the Toolbox Manager, click the Location Attributes

toolbox.
NOTES:
This command is only found on the Robcad Spot and Robcad Workcell menus
toolbox manager window.
2 Customize the attributes list.

Y From the Location Attributes window, select View ->
Customize Columns.
Y Select Zone, Linear Speed, Joint Speed, Motion Type, and
Location Type (other attributes could be shown as well).
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CHAPTER 3
Y Click the arrow

Y Click Apply.
to move them to the selected attributes.
Exercise 2: Setting Motion

Parameters on Locations
Objective: To use the Spot Location Attributes window to set the
motion parameters on the locations of the path.
1 Open the Location Attributes window, if it is not already
opened.
Y From the Toolbox Manager, click the Location Attributes
toolbox.
NOTES:
This command is only found on the Robcad Spot and Robcad Workcell menus
toolbox manager window.
2 Insert the path.

Y In the Location Attributes window, select Table -> Add
Path/Loc.
Y Pick in the big empty box in the Add Paths/Locations to
Table window.
Y Pick the path.
Y Click [OK].
3 Toggle between seeing the paths or the locations.
Y In the Location Attributes window, select View -> Show
path.
Y Look at the results.
Y In the Location Attributes window, select View -> Show
Locations.
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Y Look at the results.

Y Notice the Location Type column describes if a location is a
Weld or a Via.
4 Edit one of the via locations.
Y In the Location Attributes window, right click a via location
and select Attributes Editor.
5 Edit information on the Spot tab.
Y In the Location Attribute Editor window, select the Spot tab.
Y Verify the Location type is Via.
Y Click Apply.
6 Edit information on the Motion tab.
Y In the Location Attribute Editor window, select the Motion
tab.
to set the Motion type to Joint.
Y Click
to set the Zone to Nodecel.
Y Click
Y Set the Speed to a Joint speed of 100 (type it in).
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CHAPTER 3
Y Click Apply.
7 Close the editor.
Y Click Close.
8 Copy these changes to all the other vias.
Y In the Location Attribute Editor window, select Edit ->
Select All Via.
Y Right click the selected locations and select Copy Attribute.
Y Type in the name of the via that you modified earlier (or
pick it from the Graphics Window).
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Y Click [OK].
9 Edit one of the weld locations.
Y In the Location Attributes window, right click a location and
select Attributes Editor.
10 Edit information on the Spot tab.
Y In the Location Attribute Editor window, select the Spot tab.
Y Verify the Location type is Weld.
Y Set the Hold time to 1.
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CHAPTER 3
Y Click Apply.
11 Edit information on the Motion tab.
Y In the Location Attribute Editor window, select the Motion
tab.
to set the Motion type to Linear.
Y Click
to set the Zone to fine.
Y Click
Y Set the Speed to a Linear speed of 1600.
Y Click Apply.
12 Close the editor.
Y Click Close.
13 Copy these changes to all the other welds.
Y In the Location Attribute Editor window, select Edit ->
Select All Weld.
Y Right click the selected locations and select Copy Attribute.
Y Type in the name of the weld that you modified earlier (or
pick it from the Graphics Window).
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Y Click [OK].
14 Setup and use the spot simulation window, if have not already.
Y From the Spot Top Menu, click Spot_simulation.
Y In the Spot Simulation window, click Define setup/ Robots
& paths.
Y For Robot, select the robot.
Y For Path, select the path.
Y Click Accept in the Define robots and paths window.
Y In the Spot Simulation window, click Define setup/ Display.
Y Look in the Graphics Window.
Y In the Spot Simulation window, click Define setup/ Reset.
15 Play the simulation and notices the differences to the simulation
cycle time and robot motion.
Y In the Spot Simulation window, click Simulate.
Y In the Simulate welding path window, click Accept.
Y Watch the simulation in the Graphics Window and the Spot
Simulation window.
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CHAPTER 3
16 Store your work.
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Lesson 3: Signal (I/O)

Definition & Simulation
Steps for Driving Devices
) Define some states for the destination mechanism, if not
already defined
) Enter the Spot Teach pendant
) Pick the weld path to send the signals from
) Enter the device to drive and a state to drive it to
EXERCISE 1: Driving Devices

Objective: To open clamps when robot has completed the welding
path.
Use your myspot.ce cell from project
.\WKP202U\projects\PROCESSING.
1 Create a via location after the last weld location in the path, if
one does not already exist. This point should be above the car
part and out of the way.
2 To make the clamps the active mechanism:
Y From the Toolbox Manager, select the Motion

toolbox once to bring it up.
Y Once this toolbox is on the screen, double click on one of
the clamps.
Y Notice that its name now appears in cyan next to the Active
mech prompt.
NOTES:
If all else fails click Active mech on the Motion window, pick a clamp, and click
Accept.
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CHAPTER 3
3 Look at the existing poses for the clamps.
Y
Y
Y
Y
In the Motion window, click the Pose

tab.
Notice the poses (states) named OPEN and CLOSED.
Double click on the OPEN pose and see what it does.
Double click on the CLOSED pose and see what it does.
NOTES:
Pose names are case sensitive in Robcad

Y From the Toolbox Manager, click Location Attributes
.
5 Modify the attributes of the path.
Y From the Location Attributes window, click Table -> Add
Path/Loc.
Y Type in, or pick the weld path, and click [OK].
6 Drive a device open.
Y In the Location Attributes window, right click on the last
location (clear) and select Attributes Editor.
Y In the Attributes Editor window, select the Synch tab.
Y On the Synch tab, click Drive device.

Y In the Drive device window, enter or pick r1_clamps for the
device name
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Y For Pose name, enter OPEN.

NOTE
An OPEN pose for the clamps needs to be defined first. Pose names are case
sensitive.
Y Click [OK].
7 Repeat the previous step for the r2_clamps and r3_clamps.
8 Now lets add attributes to first the location in path (pounce) to
close (i.e. move to CLOSED) the clamp at the beginning of
simulation. We will follow a similar process that we did above
to open the clamp at the last location.
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CHAPTER 3
NOTES:
Move the clamps to their home positions.
Right click on a clamp and select Jump to Home
Repeat this process for the other three clamps.
Mark the pose (stores the joint values of the current mechanism to a specific name).
Right click on a clamp and select Joint Jog
Jog the mechanism to the desired pose.
Click Mark pose.
In the Motion window, click the Pose
On the Pose tab, pick the new pose from the list (i.e. pos1).
Select Rename.
For the New name, enter a name for pose such as CLOSED.
Press [Enter].
Repeat this process for the other three clamps.
tab.
9 Modify the attributes of another location.

Y In the Location Attributes window, right click the first
location in the weld path and select Attribute Editor.
10 Drive a device closed.
Y From the Location Attributes window, click the Synch tab.
Y Click Drive device in the Synch window.
Y Device name: enter or pick the clamps.
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Y Pose name: CLOSED.

NOTE
A CLOSED pose for the clamps needs to be defined first.
Y Click [OK].
11 Repeat the previous step for the r2_clamps and r3_clamps.
12 Set the Robot and path pair (if you havent already.
Y
Y
Y
Y
Select Spot_simulation > Robots & paths.

Robot: Pick the robot.
Path: Pick the weld path.
Click Accept.
13 Run the spot simulation.
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CHAPTER 3
Y Select Spot_simulation > Simulate.

Y Click Accept.
14 Store your cell.
Y From the Top Menu window,, click Layout.
Y Click Confirm.
EXERCISE 2: Waiting Until a Device

is Driven to Move
Objective: To add attributes such that the robot waits until the
clamps are open before starting.
Use your myspot.ce cell from
1 (If not already done) Open the Location Attributes window.
Y From the Spot Toolbox Manager, click Location Attributes
.
2 (If not already done) Modify the attributes of a location.
Y From the Location Attributes window, click Locations ->
Add Path/Loc.
Y Type in or Pick the weld path and click [OK].
3 Wait for a device.
Y In the Location Attributes window, right click the first
location in the weld path and select Attribute Editor.
Y From the Location Attributes window, click Synch in the
middle of the window.
Y In the window displaying various commands starting with a
pound sign #. Select line after the # Drive CLOSED line.
We will add the wait statement after the signal is sent to the
clamps to close.
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Y
Y
Y
Y
Click Wait device of the Synch window.

Pick one of the clamps for the Device name.
Type in CLOSED for the Pose name.
Click [OK].
NOTE
This step tells the robot to wait until the clamps are closed to start moving.
4 Repeat the previous step for the other two clamps.

5 Run the simulation.
Y From the Spot Top Menu window, select Spot_Simulation
Y From the Spot Simulation window, select Simulate.

Y Click Accept.
6 Store your cell.
Y Click Confirm.
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CHAPTER 3
Lesson 4: Multiple Robot

Simulation & Work Balance
Steps for Sending Signals to
Robots
) (Create paths for two robots in the current workcell)
) Enter the Location Attributes window
) Pick the weld path to send the signals from
) Enter the robot and signal to send to that robot
) Pick the weld path to receive the signal
) Enter the signal to wait for
EXERCISE 1: Adding a Second

Robot
Objective: To add another robot to the cell and its path
Verify that the project is set to
.\WKP202U\projects\PROCESSING. Verify that the myspot.ce
cell is loaded (the cell from the last exercise)
1 Get the second weld points file and project it onto the
workpiece.
Y Look in the points_97 library.
Y Component: weld_points2.
Y Locate at: car_ref frame on cell_base.
Y Click Accept.
2 Project weld points as weld locations on the car surf_part.
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Y
Y
Y
Y
From the Top Menu window, select Robcad> Spot.

From the Spot Top Menu window, select Weld_locs.
From the Spot Weld Locs window, select Locations/Project.
Points list: Pick the three points that are part of
weld_points2.
Y Workpiece list: Pick surf_part.
Y Click Accept.
NOTE
Default approach and perpendicular axes are defined and can be modified using
Robcad> Spot > Spot_Setup > Vectors.
3 Get the first approximation of gun.

Y Go back one level by double clicking on ../
Y Select guns by double clicking on it.
Y Component name: gun1.
Y Click Accept.
Y From the Top Menu window, select Display.
Y From the Display window, select Display / By type >
Frames.
Y From the Spot Top Menu window, select Gun.
Y From the Spot Top Menu window, select Guns at locations
/ Create.
Y
Y
Y
Y
Gun: Pick the gun you just got.

Gun frame: Pick the TCP frame of this gun.
Location or path: Pick one of the new locations created.
Click Accept.
4 Orient the weld location approach vector.

Y From the Spot Top Menu window, select Weld_locs.
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CHAPTER 3
Y From the Spot Weld Locs window, select Modify

orientation / Rotate interactively.
Y
Y
Y
Y
Select Name.
Choose the location with the gun on it.
Select Perp.
Move the mouse left and right in the graphics window while
holding down the middle mouse button.
NOTE
NOT the gun. When the location is rotated, the gun will follow.
5 Align orientations of the other weld locations.

Y From the Spot Weld Locs window, click Modify /
orientation / Align orientation.
Y Reference frame: Pick the location you just rotated.

Y Aligned location list: Pick the other two locations for the
new path.
NOTE
6 Delete the temp gun at the location you where just rotating.
Y From the Spot Top Menu window, select Gun.
Y From the Gun window, select Gun at locations / Delete.
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Y Select the gun you where just rotating.

Y Click Accept.
Y For the No undo prompt, click Confirm.
7 Create a path out of the three new weld locations.
Y From the Toolbox Manager, click Path Editor

open the window.
to
.
Y In the Path Editor window, click Create Path
Y Pick the locations in the order you want them in the path.
Y Click [OK].
8 Get another copy of the robot (gmfs420) from the library.
Y From the Layout, click Get component.
Y Select robots by double clicking on it.
Y Select gmfs420.
Y Click Accept.
9 Place the second robot in the cell on the opposite site of the
workpiece as the first robot.
Y From the Toolbox Manager, click Placement Editor

to open the window.
Y Select gmfs420_1 (the second robot).
10 Get a gun and mount it onto the second robot.
Y From the Top Menu, click Layout
Y From the Layout, click Get component.
Y In the Get Component window, look in the guns library.
Y Component name: gun1.
Y Click Accept.
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CHAPTER 3

the window.
Y From the Motion window, click Active mech.
Y Pick the second robot.
Y Press the [Enter] Key.
to open
tab.
Y From the Motion window, click the Settings
Y From the Motion window, click Mount.
Y In the Mount window, pick anywhere on the new gun for
the Tool name.
Y Click Accept.
Y From the Motion window, click Tcpf.
Y From the Motion window, pick the gun TCP frame for the
Frame name.
Y Click Accept.
11 Rotate the gun around its self-origin (Lz) 90 degrees so that the
guns tips point up.
HINT
Use the Placement Editor
12 Verify that you can reach all the locations in the new path with
the new robot.
NOTE
The same functionality can be found one Robcad -> Spot -> Placement window:
Select Locations to Check and pick the path.
Place robot/workpeice and pick the robot.
Move it in the X,Y
Y From the Motion window, click the Reachability

tab.
Y Click Reach target and pick the second path.
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Y Select the new path.

Y Move the robot around until all the locations are blue.
13 Use Create by jog to add the first and last locations to the path
as was done in a previous exercise in the last chapter.
14 Add other vias to get around the clamp.
HINT
Use Motion
15 Store the cell.

