Robcad_Basics_

Robcad Basics Training Guide

Course Code: WKP100U Updated: July 2006 Publication Number: MTXW100U-SG-0751

Robcad Basics

Version: 7.5.1

Table of Contents

Robcad Basics Training Guide July 2006 WKP100U – Version 7.5.1

Publication Number MTXW100U-SG-0751

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Manual History Manual Revision

Product Version

Publication Date

A

V 3.3

July 1996

B

V 3.4.1

April 1997

C

V 3.5.1

December 1997

D

V 3.7.1

December 1998

E

V 3.8.1

December 1999

F

V 