Y From the Layout, click Store.
Y Click Confirm.
16 Rename the first robot and gun pair to robot1 and gun1 and the
second robot and gun pair to robot2 and gun2.
Y From the Layout, click Rename.
Y Click Add.
Y For Object, select the first robot.
Y For New name, enter robot1.
Y Click Add.
Y For Object, select the second robot.
Y For New name, enter robot2.
Y Change List of to Devices.
Y Click Add.
Y For Object, select the first gun.
Y For New name, enter gun1.
Y Click Add.
Y For Object, select the second gun.
Y For New name, enter gun2.
Y Click Add.
Y Click Close
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CHAPTER 3
Y Click [OK].
Y Click Confirm.
17 Store the cell.
Y From the Layout, click Store.
Y Click Confirm.
EXERCISE 2: Two Robot Simulation

Objective: To get two robots simulating in the cell
Use your cell from the last exercise in project
.\WKP202U\projects\PROCESSING. We will have 5 collision
pairs defined when we are done:
1 Define a collision list between the second robot/gun and

surf_part/clamps.
Y
Y
Y
Y
Y
Y
From the Toolbox Manager, click Collision Setup

From the Collision Setup window, click Define pair.
Click Pair name, and enter Robot2gun2_to_part.
Press [Enter].
Add robot2 and gun2 to the first list.
Add surf_part and wire_part to the second list.
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Y Click Accept.
2 Define a collision list between the second robot/gun and
clamps.
Y From the Collision Setup window, click Define pair.
Y Click Pair name, and enter Robot2gun2_to_clamps.
Y Press [Enter].
Y Click Near miss, and enter 30.
Y Press [Enter].
Y Add robot2 and gun2 to the first list.
Y Add r1_clamps, r2_clamps and r3_clamps to the second
list.
Y Click Accept.
3 Define a collision list between the first robot/gun and the
second robot/gun with a near miss value of 100.
4 Make this last collision list inactive for now.
Y In the Collision Setup window, select the last created
collision list.
Y Click Inactive.
NOTE
Counting the two you created in the previous chapter, you should now have 5
collision lists.
5 Turn on collision and near miss checking.

Y In the Toolbox Manager, change the collision mode from
Off to LNear.
6 Setup and use the spot simulation window, if have not already.
Y From the Spot Top Menu, click Spot_simulation.
Y In the Spot Simulation window, click Define setup/ Robots
& paths.
Y For Robot, select robot1.
Y For Path, select the first path.
Y For Robot, select robot2.
Y For Path, select the second path.
Y Click Accept in the Define robots and paths window.
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CHAPTER 3
Y In the Spot Simulation window, click Define setup/ Display.

Y Look in the Graphics Window.
Y In the Spot Simulation window, click Define setup/ Reset.
7 Play the simulation and notices the differences to the simulation
cycle time and robot motion.
Y Watch the simulation in the Graphics Window and the Spot
Simulation window.
NOTE
The robots dont wait for each other (they start at the same time and crash).
8 Turn on the monitor.

NOTE
Simulate again while viewing the monitor creation. (Monitor files are always
created. Turn this to on just allows you to watch it being created).
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Y From the Spot_simulation window, select

Simulation/Online monitor > On.
9 Run the spot simulation.
Y From the Spot_simulation window, select Simulate.
Y Click Accept.
10 View the monitor log file created from the simulation.
Y From the Spot_simulation window, select Select

outputs/Monitor log.
Y Select the workcell name.
11 Open Work balance to see the results. (The totals should
match those given in the monitor file).
Y From the Spot_simulation window, select Select outputs /
Work balance.
Y Click Accept.
Y Main Bar Legend:
Y Orange Welding activity
Y White Waiting activity
Y Green Robot motion between poses
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CHAPTER 3
Y Blue Gun motion between poses

Y Cyan Gun and robot motion together
Y Collision Bar Legend:
Y Red Collisions
Y Yellow Near misses
Y Blue Collision free area
12 Look at the weld time and total time.
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13 Move the last weld location from pa1 to pa2.

14 Simulate again and check the total time and balance.
15 Close the Work balance window by clicking Close.
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CHAPTER 3
16 Store the cell.

Y Click Confirm.
Sending Signals Between two

Robots in a Cell
This is the first step to setting up our ladder logic for the PLC. There
are two ways to do this in Robcad Spot:
METHOD 1: Using the interference zone toolbox
1 From the Robcad Spot Toolbox Manager, click Interference
Zone
2 From the Interference Zone window, click Add to add the first
robots and its path.
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3 Repeat step 2 for the second robot and path/

4 Highlight the two robot/path pairs.
5 Click Clearance.
6 Enter a clearance.
7 Click Compute volumes.
8 Click Compute zones.
9 Click Blank Volumes.
10 Click Set Signals.
11 Click Close.
METHOD 2: Using the spot location attributes toolbox
1 From the Robcad Spot Toolbox Manager, select Location
Attributes
2 Select a path.
3 Right click a location and select Location Attribute Editor
window.
4 Select the Sync tab.
5 Select Send signal.

6 Enter the signal.
7 Select a location on the second path.
8 Select the Sync tab.
9 Select Wait signal.
10 Enter the signal.
11 Click Close.
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CHAPTER 3
EXERCISE 3: Using the

Interference Zone Toolbox
Objective: To send signals between two robots in a cell
1 Save your work.
Y The myspot.ce was saved.
2 Save a copy of your work.
Y From the Layout window, select Store as.
Y For New cell name, enter myspot_test.ce.
Y Click Accept.
3 Load myspot_test.ce.
Y From the Layout window, select Load.
Y Select myspot_test.ce.
Y Click {OK].
4 Verify that the first two and last two locations in both paths are
not within the area where the other robot moves. This must be
true for this toolbox to compute the signals effectively. You
may have to create some additional locations on top of the first
and last locations in the path.
HINT
Use Motion
and the Path Editor
5 Open the Interference Zone window.

Y From the Robcad Spot Toolbox Manager, select
Interference Zone
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6 Add the first robots and its path.

Y From the Interference Zone window, click Add.
Y For Robot name, pick the first robot (gmfs420).
Y For Path name, pick its path (pa1).
Y In the Add pair window, click Accept.

7 Repeat the previous step for the second robot (gmfs420_1) and
path (pa2).
8 Select them in the list.
Y In the Interference Zone window, highlight the two
robot/path pairs.
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CHAPTER 3
9 Enter a clearance.
Y In the Interference Zone window, click Clearance.
Y In the Clearance value window, enter 100.
10 Compute the swept volumes.

Y In the Interference Zone window, click Compute volumes.
Y In the Confirm window, click Confirm.
Y A mesh is shown around each robot and its path.

11 Compute the zones.
Y In the Interference Zone window, click Compute zones.
Y Pick an item in the list (i.e. P1 and P2).
Y Click Blank Volumes.
Y Click Set Signals.
Y Click Close.
12 Play the simulation.
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13 Store your work.
EXERCISE 4: Using the Spot

Location Attributes Toolbox
Objective: To send signals between two robots in a cell.
.\WKP202U\projects\PROCESSING. Here is a diagram of how
you want to setup your signals for this exercise:
1 Load myspot.ce.
Y From the Robcad Spot Toolbox Manager, select Location
Attributes
3 Select a path.
Y From the Location Attributes window, pick Table -> Select.
Y From the Select Paths/Locations window, pick the pa1 path
and the pa2 path.
Y Click [OK].
4 Copy the open clamps signals from the end of pa1 to the end of
pa2.
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CHAPTER 3
Y Right click on the last location in pa2 and select Copy

Attribute.
Y In the Copy Attribute window for From location, type the
name of the last location in pa1.
Y Click [OK].
5 Then delete the open clamps signal from pa1.
Y Right click the last location in pa1 and select Attribute
Editor.
Y Select the Sync tab.
Y Select a Wait device and Drive device items in the list.
Y Click Delete.
Y Repeat for the others.
6 Select a location and open the Location Attribute Editor
window.
Y Right click on the last location and select Attribute Editor.
7 Send a signal.
Y From the Location Attribute Editor window, pick the Sync
tab.
Y Select Send signal.

Y Enter the signal (should be first statement).
Y In the Send signal window, pick second robot (gmfs420_1)
for the Destination robot.
Y For Signal name, enter go.
Y For Value, enter 1.
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Y Click [OK].
Y From the Location Attribute Editor window, click Close.
8 Select the last location on the second path.
9 Send the signal go=0 to the first robot.
Y Follow the same process, except this time select the first
robot (gmfs420) for the Destination robot and enter a Value
of 0.
10 Select the first location on the second path.
11 Wait for a signal.
Y Select the Sync tab.
Y Select Wait signal.
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CHAPTER 3
Y In the Wait signal window, enter go for the Signal name.

Y Enter a Value of 1.
Y Click [OK].
12 Select the last location on the first path.
13 Wait for a signal.
Y Follow the same process, except this time enter a Value of
0.
14 When you run this again with the Spot_simuation top menu,
you should see the robots waiting for each other (starting and
stopping during the simulation).
15 Store your work.
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Lesson 5: Working with Hard

and Soft Limits
Robot Motion Limits
There are two types of joint limits in Robcad Spot.
Hard limits:
) Set the range from infinite motion to the correct range for that
robot
) Set by the manufacturer of the robot
) Controlled by the .e file or other kinematic joint limits
) Defined using the Modeling > Kinematics > Define
Mechanism
) Defined for the robot prototype
Soft limits:
) Farther restrict the hard limit range of motion

) Used to avoid robot collisions with stationary objects in the cell
) Set for a certain robot instance
) The default soft limits are the same as the hard limits
NOTE
Adding soft limits to a robot will change the shape of the robot envelope. Robot
envelopes were created in the WKP100U Robcad Basics course.
) Set soft limits using the Motion window Joint Jog
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CHAPTER 3
NOTE
J3 on robots are variable limit joints and should not have soft limits applied to
them).
EXERCISE: Avoiding Collisions with

Stationary Objects
Objective: To set the soft limits on a robot to avoid hitting the trunk
of the other robot.
Verify that myspot.ce cell in the .\WKP202U\projects\processing
project is loaded
1 Make a robot the active mechanism.
Y From the Toolbox Manager, click on Motion

open the window.
Y From the Motion window, click Active mech.
to
2 Write down the current joint limits for reference (gmfs420

example).
3 Jog the robot to find the new max ranges for the robot.
Y From the Motion window, select the Joint Jog

Y Jog the robots joints.
4 Write down the new joint limits.
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NOTES:
Joints J2 and J3 have variable joint limits. So, jogging J2 affects the limits of J3,
and visa versa.
5 Enter the new soft limits for each joint of the robot.
Y Pick the joint to add soft limits to.
Y Pick the green low limit (on left).
Y
Y
Y
Y
Y
Enter a value in the prompt to DECREASE the range to.

Press [Enter].
Pick the green high limit (on right).
Enter a value in the prompt to DECREASE the range to.
Press [Enter].
6 Limits Check toggle.

Y From the Toolbox Manager window, click Limits Check
(turn off).
Y Jog the robot and see the affect.
Y Click HOME.
Y From the Toolbox Manager window, click Limits Check
(turn on).
Y Jog the robot and see the affect.
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CHAPTER 3
Lesson 6: Introduction to
Sequence of Operations
Introduction
To access the SOP menu:
) From the Top Menu window, click Robcad -> Workcell.

) From the Top Menu window, click Sop.
Until now, we have simulated individual parts of an assembly
process.
Sequence of Operations combines separate operations to an entire
assembly process.
This set of commands determines operations for the currently
displayed assembly, combines them into a sequence of operations,
and simulates a selected sequence.
The purpose of these commands is to demonstrate and verify the
feasibility of a complete assembly procedure in the dynamic
mockup environment, and to produce a detailed assembly report.
Demo:
1 Load the cell.

Y Load first_cell.ce cell from the .\WKP202U\projects\intro
project.
2 Open the SOP.
Y From the Top Menu, click Robcad > Workcell
Y From the Top Menu, click Sop.
Y From the SOP (Sequence of Operations), click Sequence.
Y Double click Station11.
3 Show and move the Gantt Chart.
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Y From the Sequence of Operations window, select Toggle
to display the chart.

Gantt Chart Display
Y Move the resulting window off the graphics screen as much
as possible
4 Play the simulation.
Y From the Sequence of Operations window, click
Simulation.
Y From the Simulate Sequence window, click Play
SOP Organization
Sequences are made up of operations; and operations are made up
of procedures:
) Sequence Operations performed in a certain order make up a
sequence. A sequence is associated with a workcell and is
saved as a file under the workcell folder. The sequence is stored
separately from the cell.
) Operation One or more procedures of the same type and
starting time. It is included in a sequence, starting at a specific
time after the start of the sequence, and is stored as part of the
sequence file.
) Procedure Basically, a procedure associates a part with a
path, and assigns the amount of time it takes to complete the
procedure.
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CHAPTER 3
Types of SOP Operations

There are 6 types of operations:
) Flow A procedure consisting of the movement of the part
along its partassembly path, created with Path menu. Flow
operations are green on the Gantt chart.
) Robot A procedure consisting of any type of robot, gun or
tool function, such as screwing, gluing and welding. Robot
operations are orange on the Gantt chart.
) Manual A procedure consisting of any type of human
operation. Manual operations are pink on the Gantt chart.
) Mechanical A procedure consisting of any mechanical device
moving to different poses. Mechanical operations are cyan on
the Gantt chart. (Abbreviated mechanic or mech)
) Nonsimulation Any activity that you would like to include
in the sop, that requires time, but is not being simulated.
Nonsimulation operations are brown on the Gantt chart.
(Abbreviated nonsim)
) subsequence A way of adding all the operations from a
previously created SOP sequence to the current sequence.
(Abbreviated subseq).
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Each of the different types of operations can contain multiple

events:
) event An activity that requires zero time, such as attach or
detach. Events happen relative to the start or the end of an
operation.
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CHAPTER 3
Overview of an Operation
) Operation - Operation name

) Type - Type of Operation
) Start Time - Time the operation begins relative to the previous
operation
) Procedures that are part of this operation. In this case robots are
moving along their paths
) Add (Previous Operations) - Operation previous to this one is
defined here and listed in the text window.
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) Add (Events) - Events, such as blanking/displaying and

attaching/detaching are defined here
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CHAPTER 3
Lesson 7: Creating a
Sequence
Introduction
Operations performed in a certain order make up a sequence.
There are several types of operations that were briefly discussed in
the previous lesson. Within each operation, multiple events can be
performed.
1 Open a Sequence.
Y Open a sequence.
Y From the Sequence of Operations window, click Sequence.

Y Type in a name for the sequence or select NEW for a default
name.
NOTE
A cell can have more than one sequence. This command lists all existing
sequences for the loaded cell. If you want to edit an existing sequence, select the
sequence name in the list.
Define an Operation.
These are the steps involved in creating an operation that is part of

the current sequence. These steps will be used in the exercise that
follows.
2 Create or open an existing operation to put in the sequence.
Y From the Top Menu window, click Sop.
Y From the Sequence of Operations window, click Operation
Y Type in a name for the operation or select NEW for a
default name.
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NOTE
A sequence can have more than one operation. This command lists all existing
operations for the current sequence. If you want to edit an existing operation, select
that operation name from the list..
3 Determine the type of operation this will be.

Y Select Operation > Type.
4 Enter the procedure, or procedures.
5 Determine when this operation will occur by adding previous

operations. Use the Sequence window to select the previous
operation.
6 Determine if any events need to take place during this

operation.
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CHAPTER 3
7 Click Accept.
8 Repeat these steps until all desired operations for this sequence
have been defined.
Store the Sequence of Operations.
It is very important to note that a sequence is NOT stored when

clicking Layout -> Store. A sequence can only be stored using the
SOP -> Store command.
9 Store the sequence
Y From the Sequence of Operations window, click store or
store as.
Simulate the Sequence of Operations.
Simulating a sequence is similar to simulating a path for a part.

10 Simulate the sequence
Y From the Sequence of Operations window, click Play
EXERCISE: Add our Robot

Operation to an SOP
Objective: To add a spot-welding operation to the Sequence.
1 Go to the workcell menu, if you are not already there
Y From the Top Menu window, click Robcad -> Workcell.
2
Create a New Sequence

Y From the Top Menu window, click Sop.
Y From the Sequence of Operations window, click Sequence
Y Type in: mysop
3 Create a new operation by clicking operation on the operation

menu.
Y From the Sequence of Operations window, click Operation
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Y (May have to click Operation on the Operation window)
Y At the operation name prompt enter: Welding

4 Change the type to a Robot operation
Y From the Operations window, click Type -> Robot.
Y Pick in the first box in the Robot column
Y Select the gmfs420 robot.
Y In the Robots window, click Select.
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CHAPTER 3
Y Pick in the first box for the Path/Program column and select
the path.
Y Select the pa1 path.
Y In the Programs& paths window, click Select.

NOTE
Robcad will figure out the duration for you later when the simulation runs
5 Do the same for the second robot (gmfs420_1) and path (pa2).
It will go into the second row right below for first robot and
path.
6 Pick in this box and enter a description of this operation.
7 Click Accept on the Operation window (You may have to click

Confirm also).
8 Configure the Gantt chart window.
Y In the Gantt chart, click Show sub operations.
Y Click Gantt settings.

Y In the Gantt Settings window, click Show for Op times.
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Y The event signals legend is shown. Black circles are via

locations, green circles are welds, hollow diamonds are
signals, etc
9 Simulate it.
Y From the Sequence of Operations window, click Play
10 After the simulation is finished, reset the sequence.
Y From the Sequence of Operations window, click Reset
.
11 The SOP file must be stored to save changes. The cell is not
stored with this button, however.
12 From the Sequence of Operations window, click Store.
Comparing Methods of Work

There are at least two ways to create this sequence of operations:
Method 1:
Notice that this sequence of operations only has one orange color
bar. However, both robots simulate, and the clamps open and
close within it.
Method 2:
We could also represent this as one orange color bar for both
robots, and two cyan color bars for the clamps opening and
closing.
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CHAPTER 3
Which method is better depends on your preference and the way

in which you would like to use Robcad Spot. The point is that
Robcad Spot is flexible to your needs.
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Chapter Summary
) How to edit the attributes of a location.
) How to do signal I/O using Location Attributes.
) How to do multiple robot work balancing using Location
Attributes and Interference Zone.
) How to set kinematic soft limits.
) How to do basic signal I/O with SOP.
) How to create a basic sequence.
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Mounted Workpiece Welding

CHAPTER 4
Chapter 4
Mounted
Workpiece
Welding
About This Chapter
This chapter provides a description of advanced Welding
Techniques and mounted workpiece welding in Robcad Spot. It
contains the following lessons:
) Lesson 1: Mounted Workpiece States (Optional), page 4-2,
describes how to define states for kinematic devices.
) Lesson 2: Mounting the Workpiece, page 4-7, describes how to
mount the part to the robot gripper.
) Lesson 3: Creating a Rough Path, page 4-13, describes how to
create a rough path.
) Lesson 4: Orienting Workpiece Locations, page 4-17, describes
how to orient the locations on the part.
) Lesson 5: Using Via Locations with a Mounted Workpiece,
page 4-22, describes how to maneuver the part toward the
external welder.
) Lesson 6: Using Material Handling via Locations, page 4-27,
describes how to maneuver the part toward the fixture.
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4-2
Lesson 1: Mounted Workpiece

States (Optional)
Steps to Add States to a
Component
) Open the component for modeling
) (kinematics should be already defined)
) Joint jog the mechanism into the desired position or
approximately into position
) Edit the states for the current mechanism
) Create a new state
) Use the current joint values or enter new ones
) Accept the values entered for this state
) Define the rest of the rest of the states for this mechanism
) Save the component and close it
What States Need to be Defined?
For welders, the OPEN, SEMIOPEN, and CLOSE states must be

defined
EXERCISE: Define the Welder and

Fixture States (Optional)
Objective: To setup the welder and fixture states.
Verify that you are in the .\WKP202U\projects\MOUNT_WP
project. Define the states (open, closed, semiopen) for the
welder.
1 Begin modeling the stamper.co.
Y From the Top Menu window, select Robcad -> Modeling
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CHAPTER 4
Y From the Top menu window, select Files > Open.

Y In the Component window, select the stamper.
Y Click Select.
Y In the Open window, click Independent.
Y Click Accept.
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4-4
Y In the Confirm window, click Confirm.

2 Define the active mechanism.
Y From the Toolbox Manager, select Device Jog
.
Y From the Device Jog window, click Active mechanism.
3 Jog the welder.
Y From the Device Jog window, click Joint / JOG.
Y Jog the welder to a fully open position.
Y It should be +80.
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CHAPTER 4
4 Define the OPEN state.

Y From the Top Menu window, select States.
Y From the States window, select States / Edit.
Y From the States window, select Define state.
Y For State enter OPEN.
Y Click Accept.
5 Define the SEMIOPEN state.
Y From the States window, select States / Edit.
Y From the States window, select Define state.
Y For State enter SEMIOPEN.
Y For j1 enter 40.
HINT
Double click in the value box next to j1 and enter 40 and press the [Enter] key.
Notice the gun shifts.
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4-6
Y Click Accept.
6 Use step 5 to define the CLOSE state with a value of 0.
7 Save and close the modeling session.
Y From the Top Menu window, select Files > Save.
Y Select Files > Close.
8 Open the fixture component for modeling.
9 Define the states (approach, retract) for the fixture using the
steps above.
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CHAPTER 4
Lesson 2: Mounting the

Workpeice
Setting up a Mounted Workpiece
Cell
) Get and place the robot
) Get the gripper
) Mount it on the robot
) Get the workpeice
) Place it on the gripper
) Attach it to the gripper
NOTE
The gripper should be mounted to the robot. The part and any spacers should then
be attached to the gripper.
EXERCISE: Putting the Workpeice

on the Robot
Objective: To learn how to put the workpeice on the Robot
Here is a chart to help you quickly locate the components for this
cell:
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4-8
1 Create a new cell named mymount.ce.

Y From the Top Menu, select Robcad -> Spot.
Y From the Top Menu, select Layout > Load cell.
Y Create a new cell name called mymount.ce (in the
.\WKP202U\projects\MOUNT_WP project).
2 Insert the robot and the base into the workcell.
Y From the Top Menu, select Layout > Get component.
Y Select the robot (s420) & platform (base).
Y Click Accept.
3 Place the robot on top of the platform (put the robots base on
the top of the platform feet).
HINT
Get the robot and use the Placement Editor Place command to move it only in the
Z. Pick the button of the base and the top of the base.
4 Insert the gripper into the workcell.

Y Click Get component.
Y Click Libraries.
Y Browse into the devices library.
Y Select the gripper.
Y Click Accept.
5 Mount the gripper to the robot using the motion toolbox.
Y From the Toolbox Manager, click Motion.
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CHAPTER 4
Y Set the robot as the Active mechanism.

Y
Y
Y
Y
In the Motion window, select the Settings

Click Mount.
Select the gripper.
Click Accept.
tab.
6 Get the spacer.

Y Click Get component.
Y Browse into the cell_setups library.
Y Select the spacer.
Y Click Accept.
7 Put the spacer on the robot tool frame.
Y (With pick level set to Component) Right click the spacer
Y
Y
Y
Y
.
and select Placement
In the Placement window, click Put.
In the Put window click Locate At.
Pick the TOOLFRAME of the robot (you may have to display
it).
Click Accept.
8 Move the gripper out to the end of the spacer with the
Placement Editor Place command.
Y (With pick level set to Component) Right click the gripper
Y
Y
Y
Y
.
and select Placement
In the Placement window, click Place.
In the Place window, select X.
Select the spacer edge closest to the robot, select the spacer
edge farthest from the robot.
Click Accept.
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9 Attach it (one way) to the gripper fr1.

Y From the Toolbox Manager window, click Tree
.
Y In the Tree window, right click on the spacer and select
Attach.
Y Select the fr1 frame of the gripper.
Y In the Attach window, click One way.
Y Click [OK].
HINT
Only the gripper should be mounted to the robot tool frame. All spacers should be
attached to the gripper.
10 Define the robot TCPF.

tab.
Y In the Motion window, select the Settings
Y Select Tcpf.
Y Select the frame of the gripper shown in the picture above,
for the TCPF.
Y Click Accept.
11 Get the workpeice (sheetmetal) from the parts_97 library.
12 Put it on the gripper fr1 (see picture above).
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CHAPTER 4
13 Use the Tree window to attach the sheetmetal to the gripper.

14 Get three or four bolts.
15 Put the bolts on the sheetmetal part in various locations, using
Put and where pick selected.
16 Attach the bolts to the workpiece (sheetmetal).

Y Here is a tree of what our attachments should be in this cell:
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17 Display all entities.

Y Right click in the Graphics Window and select Display All
.
18 Using Get Component, add the ped welder (stamper.co) and
fixture.co to the workcell at the predetermined frames.
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CHAPTER 4
Lesson 3: Creating a Rough

Path
Setting up a Mounted Workpiece
Path
) Use the cell from the last lesson
) Create work points (welds) on the workpiece
) Project target locations on the workpiece at the work points
) Create a path through all the locations
) Get the welder and orient it
) Associate the locations with the welding frame of the welder
EXERCISE: Creating a Rough

Mounted Workpiece Path
Objective: To learn how to rough in the path.
Verify that the mymount.ce cell from the
.\WKP202U\projects\MOUNT_WP project is loaded.
1 Create work points on top center of each of the bolts.
Y From the Top Menu, select Weld_locs > Points / Create.
Y Pick the center of first bolt and click Accept.
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4-14
Y Pick the center of second bolt and click Accept.

Y Pick the center of second bolt and click Accept.
Y Pick the center of third bolt and click Accept.
NOTE
You must do each one individually.
2 Project target locations on the workpoints.

Y From the Top Menu, select Weld_locs > Locations /
Project.
Y Pick all the points created by drawing a window around
them.
Y In the Project window, pick the Workpiece list prompt.
Y Pick the sheetmetal for the workpiece.

Y Click Accept.
3 Create a path through all the locations.
Y From thee Toolbox Manager, select Path Editor
Y From the Path Editor window, click Create Path
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CHAPTER 4
Y Pick the locations for the path.
Y Click [OK].
4 Get the welder.
NOTE
If you performed the optional exercise in Lesson 1, get the copy of the welder from
the current project. Otherwise, get the welder from the devices library.
Y
Y
Y
Y
From the Top Menu, select Layout.

Click Get component.
Select the welder (see the note for the location).
Pick the welder1_frame (green) that was brought in with the
robot base. (base.welder1_frame).
Y Click Accept.
5 The locations we just created are mounted workpiece locations

so we need to associate the locations with the welding frame
on the welder.
Y In the Motion window, select the Settings

Y Click Define.
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tab.
4-15
4-16
Y In the Define locations window for Locations and paths,

pick the locations just created.
Y For External tcp frame, pick the welders fr5.
Y Select Accept.
6 Check reachability using the motion menu.
tab.
Y In the Motion window, select the Reachability
Y Reach target should be the path just created (i.e. pa1).
Y Perform the reach check: Verify that all the locations are
shown in blue.
7 If you can reach all of your locations, then simulate your path,
otherwise wait for the next exercise.
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CHAPTER 4
Lesson 4: Orienting
Workpiece Locations
Steps to Orienting the Locations
Adjust the orientation of one of the locations, as a reference
location using the next two steps
) Define a location to check.
) Then modify the location orientation until it is reachable.
) Align the rest of the locations to match the reference location
) Define and the check the path so that all locations are
reachable
) Spot simulate the path
EXERCISE: Orient the Locations

Objective: To Orient the locations.
1 Go to the Spot placement menu.
Y From the Top Menu, select Placement.
2 Define the active mechanism.
Y Select Placement > Active mechanism.
Y Pick the robot and press the [Enter] key.

3 Adjust the orientation of one of the locations, as a reference
location using steps 4 and 5 below.
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4 Define a location to check.

Y In the Spot Placement window, select Define setup /
Locations to check.
Y In the Locations to check window, pick the path (i.e. pa1).
Y Click Accept.
5 Then modify the location orientation until it is reachable.
Y In the Spot Placement window, select Perform placement /
Modify loc.
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CHAPTER 4
Y Pick Location and select a location.

Y Pick Perp.
Y Pick Pie chart if it is off.
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Y Move the mouse left and right in the graphics window until
the longer axis (X-axis) is in the blue (reachable) area of the
pie.
NOTE
This type of reach check considers the reach envelope of the robot, but not
collisions between the part and the stamper.
NOTE
The same tools used in the previous chapter could be used here as well (Gun ->
Create and Weld_locs -> Rotate interactively). However, these tools would
consider the collisions between the part and the stamper, but the reach envelope of
the robot would not be considered.
NOTE
Another tool that we used before (Motion -> Robot Jog -> Drag Loc) could be
used to consider both the collisions between the part and the stamper, and the
reach envelope of the robot.
6 Align the rest of the locations to match our reference location.

Y Select Weld_locs > Modify orientation / Align orientation.
Y In the Align orientation window for Reference frame, pick
the location that was just oriented.
Y For the Aligned location list, pick the other locations in the
path.
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CHAPTER 4
Y Click Accept.
7 Repeat steps 4 through 5 for the locations in the path so that all
the locations are reachable.
HINT
Remember that if the location is blue, it is reachable.
8 Use spot simulation to simulate the path.

Y Select Spot_simulation > Define setup / Robots & paths.
Y In the Define robots and paths window, pick the robot.
Y Pick the path (pa1).
Y Click Accept.
Y Select Spot_simulation > Simulation / Simulate.
Y Click Accept.
10 Store your work.
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4-22
Lesson 5: Using Via Locations

with a Mounted Workpiece
Introduction
In this lesson, we will create via locations that are attached to the
part. In the next lesson we will create via locations that are relative
to the robot for the material handling portion of the path.
Steps to Adding Via Locations

) Setup collision lists and check for collisions.
) Adjust path by rotating locations or adding via locations.
) Optimize the path cycle time, if there are vias.
Order of locations in path:
) Path1
Y approach1
Y wp1
Y retract1
Y approach2
Y wp2
Y retract2
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CHAPTER 4
Y approach3
Y wp3
Y retract3
NOTE
In this example, approach1 and retract1 can be the same location or two different
locations.
EXERCISE: Adjusting the Path

Objective: To add via locations to the path to avoid collisions.
Here is what path will look like:
Appoarch1, wp1, retract1, approach2, wp2, retract2, approach3,
wp3, retract3, approach4, wp4, retract4
See the diagram on the previous page for an explanation.
1 Setup collision lists and check for collisions.
HINT
Use Collision Setup
2 Add the approach and retract locations for each of the four
weld locations. (Four bolts).
Y Select Via_locs > Create & verify / By interpolation.
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Y Pick the first location in the path.

Y Pick the second location in the path.
Y In the By interpolation window for Number of the via
locations, enter 2.
Y Click Accept.
3 Repeat the previous step to add two locations between each
4 Use the Path Editor to shift the first via for each weld, up
.
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CHAPTER 4
5 Using the Placement Editor, Put the (approach and) retract

locations for the first weld location onto the weld location with
Source orientation.
Y From the Toolbox Manager window, open the Placement
Y
Y
Y
Y
Y
Y
Y
Y
.
Editor
From the Placement Editor window, click Object.
In the Object names window, select the via (name contains
_v) after the first weld location.
Click Accept.
From the Placement Editor window, click Put.
In the Put window, select the Locate At prompt.
Pick the first weld location.
Click Source Orientation.
Click Accept.
6 Next, shift it down in the Z-axis so that a collision no longer

exists.
Y From the Placement Editor window, click Shift.
Y In the Shift window, click Lz.
Y For Distance, enter 30 (or maybe -30).
Y Click Accept.
7 For the second weld spot repeat the last two steps for the via
before and after it (you can move them together by picking
them both at once with the Objects button).
8 Repeat this process for next location in the path, etc
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9 Store your work.
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CHAPTER 4
Lesson 6: Using Material

Handling Via Locations
Introduction
In this lesson we will create via locations that are relative to the
robot for the material handling portion of the path.
EXERCISE 1: Add Start and End

Vias
Objective: To expand our knowledge of vias.
.\WKP202U\projects\MOUNT_WP project is loaded
1 If you have not already gotten the fixture, get it and put it on the
fixture1_frame that is part of the robot base
NOTE
The TCPF of the robot should have been defined in Lesson 2 to a frame on the
gripper.
2 Define the TCPF to be the frame on the gripper.f2 frame.

Y From the Toolbox Manager window, select Motion
Y
Y
Y
Y
tab.
Select the Settings
Click TCPF.
Pick the gripper.f2 frame.
Click Accept.
3 Add the start location.

Y From the Motion window, select the Robot jog
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tab.
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4-28
Y
Y
Y
Y
Select Create by jog.

In the Create via by jog window, click Before.
Click the first location in the path.
Click Accept.
Y From the Motion window, select Home

Y Click Mark loc.
Y Click Done.
4 Add the end location.

Y Follow the same process used in the previous step, except
create the via After the last location in the path.
5 Simulate the path.
EXERCISE 2: Put the Part in the

Fixture
.\WKP202U\projects\MOUNT_WP project is loaded
1 Add vias to get the part from the fixture.
Y From the Toolbox Manager, open the Path Editor
.
Y From the Path Editor window, click Create location by pick
.
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CHAPTER 4
Y Pick on the frame that is part of the fixture just above it the
area where the part goes.
Y Pick this frame again to make a second location here.
2 Add a via to retract from the fixture to the home pose.
Y
Y
Y
Y
Y
Y
Y
.
In the Path Editor window, click Add
In the Add window, pick the pa1 for the Destination path.
Add the location After.
Pick the in the Reference location field.
Pick the first location in the path.
Pick in the Locations to add field.
Pick one of the locations just created (not currently in the
path).
Y Click [OK].
3 Add a via to approach the fixture to the home pose.

Y Use the same process described in the previous exercise to
create a via (i.e. Motion -> Robot Jog -> Create by Jog) after
the location just added to the path.
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4 Add vias to put the part into the fixture.

Y Repeat step 2 except this time add the location (not
currently in the path) just Before the last location in the
path.
5 Add a via to retract from the fixture to the home pose.
Y Use the same process described in the previous exercise to
create a via (i.e. Motion -> Robot Jog -> Create by Jog)
before the location just added to the path.
6 Simulate the path. The robot should start at home, move into
the fixture, return to home pose, do the welding, and return to
home pose.
EXERCISE 3: Open and Close the

Gripper
Objective: To expand our knowledge of location attributes.
1 Use the Location Attributes window to open (fcar_pick_opn)
the gripper at the first location, close (fcar_clse) it when it
moves into the fixture the first time.
Y
Y
Y
Y
Y
Y
Y
Y
Y
.
From the Toolbox Manager, click Location Attributes
Select Table -> Add path/loc.
Pick in the box in the Add Path/Locations to Table window.
Pick the path.
Click [OK].
Right click the first location and select Attribute Editor.
Click the Sync tab.
Click Drive device.
For Device name, pick the gripper.
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CHAPTER 4
Y
Y
Y
Y
For Pose name, enter fcar_pick_opn.

Click [OK].
Click Close.
Follow the same process to close (fcar_clse) it when it
moves into the fixture the first time.
2 Also use the Location Attributes window to Attach and Detach

the part to the gripper.
Y Continue using the Location Attributes window.
Y Right click on the location where you want the part to
attach to the gripper and select Attribute Editor.
Y Select the Sim tab.
Y Click the Attach button.
Y For Name, pick the part.
Y Press the [F12] key until the Pick Level is set to Entity.
Y For Attach to, pick the base of the gripper.
Y Click [OK].
Y Click Close.
Y Follow the same process to detach the part at a specific
3 Add a Put event at the end of the path (in the SOP) to put the
part back into the fixture (for the successive runs).
Y Create a SOP, if one has not already been created.
Y Add one operation for each of the desired robot paths.
Y Sequence the robot paths.
Y Add a Put event to the end of the last operation to place the
part back into the original fixture (starting location).
4 Store your work.
EXERCISE 4: Optimize the Path

(Optional)
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1 Setup collision lists and check for collisions.
2 Adjust path by rotating locations or adding via locations.
Y From the Top Menu, select Via_Locs.
Y From the Spot Via Locs window, select Create & verify / By
Interpolation.
3 Optimize the path cycle time, if there are vias. (Store first)
Y From the Spot Via Locs window, select Optimize/
Interactive.
Y
Y
Y
Y
Y
Y
Y
Y
Y
Click Robot.
Select the robot.
Click Path Segment.
Select the path.
Click Loc in Path.
Select a via location in the path
Click an axis X, Y, or Z and move it around.
Click Best so far.
Click Reset.
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Chapter Summary
) How to define states for kinematic devices.
) How to mount the part to the robot gripper.
) How to create a rough path.
) How to orient the locations on the part.
) How to maneuver the part toward the external welder.
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Gun Searching
CHAPTER 5
Chapter 5
Gun Searching
About This Chapter
This chapter discusses what can be done with spot guns in Robcad
Spot. It contains the following lessons:
) Lesson 1: Creating Your Own Attributes for Searching, page 52, describes how to create your own attributes for searching.
) Lesson 2: Searching and Sets, page 5-8, describes how to create
sets and perform searches.
) Lesson 3: Smart Search Tools, page 5-14, describes how to use
the smart search tool.
) Lesson 4: The Browser, page 5-23, describes how to use the
browser.
) Lesson 5: Gun Search, page 5-26, describes how to use the gun
search tool.
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5-2
Lesson 1: Creating Your Own

Attributes for Searching
NOTE
See the WKP2090U Robcad Advanced Modeling and Kinematics course for more
information on this topic.
Introduction to Attributes
CRITICAL NOTE
Edit the user_attributes and user_family files with Word Pad, not Note Pad.
After editing an attributes or families file you MUST run the to_unix command from
a command prompt. It is best to put the resulting files into the ./Robcad/usr folder
as well.
In Robcad, attributes can be assigned to components. Two files are

needed for this:
) Attributes (default file, dont edit)
) User_attributes (your custom attributes)
) Families (default file, dont edit)
) User_families (your custom families)
By default, these two files are in /usr/local/robcad/dat/ on UNIX or
C:\Robcad\dat\ on PC. The location can be changed according to
settings in the .robcad file. The attribute file contains the name of
the attribute, its type and whether the value affects the prototype or
the instance.
NOTE
Make a copy of the user_attributes and user_families in another location, since

they are overwritten each time the software is installed.
The families file maps the attributes into groups (known as families)
such as guns, fixtures, and car parts, etc . . . according to your
needs. While modeling a component, you can choose the
corresponding family and assign the appropriate attributes. The
values of the attribute are saved together with the component.
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The attributes can contain information related to the component.

These attributes can be used later in the smart search utility. The
attributes a component holds are determined by the family of the
component.
NOTE
Also see Chapter 2: Assigning Attributes.
Figuring Out What Attributes that

are Needed
Here are the attributes that we would like to have on each of our
guns in the library for searching.
) WEIGHT The weight of the gun in kg
) THROAT_HEIGHT The distance between the gun tips when
open
) THROAT_DEPTH The from the gun tips to the back of the
gun
) GUN_STYLE The style of the gun such as C or scissors guns
) WELD_FORCE The max welding force
Creating a User Families File

You must group the attributes in families to make them available
for searching and to be able to assign them to a component
prototype.
Here is an example of a family called my_family. It contains one
attribute called MY_ATTRIBUTE.
FAMILY my_family
ATTIBUTE MY_ATTRIBUTE
END_FAMILY
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Now, lets create a family for the attributes that we want to use on
our guns. The first step is to add the word ATTRIBUTE in front of
each of your attributes. The second step is to name you family and
put the word FAMILY before the first attribute in your family
followed by the name of your family. The last step is to add
END_FAMILY after the last attribute in your family. Here are the
results of our work.
FAMILY my_guns
ATTIBUTE WEIGHT
ATTIBUTE THROAT_HEIGHT
ATTIBUTE THROAT_DEPTH
ATTIBUTE GUN_STYLE
ATTIBUTE WELD_FORCE
END_FAMILY
We should store this in a text file in our home folder called
user_families.
Creating a User Attributes File

After defining our family of attributes, we must now setup a file to
tell Robcad Spot what type these attributes are. For example, is an
attribute a number or text?
In Robcad Spot, there are two types of numbers: ones with a
decimal place and ones without one. If a number has a decimal
place, it a called a real number. If a number doesnt have a
decimal place, it is called an integer. Real numbers are abbreviated
as r and integer numbers are abbreviated as i.
In Robcad Spot textual attributes are known as a string. Strings are
abbreviated as s.
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Lets assign the values for our attributes:
WEIGHT r
THROAT_HEIGHT r
THROAT_DEPTH r
GUN_STYLE s
WELD_FORCE r
NOTE
Were not done yet.
When you add user-defined attributes into your file:
WEIGHT r 1
THROAT_HEIGHT r 1
THROAT_DEPTH r 1
GUN_STYLE s 1
WELD_FORCE r 1
NOTE
Were not done yet.
Now, we have to decide if this attribute will be assigned

to the component in the cell (instance) or in modeling
(prototype).
If the attributes are to be assigned to the prototype, then we should

add a p to the end of the line of the attribute. If it is to be used on
the instance, than we dont add anything to the end of the line.
WEIGHT r 1 p
THROAT_HEIGHT r 1 p
THROAT_DEPTH r 1 p
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GUN_STYLE s 1 p
WELD_FORCE r 1 p
NOTE
Were not done yet.
Comments can be added to this file by starting the line

with a # sign
# These attributes are for the my_guns family

WEIGHT r 1 p
THROAT_HEIGHT r 1 p
THROAT_DEPTH r 1 p
GUN_STYLE s 1 p
WELD_FORCE r 1 p
We should store this in a text file in our home folder called
user_attributes.
Telling Robcad Where the User

Families & Attributes Files Are
We need to tell Robcad the exact location of the user attributes and
user families files. This is done by adding four lines to a file named
.robcad that exists in the usr folder under the Robcad install folder
(i.e. C:\robcad\usr).
USER_ATTRIBUTES ..\usr\user_attributes
USER_ATTRIBUTES_PC ..\usr\user_attributes
USER_FAMILIES ..\usr\user_families
USER_FAMILIES_PC ..\usr\user_families
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NOTE: If this usr folder .robcad file does not exist, create it. Use
the .robcad file in the dat folder (i.e. C:\robcad\dat\.robcad) as
reference. But only copy the lines into the usr folder .robcad file
that you are modifying (Do NOT copy every line, or the Robcad
software may not operate correctly)
The location of the user families and attributes file is relative to the
Robcad dat folder (i.e. C:\robcad\dat).
NOTE
The ../ is what is meant by a relative path. The ../ means to go up one level on the
folder tree. Remember that these paths are relative to the $ROBCAD/dat folder.
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5-8
Lesson 2: Searching and Sets

Introduction
Much time and work can be saved by reusing tools from previous
project in a new one. Robcad Spot provides a powerful tool to
search in libraries or in previous projects for tools that can do the
work, with perhaps some minor changes. This search is based on
process attributes which are attached to the components, and in
case of guns, on the geometry.
The search tools are divided into several toolboxes:
) Attribute Editor
Y Allows you to create an icon for a component that is
viewable in the Browser.
Y You can also view all the attributes youve created for the
selected entity
) Set Editor
Y Allows you to create a set, which is a list of components.
Y A set can be searched or browsed.
) Smart Search
Y Allows you to search the a library for an existing component
using the attributes assigned
Y The results is a set of components that could be viewed in
the browser to decide which one should be used in the
current cell.
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) Browser
Y Allows you to pick on a component name and see a picture
of it along with its family attributes.
Y Would be a great way to help users build probe assemblies,
select heads for mounting and select probe assemblies for
mounting.
) Gun Search
Y Automatically gets guns from the library, moves then along
the spot path, to see if it is good for this job.
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The chart above explains the methodology of using the search

utilities. First, define the searching domain with the set editor. Then
use the smart search, to search by specific attributes. Finally,
examine the resulting list of components in the Browser, to find the
most appropriate component.
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What Is a Set?
The set is a group of components, which should be defined by
using the Set editor. The source can be either library, current
project, or another set, which had been defined earlier in the
project. The set is saved immediately in the project with a .set
suffix. The search domain of the smart search will be this set. The
results from a smart search is a new set, that will be named
result.set.
EXERCISE: Using Set Editor

Objective: The set editor utility allows the user to group certain
components together. We will create a set that will be used to
search for a gun with specific properties
1 Load cell_1.ce from the .\WKP202U\projects\Search project.
2 Create a weld path of 3 locations and roughly orient them.
3 Load the Set Editor Toolbox by selecting it.
Y From the Toolbox Manager window, select Set Editor
.
4 Chose the name of the set.
Y From the Set Editor window, click Destination set.
Y Type: gun_set.
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5 Add the GUNS library components to the set.

Y Select: GUNS.
Y Click Add.
6 Notice that the total number of parts in this set is currently 9

(shown way below the destination set).
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7 Your set is now created (no need to accept anything).

8 Get rid of the Set Editor window by clicking on the Set Editor
icon again.
NOTE
The set is stored as a text file with a .set extension in the working folder.
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5-14
Lesson 3: Smart Search Tools

Introduction
There are two interfaces available for smart search. You can use
either one.
) Table Interface (easy interface)
) Textual Expression Interface (advanced interface)
How To Use the Table Interface
In the example to the above, components matching this search

criteria will be found:
WEIGHT equals 100
WELD_CURRENT between 10 and 20
WELD_VOLTAGE is less than or equal to 15
GUN_TYPE contains the letters C_TYPE
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How To Use theTextual Expression

Interface (Optional)
The smart search utility uses an expression which specifies the
desired process parameters for the tool, as they are stored in the
components attributes. The expression can be either comparative
(<, >, =, <=, >=); Boolean (and, or, not); expression that searches
whether the attribute is assigned to the component, or an
expression that checks whether the attributes value contains certain
substring or value. Three rules govern the syntax logic:
9 A $ sign should appear before the name of the attribute.
10 Each expression should be in brackets.
11 A string expression should be in quotation marks.
For example: if a weld gun whose weld force is higher than 100 is
needed, the expression should be:
($weld_force > 100)
If a gun whose weld force is higher than 100, but lower than 120 is
needed, the expression should be:
(($weld_force > 100) and ($weld_force < 120))
The ($weld_force > 100) is the first expression, ($weld_force <
120) is the second expression and joining them together creates
new expression, so it should be in a brackets too.
If a manual gun with the same specifications is needed, the
following expression can be used:
((($WELD_FORCE > 100) and ($WELD_FORCE < 120))
($GUN_TYPE has MANUAL))
NOTE
Make sure, that you understand the syntax of the expression.
The expression can be entered in three ways:
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) Typing in the expression

) Using the buttons in the smart search menu
) Cutting and Pasting
NOTE
When the search ends the components that match the expression are listed. If you
want to save the result, copy it to a new set. All the information of the search will be
saved in the new set as well.
EXERCISE 1: Using Smart Search Table Interface

Objective: The Spot package contains an attribute based searching
mechanism that will identify components that match the search
parameters.
1 Continue using cell_1.ce from the
.\WKP202U\projects\Search project.
2 Load the Smart search toolbox.
Y From the Toolbox Manager window, select Smart search
.
3 Select the set on which the search will be performed.
Y Select source set > gun_set.
4 Enter a name for a destination set that will contain the results of
the search by picking Dest. set and typing in results.
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5 Select the family containing the attributes for the component by

clicking Family.
6 Pick in the first box in the Attribute column.
7 Select Attribute.
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8 Press the right mouse over the name of the attribute to search
on.
NOTE
The name of the attribute is pasted into the box in the Attribute column that you
selected a couple of steps back.
9 Enter Values for this attribute that you would like to search on
in the From/Has and To columns.
10 Enter other attributes to search on if you want.
11 Start the search.
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Y Click Run.
12 1The results are stored in the result set.
OPTIONAL EXERCISE 2: Using

Smart Search - Textual Expression
Interface
Objective: The Spot package contains an attribute based searching
mechanism that will identify components that match the search
parameters. This activity is not required.
1 Load the Smart search toolbox.
Y From the Toolbox Manager window, select Smart search
.
2 Select the set on which the search will be performed.
Y Select source set > gun_set.
3 Select Textual expression.
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4 Enter a name for a destination set that will contain the results of
the search.
Y Select: Dest. set > Results.
5 Select the family containing the attributes for the component.
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NOTE
We are now going to build the following expression: ($WELD_FORCE < 300).
Here are the steps to do it.
6 Click Left Parenthesis

expression box.
to insert a left parenthesis into the
7 Click Attribute.
8 Right click over the word WELD_FORCE in the Attributes box.
Notice that this will paste that attribute into the expression box.
9 Click Greater Than

expression box.
to insert a greater than sign into the
10 Type in 300 in the expressions box.

11 Click Right Parenthesis
expression box.
to insert a right parenthesis into the
12 Run the search.

Y Click Run.
13 The results are stored in the Results set.
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14 Get rid of the Set Editor Toolbox by clicking on the Set Editor
icon again.
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Lesson 4: Introduction to The

Browser
Why Use the Browser?
Using the browser can save time in searching for parts. After the
attribute search, the result set still contains many unsuitable
components. By using the browser, we can quickly reduce the
mount of components in the cell, without the need for a geometric
search. While modeling the component, the user can add an icon
to the component.
This icon can be seen while using the browser, without loading the
component.
Therefore, the user can check whether the component can be
suitable or not, and keep or remove the component from the set. If
there is a doubt, the user can display the component into separate
window and rotate, zoom into or out of the component, and decide
whether or not to remove the component from the set.
Basic Methodology for the

Browser
1 Click on the Browser
toolbox to bring it up.
2 Browse through the libraries by double clicking on a library

name to view its contents, and picking the entities to view a
picture and information.
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EXERCISE: Using the Browser

Objective: You can use the browser to browse through components
in the current project, libraries, and sets without bringing them into
the cell.
1 Continue using cell_1.ce from the
2 From the Toolbox Manager, click Browser

up.
to bring it
3 Look at the Results set in the Browser.

Y Select Set.
4 Select: Results.
Y Click Select.
5 You can now view each of the components found by the smart
search.
Y Double-click on GUNS.
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Y Select one of the components to see its attributes.

6 Notice all the attributes and picture displayed.
NOTE
The browser only the shows attributes that where stored in the prototype in a family.
All of the guns have attributes on them.
7 Click on the picture of the component.

Y Rotate, Pan, and Zoom the component in the new window
that appears to see if it is the one you want.
8 Pick on the next component in the list.
Y Compare this one with the other one.
Y (You can have a little window of as many of them as you
want).
9 To get rid of the windows that come up do this in the graphics
window to be closed:
Y Press the [F5] key and select Close window.
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Lesson 5: Gun Search

Description
Searching by the browser is a rough search. For guns, a precise
search is needed. It should include collision detection through all
(or some of) the gun states (CLOSE, OPEN, SEMIOPEN), and an
ability to find alternative solutions.
gives the user an ability to find a gun, which

Gun Search
can weld the car parts without colliding with those parts and the
fixtures. The Gun Search application can find alternative solutions,
such as flipping the gun or rotating the location around the
perpendicular vector in order to avoid collisions.
In order to run Gun Search, we have to define a set of guns, weld
locations, and a collision list (car parts, fixtures). The rules for
defining a set of guns is the same as mentioned before, but the
component must be defined as a gun in order to participate in the
search. A device should be defined as a gun while modeling the
gun in Modeling.
After choosing the guns set, the Weld locations and the Collisions
list, the following search parameters can be defined: States, Flip of
the gun, and Rotate around perpendicular angle and steps.
The result of the search is new set result.set, and a text contains all
the information about the search domain, the search parameters
and the result for each gun and location. This text can be saved
using the [F4] command.
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EXERCISE: Using Gun Search

Objective: The gun search utility automatically determines which
guns can perform specified welds without collisions.
Change the MENU to Spot
1 Continue using cell__1.ce from the
2 Create (if not already created), a weld path of 3 locations and

roughly orient them. Here are the basic steps:
Y Using wp86, wp93, wp89, and wp103; project, rotate
interactively, align orientation, and create path.
3 Create a set using the Set Editor
, called new_set
containing all the weld guns in the library.
4 Select the source and destination sets.
Y
Y
Y
Y
From the Toolbox Manager, click Gun search

From Gun Search, click Source set.
Select new_set.
Click Select
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Y Click Dest. set.

Y Select results.
Y Press [Enter].
5 Pick the weld locations to check.
Y From Gun Search, click Weld locations.
Y Select wp86, wp93, wp89, and wp103.
Y Click Accept.
6 Specify the entities with which the gun must not collide.
Y From Gun Search, click Collision list.
Y Select the c1968 (car part).

Y Click Accept.
7 Chose the gun poses to check.
Y From Gun Search, click States.

Y Change CLOSE to SEMIOPEN.
8 Select gun configurations.
Y From Gun Search, click Rotate around perpendicular.
Y Enter an Angle of 5.
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Y Enter a Step of 5.
Y Click Accept.
9 Finish a gun check upon completion.
Y For Next gun, select On completion.
10 Click Run.
Y The search produces three guns.

11 View the resulting guns.
Y
Y
Y
Y
Y
Y
.
From the Toolbox Manager, click Browser
Click Library and select Set.
Choose the results set.
Click Select.
Browse into the guns library.
We can tell that mga_2294k.co cannot be mounted the
robot. On the other hand looks as though sa_81429b.co
may work.
NOTE
The result set is updated each time a search is performed. This result set is is
different from the result set produced by the smart search.
12 Bring the chosen gun into the cell.

Y Select sa_81429b.co.
Y Click Insert.
Y Click Accept.
13 Mount the gun.
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Y
Y
Y
Y
Y
In the Motion window, select the Settings

Click Mount.
For the Tool name, select sa_81429b.
For the Tool origin frame, select sa_81429b.fr2.
Click Accept.
tab.
14 Define the tool frame (make sure that the robot is the active
mech.).
Y In the Motion window, click tcpf.
Y Select sa_81429b.fr1.
Y Click Accept.
15 Check reachability of the robot with the mounted gun to the
welds.
16 Define the robot and path of the simulation.
Y From the Top Menu, click Spot_simulation.
Y Click Robots & paths.
Y For Robot, select na8608_15ar.
Y For Path, select pa1.
Y Click Accept.
17 Simulation the path.
Y From the Top Menu, click Spot_simulation.
Y Click Simulate.
Y Click Accept.
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Chapter Summary
) How to create your own attributes for searching.
) How to create sets and perform searches.
) How to use the smart search tool.
) How to use the browser.
) How to use the gun search tool.
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Other Selected Topics

CHAPTER 6
Chapter 6
Other Selected
Topics
About This Chapter
This chapter provides a description of other selected topics in
Robcad Spot. It contains the following lessons:
) Lesson 1: Servo Guns, page 6-3, describes how to use servo
guns.
th
) Lesson 2: 7 Axis, page 6-12, describes how to setup and use a

th
7 axis.
) Lesson 3: Getting Parts with the Browser, page 6-17, describes
how to get parts with the browser.
) Lesson 4: Spreadsheet, page 6-18, describes how to use the
spreadsheet.
) Lesson 5: Using PLPs and Rough Volumes, page 6-28, describes
how to use the PLP and rough volumes.
) Lesson 6: Rough Drafting, page 6-31, describes how to do
rough drafting in Robcad Spot.
) Lesson 7: Interactive Section Cutting, page 6-35, describes
how to use the interactive section cutting tool.
) Lesson 8: Putting It All Together, page 6-42, begins the course
summary.
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) Lesson 9: Where Do We Go From Here?, page 6-44, describes

what classes can be taken to gain more information about
Robcad.
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CHAPTER 6
Lesson 1: Servo Guns

Introduction
This lesson describes the servo-gun capability of Robcad Spot.
Using servo guns has an affect on the Gun Define toolbox, Motion
toolbox Mount command, the Location Attributes toolbox
Servo/main joint value command, and the resulting simulation.
NOTES:
A servo gun is an electrical spot-welding gun controlled by a servomotor and an

encoder. A servo gun usually has two arms: the first, the dynamic or active arm,
also designated main joint, is controlled by an electric motor; the second, the static
or passive arm, also designated balance joint, is actuated either pneumatically, or
mechanically with a spring-return device.
Servo guns differ from traditional pneumatic guns in that whereas the pneumatic
guns have three poses, open, semiopen and closed, servo guns are continuous
and can move their joint to any desired value within its limits. Thus the robot can
open and close the servo gun during motion, thereby reducing cycle time.
Usage
When welding is complete, the servo gun opens in either of two
different ways:
) The passive arm retracts to its open position, and the active arm
moves to a new value.
) The passive arm retracts to its open position, and the active arm
moves to its position before the welding operation, but using a
different arrival-zone value; thus the robot starts moving to a
new location while the gun is still moving. Kuka robots use this
method.
Active arm - the active arm is defined as a regular external axis of
the robot. Any function, by which the controller controls an
external axis, can therefore control also the servo gun.
Passive arm - movement of the passive arm is limited; it is used for
balance against the active arm.
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Gun states - The servo-gun model must have a CLOSE state (pose).
The commands in the Robcad Spot Gun Search toolbox require the
CLOSE state, and may also use optional OPEN and SEMIOPEN
states.
Mounting a servo gun Mount places the servo gun on the robot
and attaches it to the robot, and also constitutes the active arm as
an external axis of the robot.
Creating and updating locations - The locations for servo-gun
simulations must be compound in order to move the active arm
together with the robot. To constitute locations as compound
locations, issue for them the mark compound and update
commands in the Motion toolbox.
Location attributes. Servo guns do not use the POSE attribute;
instead, they use the main-joint value recorded in the Servo tab of
the Location Attributes toolbox.
OLP support. The default controller supports simulating servo
guns; users may request that other controllers be added: please
consult your Tecnomatix Applications Engineer. Motion to via
locations merely requires defining them as compound locations.
For motion to welding locations, the robot:
1 Moves to the compound welding location.
2 Moves the servo gun to its CLOSE pose.
3 Simultaneously moves the passive servo-gun joint to its OPEN
pose, and moves the active servo-gun joint to its DEPART
attribute value if any.
Requirements
Before defining a welding gun, ensure that:
) A component is currently being modeled.
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CHAPTER 6
) The Modeling/Kinematics commands have been issued as

required to define that component as a device. When the
component has been defined as a device, the Gun Define
window displays the expression CURRENT_MECHANISM in
the gun component field at the top.
) At least one state of the device has been defined as CLOSE, as
issued by the Modeling/States/edit command.
) A tool center-point frame (TCPF) has been defined for the
component, as issued by the General Tools toolbox
Frame/Create command.
Define As a Servo Gun (Discussion

Only)
This section describes the procedure for defining a component as a
servo gun:
1 Begin modelng gun_geo.co.
2 Add a frame at the working frame.
3 Use the Place Placement command to move it to the gun tip.
4 (In this case, kinematics are already defined).

5 Create a CLOSE pose at 0.
6 From the Toolbox Manager, click Gun Define
7 In the Gun Define window, click Tcp frame and select the Tcp
frame.
8 In the Gun Define window, click Define as servo (instead of
Define as gun) to constitute the device as a servo gun. The
Define as a servo window opens.
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9 In the Define as a servo window, click Main joint and select J1

(i.e. upper arm).
10 Optionally in the Define as a servo window, click Balance joint

and select J2 (i.e. lower arm).
11 Click Accept and click Close.
Y NOTE: Do NOT click Define as gun. This will delete the

servo definition.
12 Save and Close the component (the same as pneumatic guns).
13 Move the gun the desired library.
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CHAPTER 6
Exercise 1: Simulating Robots with

Servo Guns
Objective: To load an existing cell and simulate a robot with servo
guns.
1 Load cables_servo.ce from the
.\WKP202U\projects\Other_Selected project.
2 The guns in this cell are servo guns. So you have already
simulated servo guns. However, you can run the simulation
again if you want.
Exercise 2: Interrogating a Cell

with Servo Guns
Objective: To examine the servo attributes that have been assigned.
1 Continue with the loaded cell from the previous exercise.
2 Open the Attribute Editor window.
Y From the Toolbox Manager, pick Attribute Editor
Y Set your Pick Level to Component.
Y In the Attribute Editor window, click Objects.
Y In the Object window, pick the gun of the r120_3 robot.

Y Click Accept.
3 Check what type of gun it is.
Y Look at the list attributes.
Y The SW_SGUN_TYPE attribute is set by the Gun Define
window (in Modeling).
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Y A value of 2 means that the gun is a servo (a value of 0

means it is a pneumatic guns).
Y Close the Attribute Editor window.

4 Open the Motion window.
.
Y From the Toolbox Manager, pick Motion
Y Make sure the r120_3 robot is set as the Active Mech.
tab.
Y Select the Joint Jog
Y Notice the main joint of the gun is shown.
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CHAPTER 6
Y Close the Motion window.

Y From the Toolbox Manager, pick Location Attributes
.
Y From the Location Attributes window, pick Locations ->
Select.
Y From the Select Paths/Locations window, pick the pa3 path
(blue one).
Y Click [OK].
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Y Right click on the w7t003a00554r weld location (first one)

and select Attribute Editor.
NOTES:
The Servo tab is available because the Active Mechanism is a robot with a servo
gun mounted to it.
6 Change the servo values for this location using the Servo tab.
Y Select the Servo tab.
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CHAPTER 6
NOTES:
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 as an external axis of the robot.
The lower portion of the Servo tab displays information about the mounted servo
gun: its name, and the upper and lower limits of its main joint.
Y To change the defined servo value: either type in a value for

the Main joint, or choose the value stored in a pre-existing
pose from the Teach pose drop-down.
Y Click Apply.
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Lesson 2: 7th Axis

Introduction
Rails are useful when you cant reach all the locations on the part
from one location. Putting the robot on a rail allows the robot to
move along the rail to increase its location reachability.
External Axis Creation
Why do we need external axes?
If you dont define the conveyor or rail as external, there may be

infinite inverse solutions for a given location. Therefore to assure
that the robot uses the same inverse solution every time with
conveyors and rails, you must define them as an external axis.
What is a degree of freedom ?
Adding a joint to a robot gives it another degree of freedom. Most

robots have 6 degrees of freedom or 6 joints.
How do you add more than 6 degrees of freedom to a

robot?
Use an external axis. Rails or conveyors are examples of a seventh

degree of freedom that requires an external axis.
Marking Compound Locations

Generates a global compound location at the TCPF of the robot
designated as the active mechanism. The system assigns to the
compound location the name lx#, where the index # increments
from
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CHAPTER 6
This command also records with the compound location the values
of all of the external axes associated with the robot. If the robot is
subsequently moved to that location, its associated external axes
also move simultaneously to their values recorded for the location.
The active mechanism must be a robot having at least one external
axis; otherwise, an error results.
Updating Compound Locations

This command assigns external-axis values to a list of locations,
either the current values of all of the external axes or a specified
value for a single external axis. This command functions for all
locations, not merely compound locations. Assigning an externalaxis value to a location which was not previously a compound
location, transforms that location into a compound location.
Subsequently invoking a motion command, such as move location,
to move the robot to one of the affected locations, causes the
external axes to assume the values specified by this command.
) Location list - A list of existing locations in the workcell. All

locations are acceptable, whether compound or not.
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) Ext no - The external axis number of the active robot, that you
want to assign the compound locations to.
Sample Rail Creation Overview

1 Use Robcad modeling to create a new myrail.co prototype in
the .\WKP100U\projects\conveyor project folder.
NOTE
The geometry for the rail could be created in a CAD system, should as NX.
However, the kinematics should be defined in Robcad.
2 It should consist of two boxes. One is the rail track and the
other is the carriage that carries the robot along the track. (See
the WKP100U Robcad Basics course to see how to create
kinematic links)
Y Example: Dimensions
Y Rail 15,000 x 800 x 1000
Y Carriage 800 x 100 x 1000
3 Place the carriage on one end of the rail.
4 After creating the links, define the rail as a kinematic device
having a single prismatic joint (J1) to move the rail along the
track.
5 Save and close rail.co modeling.
Using a RAIL in a Workcell

1 Load your tryit.ce workcell. It should contain the workpiece
and locations/paths on the workpiece.
2 Get myrail.co, gun.co, and a robot.
3 Place then behind the existing rail (for a test).
4 Make the robot the active mechanism.
Y Right click the robot and select Set Active.
5 Define the axis of the rail as an external axis of the robot.
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CHAPTER 6
Y From the Toolbox Manager window, open the Motion
window.
Y
Y
Y
Y
Y
From the Motion window, click the Settings

Click Add.
In the Add window for Device, pick the rail.
For Joint pick j1 (If that is the joints name).
Click Accept.
tab.
6 Issue the attach command to attach the robot to the rail

carriage.
Y From the Layout window, click Attach.
Y In the Add window, for Cell elements: Pick the robot.
Y For Attach to pick rail carriage.
Y Click Accept.
7 Use the Joint Jog and Robot Jog tabs of the Motion window to
move the robot on the rail.
8 Create a new location to store robot and rail values.
Y From the Motion window, click Mark Comp.
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NOTE
Use the motion reachability to move the robot along the track so that the first few
locations are reachable by the robot.
From the Motion window, click the Reachability
Select reach target.
Pick the first few locations of the path.
Click Accept.
tab.
Pick the external axis shown in the list.
Pick Jog.
Move the mouse left and right in the Graphics Window while holding down the
middle mouse button until you get the location blue.
To add the joint value of the rail to existing non-compound locations.
From the Motion window, click the Move commands
Select Update in the Compound grouping of buttons.
Select click Accept.
tab.
Doing this will change these locations to Compound locations.
9 Repeat steps 7 and 8 for the next few locations in the path.
Store your cell.
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CHAPTER 6
Lesson 3: Getting Parts with

the Browser
Why Use the Browser?
This icon can be seen while using the browser, without loading the
component.
Therefore, the user can check whether the component can be

suitable or not. If there is a doubt, the user can display the
component into separate window and rotate, zoom into or out of
the component, and decide whether or not to use it.
Queries, such as point-to-point distances, can be taken before the
component is brought into the workcell.
EXERCISE: Getting Parts with the

Browser
Objective: To see how to use the browser to get parts into the
workcell.
1 Use the browser to get the parts into the workcell:
Y
Y
Y
Y
From the Toolbox Manager, click Browser

.
In the Browser window, choose to browse libraries.
Browse to the parts_97 library.
Select each of these components and click Insert then
Accept: c1968, c2450, c1970, c2456, c2055, c3218,
c2446.
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Lesson 4: Spreadsheet
Introduction
Your License package may not include the Spreadsheet.
Spreadsheet
) The spreadsheet enables the user to control all the information

regarding the weld points of the station; to update the station;
and be updated from it. The spreadsheet can hold the weld
point names and positions, their corresponding weld location
names and positions, their attributes (Robcad Spot attributes
and user attributes) and comments.
) The meaning of updating Robcad Spot from the spreadsheet is
that the positions and attributes of the weld points in the station
are modified according to the information in the spreadsheet. In
order to update the process data--the weld locations--the user
has to use the Update utility in the Spot/Weld Locations menu.
) The process of updating the table from Robcad Spot displays in
the table the positions of the stations weld points; weld
locations as they are in the cell; and the attributes of the weld
locations.
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CHAPTER 6
What is the Spreadsheet Used For?

The main goal of the spreadsheet application is to give the line
manager a tool to control the entire weld process, and the spot
engineer a convenient tool to control the weld task. Using the
spreadsheet enables the line manager to load points from any other
spreadsheet, and to update Robcad Spot by those points (or update
points from Robcad Spot into the spreadsheet
).
Afterwards, he can assign points to the cell engineers. Each

engineer can load his cell spreadsheet and start working without
interrupting other designers work.
If the designer has a problem with some weld points it can be seen
in the line managers spreadsheet and the weld point can be
assigned immediately to another cell. This way, the line manager
has a concurrent, fully interactive, on-line connection to the cell
designer, without need for an extra software system.
Files Used by the Spreadsheet

The spreadsheet utility requires three files which define its contents.
These three files are located in the project folder:
1 Load the op10_sop.ce cell from the
.\WKP202U\projects\Line_Mgt project.
2 Right click nothing in the Graphics Window and select Display
All
3 The rmaptable.ssp file defines the headers of the table. A

sample of this file exists in C:\robcad\usr\rmaptable.example.
The spreadsheet can have three kinds of values:
Y process attributes (e.g: WP_CURRENT, WP_VOLTAGE),
Y comments (e.g: robot, est_time)
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Y fixed columns (e.g: PO_X, PO_Y, ATTACHED_TO,

STATION, NAME)
4 The ssp_stations_list file defines the cells that participate in the
welding task out of the entire cells of the project.
5 The wp.ssp file includes the initial information about the weld
points.
Each cell has its own wp.ssp file in the cell folder, which contains
the information about the cells weld locations. The file format is a
spreadsheet format; thus it can be loaded by any other spreadsheet
system, and vice versa.
Methodology of the Spreadsheet /

Line Manager
There is a bilateral connection between the wp.ssp file in the
project folder and the wp.ssp file in the cells. Changes in one of
these files affect the others.
Basically, the spreadsheet application in Line and Spot applications
are the same. But, the Line license includes all the functionality,
whereas the Spot license does not include the functionality that
deals with the project level.
For example, lets use a project called FIESTA_FRT_DOOR. The
FIESTA_FRT_DOOR project contains the master spot weld location
file. Each of the operations that are done to this door are stored in
different cells within this project. Each of the operations contain a
subset of the master spot weld location file. All spot weld location
files are named wp.ssp.
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CHAPTER 6
Spot Data Process Management

The spreadsheet
enables the user to control all the
information regarding the weld points of the station; to update the
station; and be updated from it. The spreadsheet can hold the weld
point names and positions, their corresponding weld location
names and positions, their attributes (Robcad attributes and user
attributes) and comments.
Updating the Workcell from the

Spreadsheet
The meaning of updating the workcell from the spreadsheet is that
the positions and attributes of the weld points in the station are
modified according to the information in the spreadsheet. In order
to update the process datathe weld locationsthe user has to use
the Robcad Spot -> Weld Locations -> Update utility button.
Updating the Spreadsheet from

the Workcell
The process of updating the spreadsheet from the workcell displays
in the table the positions of the stations weld points; weld
locations as they are in the cell; and the attributes of the weld.
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Steps to Using the Spreadsheet /

Line Manager
6 Create the basic workcell layout for each operation workcell on
the line.
7 Create the master workcell.
8 Open the master (project) workpoints file into the spreadsheet.
9 Transfer the workpoints from the spreadsheet to the the
workcell.
10 Project the workpoints onto the part (optional).
11 Examine the workpoints and determine which ones will be
welded in which cell.
12 Use the spreadsheet to assign the workpoints to the proper
cells.
13 Save the master (project) spreadsheet and save the master cell.
14 Open the first operation workcell.
15 Open the operation workcell (station) workpoints file into the
spreadsheet.
workcell.
17 Project the workpoints onto the part.
18 Use the tools in Robcad Spot to create a spot path that the robot
can reach.
19 Upload any changes to the points back into the spreadsheet.
20 Enter values for various other fields stored in the spreadsheet.
NOTE
Any field (attribute) can be added to the spreadsheet and managed with the
spreadsheet/line manager.
21 Continue this process for the other operation workcells.

22 Go into the master spreadsheet and move a weld point from
one operation workcell to another.
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CHAPTER 6

Spreadsheet
Objective: To see how to use the spreadsheet.
2 Create the basic workcell layout for each operation workcell on
the line.
3 Create the master workcell.
4 Open the master (project) workpoints file into the spreadsheet.
workcell.
6 Project the workpoints onto the part (optional).
7 Examine the workpoints and determine which ones will be
welded in which cell.
8 Use the spreadsheet to assign the workpoints to the proper
cells.
9 Save the master (project) spreadsheet and save the master cell.

Spreadsheet
2 Open the first operation workcell.
3 Open the operation workcell (station) workpoints file into the
spreadsheet.
workcell.
5 Project the workpoints onto the part.
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6 Use the tools in Robcad Spot to create a spot path that the robot
can reach.
7 Upload any changes to the points back into the spreadsheet.

Spreadsheet
Objective: To see how the tree and spreadsheet relate.
1 Change to the .\WKP202U\projects\LINE_MGT project and
load the master.ce cell.
2 Select Robcad -> Line.
3 Open the Spreadsheet

manager).
(Also known as the line
NOTE
The spreadsheet contains information about the weld points in the line.
Y After projecting the points, you can focus on c1968 and

c2450 assembly (by using the tree), and hide the nonrelevant points.
4 In the Spreadsheet window, select File > Open project.
5 In the Spreadsheet window, select eM > Update from eM >
all.
6 From the Toolbox Manager window, open the Tree
7 In the Tree window, choose c2055, c1970, g333 (use the [Ctrl]
key, to pick them together).
8 In the Tree window, select Edit > Blank.
9 Close the toolbox by clicking the icon again.
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Y The first cell, which you will assign points to, is op10.ce.
This cell is the cell which c1968 and c2450 should be
welded together. The points are attached to c2450.
Y For convenience, you can hide the non-relevant points.
Y Points wp81wp111 are the weld points whose connecting
between the parts. In order to find the first point the find
mechanism can be used:
10 In the Spreadsheet window, select Data > Find > c2450
(point wp81).
11 Select all the lines before wp81.
12 In the Spreadsheet window, select Worksheet > Hide > Row.
13 Go to line 65 (point wp114) select all the rows until the end.
14 In the Spreadsheet window, select Worksheet > Hide > Row.
Y The weld time in the cell is limited to about 55 seconds,
thus the cell cannot include all the weld points. First, the
geometric points should be assigned, those points must be
welded before the other points.
15 In the Spreadsheet window, select change all the geo points (in
type column) to op10 instead of master in station column
(points 84, 85, 87, 93, 95, 97, 100, 101).
Y This can be done by using copy and paste features: [Ctrl][C] and [Ctrl]-[V], or by marking the desired word and paste
it using the middle mouse button.
Y After assigning the geo points, assign some other points to
the cell. It seems that 16 points are enough for one cell.
16 In the Spreadsheet window, select station column> assign the
following points to op10 (points 83, 86, 88, 89, 102105).
17 In the Spreadsheet window, select File > Save project.
Y The save project command will create new file wp.ssp in
op10.ce folder. This file includes the information about the
weld points which were assigned to the cell. Browse the
messages in messages window to see the message about the
saving op10.ce/wp.ssp file.
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18 Load op10 cell without storing master.

19 In the Spreadsheet window, select File > Open.
NOTE
All the assigned points from master cell appear. The designer gets the points and
starts making the weld task. After he knows that he has the ability to reach all the
points he can assign the points as approved. If he has a problem with some points,
he can assign those points.
20 In the Spreadsheet window, select pick on status to highlight

the column/ data/ fill approved (can use [Ctrl]-[F]).
21 Change in one of the rows to no reach instead of approved.
22 In the Spreadsheet window, select File > Save.
Y There is a problem with one point, it can be seen
immediately by the line manager.
23 Load the master.ce cell without storing op10.ce.
24 In the Spreadsheet window, select File > Open project.
25 Assign the non reachable point to another cell, for example
op20, and change the status to AWAITING_APPROVAL.
26 In the Spreadsheet window, select File > save project.

Spreadsheet
1 Enter values for various other fields stored in the spreadsheet.
NOTE
Any field (attribute) can be added to the spreadsheet and managed with the
spreadsheet/line manager.
2 Continue this process for the other operation workcells.

Spreadsheet
Objective: To see how to use the spreadsheet
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1 Go into the master spreadsheet and move a weld point from

one operation workcell to another
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Lesson 5: PLPs and Rough

Volumes
Working with PLPs
) PLP a Principle Locating Point is the point of contact of the
clamp on the part.
Creating Rough Volumes

Concurrent engineering methods are implemented in the Body In
White (BIW) process. This means that the spot weld engineer can
design a weld path that does not collide with any units in the cell,
even before the units have been drafted in detail. The unit designer
need only provide the spot weld engineer with a rough volume, i.e.
a constraining volume in which the unit designer is limited, so that
the engineering process can progress concurrently.
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CHAPTER 6
Example of two rough volumes for fixtures holding a door frame.
Working With the Note Editor

Toolbox
Attach notes to any entity within the cell.
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Lesson 6: Rough Drafting

Introduction
Cell Drafting: A tool for creation of a complete cell drawing
including dimensions and annotations.
Rough Drafting in Robcad Spot

The next sections talk about using the rough drafting package of
Robcad Spot.
Steps to Create a Draft
1 Have a cell loaded.

2 Go to the Drafting menu.
Y From the Top Menu, select Robcad -> Draft.
Y Select Drafting from top-level menu bar.
3 Create a new drawing.
Y From the Drafting window, select Drawing / New.
Y Click Accept.
4 Set the size for the drawing
Y Select Sheet size.
Y Pick the drawing window.
Y Press [Enter].
5 Select the desired sheet size from the list.
Y Select Select.
6 Define a view on the drawing.
Y From the Drafting window, select View layout / New >
By position.
Y Pick the upper left and lower right corner of the view.
Y Select the view point (Q1 is a first quadrant isometric view).
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Y Select Accept.
7 Set the scale of the view:
Y From the Drafting window, select View contents / Scale.
Y Pick in the view.
Y Click Accept.
8 Select the desired scale.
Y Click Select.
9 Set the view mode.
Y From the Drafting window, select View contents / View
mode.
Y Pick the view.
Y Select the desired mode such as HLR.
NOTE
HLR=Hidden Line Removed; HLD=Hidden Lines Dashed.
Steps to Add Annotations to a

Draft
1 Have a cell loaded and a draft created
2 Go to the Annotations menu.
Y From the Top Menu, select Annotations.
3 Create a horizontal dimension.
Y From the Annotations window, select Dimension / Serial
Horizontal
Y For Points, pick the start and end for the dimension(s).
Y For Place, pick where to put the dimension(s).
Y Click Accept.
4 Add some text.
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CHAPTER 6
Y From the Annotations window, select Text / Text
.
Annotation
Y Type some text into the box.
Y Click Accept.
5 Select where to position the text on the drawing (not a view).
Y Click Accept.
6 Change the text.
Y Annotations > Text / Text Edit

Y Pick the text just created.
Y Press [Enter].
7 Edit the text in the popup window.

Y Click Accept.
Steps to Output a Draft

1 Have a cell loaded and a draft created
2 Go to the Drafting menu.
Y From the Top Menu, select Drafting.
3 Format the output.
Y From the Drafting window, select Outputs / Format.
Y Select Format and select Preview or DXF.
4 Output the drawing.
Y From the Drafting window, select Outputs / Drawing
outputs.
Y For File, type in a filename.
Y Click Accept.
5 Select a drawing to output.
Y Click Select.
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Output Window Contents:
The root input entity is station10_a.dr1.view.

The hidden line processing mode is HLR.
The number of input objects is 1.
The number of back facets discarded is 0.
There are no surfaces and solids; thus, all is visible.
The output has been sent to /tmp/drawingout_3076_.mToolbox.
Command: plotfile=$[outfname].ps; $[ROOT]/bin/hp_gl <$draftoutfile |
$[ROOT]/bin/hp2xx w 300 o 100 O 50 q &
format = Preview. outfname = station10_a.ce/rg.
draftoutfile = /tmp/drawingout_3076_.mToolbox.
plotfile = station10_a.ce/rg.ps.
Drawingout finished successfully.
Type y to exit.
Y Enter y in the brown window that appears to finish.
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CHAPTER 6
Lesson 7: Interactive Section

Cutting
Description
This lesson describes how to define a section plane and use it to
cut sections. The license for this module may not be part of your
bundle.
Change project to .\WKP202U\projects\sections and load the
cut1.ce cell.
EXERCISE 1: Creating a Section

Plane
Objective: To create a section plane.
1 Bring up the Section toolbox.
Y Click Section
from the Toolbox Manager window.
2 In the Section window, select Section to create a new section.

Y Then select New to create a new section.
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3 Select the red frame on the oil filter (sect_fr) as the frame at
which to locate the section plane.
Y Set the creation frame to Xy.
Y Select xx.
Y All components as the components to cut.
Y Set Width to 400.
Y Set Height to 400.
Y Give the section a name of your choosing.
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CHAPTER 6
Y Click te Accept.
Y The section plane will appear on the screen.
4 You will notice that the section plane created is not centered
about the frame selected.
Y Bring up the Placement Toolbox and use the Place

command to center the section.
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5 We want to attach the section to the oil filter so that when we

simulate it along its path we can get multiple sections.
Y Click Layout > Attach.
Y Fill in the form and click Accept.
EXERCISE 2: Cutting Sections

Objective: To cut sections.
1 Bring up the Section toolbox.
2 In the Sections window, click Cut.

Y A section will be cut and displayed in a new window.
3 In the Sections window, click Store as component. Store the
section as a component. Specify a name if you do not want the
default name cut1.my_sect1.
4 In the Sections window, click Clip.
Y Set Front.
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CHAPTER 6
Y Select New window.
Y Select With contour.

Y Click Accept.
5 Manipulate the position of the section with the Section Toolbox
window.
Y Notice how the clipping is performed. And the contour
displayed.
6 In the Sections window, click Restore to stop clipping and

close the window.
7 In the Sections window, click Single and change it to Multiple.
8 Go to Path.
Y Set oil_filter as the part and oil_filter_p1 as the path.
9 In the Sections window, click Cut frequency on the Simulation
popup.
Y Set Cut frequency to Each n intervals and the Number of
intervals to 2.
Y Set Cut section to On.
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10 Now simulate the oil filters path.

Y Watch the section window as a section is cut every other
update interval.
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CHAPTER 6
Chapter Summary
) How to use and create cables.
) How to use servo guns.
) How to get parts with the browser.
) How to use the spreadsheet.
) How to use the PLP and rough volumes.
) How to output pictures and text.
) How to use the assembly tree.
) How to use the interactive section cutting tool.
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Lesson 8: Putting It All

Together
Introduction
At the beginning of this class you had little or no knowledge of
Robcad Spot. Through class you have been exposed to many
Robcad Spot features and had time to practice what you have seen.
You must continue to use this tool after class in conjunction with
other users in your company, additional training classes, and
Siemens PLM Software services personnel in order to become an
expert.
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CHAPTER 6
EXPERT
SYNTHESIZE
ANALYZE
PRACTICE
EXPOSURE
NO KNOWLEDGE
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PUTTING IT
ALL
TOGETHER
6-43
6-44
Lesson 9: Where Do We Go
From Here?
Introduction
If you want to learn more about Robcad path development and
application specific Robcad features, try these classes:
) WKP203U Robcad Paint
) WKP204U Robcad Arc
If you want to learn more about advanced Robcad topics, try these
classes:
) WKP209U Robcad Advanced Modeling and Kinematics
) WKP211U Robcad Off-line Programming
See http://training.ugs.com for more information
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WKP202U Classroom Setup

APPENDIX A
Appendix A
WKP202U
Classroom Setup
About This Chapter
This chapter provides a description of how to setup a class and
contains the following lessons:
) Lesson 1: Software Requirements page 2, describes the
software and applications that must be installed on every client
for this class.
) Lesson 2: Classroom Setup page 3, describes how to setup a
class.
) Lesson 3: After Class: Resetting the data page 8, describes how
to delete the class projects so you can use the same data for
future classes.
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Lesson 1: Software
Requirements
Software Requirements
This class requires the following list of software and applications be
installed on every client:
) Robcad
) Microsoft Excel
) Acrobat
rd
) During the Robcad install the following 3 Party software are

also installed:
Y MKS version 9.2 patch2
Y Exceed 13
Y FlexLM version 11.6
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APPENDIX A
Lesson 2: Classroom Setup

Introduction
These exercises must be completed by the instructor before class
begins.
EXERCISE 1: Setting up the

Training Data
Objective: To copy the training data from a CD and give write
permission to the folders.
NOTES:
The data requires at least 110MB free on the computer.
1 Download the training data from the training website on the

intranet or training CD. The data will be in the form of a zip
file. The zip file contains two primary folders: projects and
libraries.
NOTES:
The training data zip can either be opened into the %ROBCAD%\data folder, or
into the Robcads start in (a.k.a. HOME) folder. These instructions assume that
the data is placed in the %ROBCAD%\data folder. The start in folder is specified
on the windows shortcut used to start Robcad. To change it, right click on the
shortcut and select Properties. Change the start in folder. Click [OK].
2 On each Robcad student and instructor computer, browse to

the C:\Robcad\data folder. (The assumption is that Robcad is
installed in the C:\Robcad folder, the default location.)
3 If a WKP202U folder, currently exists rename it to something
else.
4 Extract the data zip file directly to the C:\Robcad\data folder to
each Robcad student and instructor computer.
5 Verify access rights are set correctly.
Y Select Start -> Run.
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Y
Y
Y
Y
Type: cmd
Change directories to the C:\Robcad\data folder.
Type: attrib h /s
Type: attrib r /s
6 Close the command window.

7 Copy the usr_attrubutes.demo and usr_families.demo files to
the %ROBCAD%\dat folder.
EXERCISE 2: Setting up the Robcad

Library Root
Objective: To set the Robcad library root.
On an Robcad computer do these steps:
1 Start Robcad.
Y Select Start -> Programs -> Tecnomatix -> Robcad ->
Robcad
Y Or double-click the Robcad icon on the desktop.
2 Check the Robcad Spot license.
Y In the Top Menu window select the Robcad -> Spot. The
Spot menu appears.
3 Set the library root.
Y In the Top Menu window select the Setup button. The
Setup window appears on the right side of the Graphics
Window.
Y In the Setup window, select the Projects button.
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APPENDIX A
Y In the Setup window, select the Set library root button.
Y In the Library Root Browser window, browse into the

C:\Robcad\data\WKP202U\libraries folder.
Y Click [OK].
4 Save settings for the library root.
Y In the Setup window, click the Configuration button.
Y In the Setup window, click the Store button.
Y Select Project from the dropdown.
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Y A robcad_config.xml file is stored in the C:\Robcad\data

folder.
5 Exit from Robcad
Y Select Robcad -> Exit.
EXERCISE 3: Test that the First Cell

Works
Objective: To open the first cell in Robcad.
On an Robcad computer do these steps:
1 Start Robcad.
Y Double-click the Robcad (Robcad) icon on the desktop.
2 Open the workcell in Robcad.
Y In the Top Menu window select the Layout button. The
Layout window appears on the right side of the Graphics
Window.
Y In the Layout window, select the Load cell button.
Y Browse to the /C=/Robcad/data/WKP202U/projects/intro

folder.
NOTES:
In this class it is not necessary, however if you want to change drive letters (for
example to the I: drive), it can be accessed by typing /* in the Filter field and
pressing [Enter]. You can then double-click the desired drive.
Y Select the station02new.ce workcell.

Y Click [OK].
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APPENDIX A
Y The workcell contents are displayed in the Graphics

Window.
3 Rotate, Pan, and Zoom the workcell.
4 Open the station02 SOP.
Y In the Top Menu window select the SOP button. The
Sequence of Operations window appears on the right side
of the Graphics Window.
Y In the Sequence of Operations window, select the Sequence

button.
Y Select station02.
Y Click Select.
5 Simulation it.
Y In the Sequence of Operations window, select the Play
button.
6 Exit from Robcad
Y In the Top Menu window select the Robcad button.
Y On the dropdown menu, select Exit.
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Lesson 3: After Class:

Resetting the Data
EXERCISE: Reset the Data
Objective: To reset the data so we can use it for future classes.
1 Browse to the C:\Robcad\data folder
2 Delete WKP202U and robcad_config.xml.
3 You are now ready to setup a new class. Refer back to Lesson
2 to begin.
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Customizations Used in Training

APPENDIX B
Appendix B
Customizations
Used in Training
About This Chapter
This chapter provides a description of the customizations used in
class and contains the following lessons:
) Lesson 1: Customizing Top Bar Menus page B-2, describes the
top-bar menu customizations used in class.
) Lesson 2: Customizing Families and Attributes Files page B-3,
describes families and attributes file customizations used in
class
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B-1
B-2
Lesson 1: Customizing Top Bar

Menus
Introduction
The top bar menus are different than the default
Workcell: includes files, sop
Modeling: layout, motion
Spot: locations, motion, sop
This was done by placing the following lines in the .robcad file in
the training home folder.
Workcell "setup display layout files motion locations query data
sop"
Modeling "setup display layout files features kinematics states
motion data"
Spot "setup display layout locations motion weld_locs weld_path
gun
spot_setup placement fixtures via_locs spot_simulation sop"
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Customizations Used in Training

APPENDIX B
Lesson 2: Customizing
Families and Attribute Files
Introduction
The default files that determine the attributes associated with each
family and the type of each attribute are:
C:\Robcad\dat\families or /usr/local/robcad/dat/families
C:\Robcad\dat\attributes or /usr/local/robcad/dat/attributes
For the training we created special files and placed them in the
Robcad usr folder (C:\Robcad\usr or /usr/local/robcad/usr). We
added the following lines to the .robcad file:
USER_ATTRIBUTES usr_attributes.demo
USER_FAMILIES
usr_families.demo
USER_ATTRIBUTES_PC usr_attributes.demo
USER_FAMILIES_PC
usr_families.demo
This is the content of the families file (usr_families.demo):

FAMILY ug_gun
ATTRIBUTE WEIGHT
ATTRIBUTE THROAT_DEPTH
ATTRIBUTE THROAT_HEIGHT
ATTRIBUTE WELD_FORCE
ATTRIBUTE WELD_CURRENT
ATTRIBUTE GUN_TYPE
END_FAMILY
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B-3
B-4
This is the content of the attributed file (usr_attributes.demo):

#For family ug_gun
WEIGHT r 1 p
THROAT_DEPTH r 1 p
THROAT_HEIGHT r 1 p
WELD_FORCE r 1 p
WELD_VOLTAGE r 1 p
GUN_TYPE s 1 p
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Update Locations
APPENDIX C
Appendix C
Update Locations
About This Chapter
This appendix provides information on the update locations ability,
and contains the following lessons:
) Lesson 1: Displaying Unupdated Locations, page C-2, describes
how to display the locations that are not updated.
) Lesson 2: Updating Locations, page C-3, describes how to
update locations that are not updated.
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C-1
C-2
Lesson 1: Displaying
Unupdated Locations
Introduction
Display unupdated is a spot application under weld locs menu.
This command opens a window displaying information about
component instances in the workcell that have changed subsequent
to the time when welding locations were placed on them.
The window also shows new welding points that were imported
into the workcell by means of the
Weld_Locations -> Points -> Import
Locations that were created in the workcell or that were brought to
the workcell from the Toolbox spreadsheet by means of the
Weld_Locations -> Points -> Create
This command opens either a short or a long window. The short
window lists the names of welding points and their respective
welding locations, if any. The long window also lists the welding
points and their respective welding locations for cases where they
no longer correspond to each other. It lists their respective names
and coordinates, and also the names and values of their attributes
that do not correspond.
These details enable determining precisely what needs to be
changed in order to cause the welding points and their respective
welding locations again to correspond. The long window
terminates with the same summary list that the short window
displays. In addition to the window that opens, the Display
unupdated command also colors the entities magenta in the
graphics window, including locations and points that were
modified.
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Update Locations
APPENDIX C
Lesson 2: Updating Locations

Introduction
The Update locations command modifies welding locations, or
generates welding locations, as required, to cause welding points to
have corresponding welding locations.
This command modifies only welding locations.
The command can function automatically for all of the welding
locations in the workcell that no longer correspond to their
respective welding points. This function operates only for welding
locations; it does not produce new welding locations for welding
points that have no corresponding welding locations.
When the command completes its operation, it colors all of the
welding locations with distinctive colors to indicate the kind of
modification, if any, applied to them.
It also opens an update-results window that lists all of the welding
locations that the command attempted to modify or produce, the
corresponding welding points, and the final status of the welding
locations. The update-results window also contains a legend
explaining the various colors for the welding locations in the
graphics window to illustrate the modifications effected to them.
The project function projects the specified welding points onto the
workpieces to which they are attached to produce a projected
welding point corresponding to each welding point. This function
is activated only when one or more entries in the update-results
window are selected and highlighted. This function may be used to
project new welding points that do not have corresponding
welding locations.
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C-3
C-4
Exercise: Using it
Objective: To use the command.
1 Load cell -> op10_update
2 Spreadsheet -> open
3 Make changes in attributes for two locations
(SSP_WP_CURRENT, SSP_WP_VOLTAGE)
4 Change some comments (est_time)
5 Change placement of weld point
6 Spreadsheet -> robcad -> update robcad
7 Close the spreadsheet
8 Spot -> Weld locs -> points, create two new points by pick
9 Spot-> Weld locs -> points, delete two points
Y In the cell there are some deleted points, some new points
and some modified points. Using the Display unupdated
command all the changes can be seen.
10 Spot-> Weld locs-> display unupdated-> long
NOTE
The colors of the weld points had been changed using the update automatic
command all the locations be updated according to the weld locations changes
11 Spot -> Weld locs -> update automatic -> all

12 Project button can be used in order to project the new weld
locations on the car parts:
13 Select in the report window the locations which where not
projected
14 Update automatic -> project
NOTE
Pay attention to the colors of the locations
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StudentGuide RobcadSpot

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Robcad Spot Training Guide

Robcad Spot Student Guide

This edition obsoletes all previous editions.

Siemens Product Lifecycle Management Software Inc..

Proprietary and Restricted

Robcad Spot Student Guide

If this computer software and computer software documentation

Chapter 2: The Robcad Spot Weld Process ...................................2-1

Chapter 3: Adding to the Spot Welding Process ...........................3-1

Chapter 4: Mounted Workpiece Welding .....................................4-1

Robcad Spot Student Guide

Lesson 2: Mounting the Workpiece .......................................................................... 4-7

Chapter 5: Gun Searching.............................................................5-1

Chapter 6: Other Selected Topics .................................................6-1

Appendix A: Classroom Setup...................................................... A-1

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Robcad Spot Student Guide

Training Guide Typographical

This bullet is used to show an important sub-grouping of a

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This bullet is used to show bullet points in a lesson. It is not

This bullet is used to highlight the button clicks that need to

Informational Sidebar Conventions:

This icon is used to show notes of special importance. This

Basic Exercise Conventions:

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Robcad Spot Student Guide

Exercise Button Click Conventions:

) In the exercises the titles of windows, pop-ups, toolbars, or

Example Usage of Exercise Conventions:

Y Select File -> Save. The current file is saved.

from the Standard toolbar.

3 Here is how a button on the keyboard or a common button on

Y Select the [Enter] key.

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Y Select the [OK] button.

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Robcad Spot Student Guide

Lesson 2: Spot Welding

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Designing a Spot-Welding Line

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Robcad Spot Student Guide

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Robcad Spot Overview

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Robcad Spot Student Guide

) It accommodates designs in which the robot holds either the

EXERCISE 1: Loading the Cell at

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EXERCISE 2: Loading the Cell at

Usually, processing at this level is done in Plant Simulation or Process Designer.

EXERCISE 3: Loading the Cell at

Usually, processing at this level is done in Plant Simulation or Process Designer.

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Robcad Spot Student Guide

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The Robcad Spot Weld Process

The Robcad Spot

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Robcad Spot Student Guide

) Lesson 8: Creating Via Locations, page 2-48, describes how to

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The Robcad Spot Weld Process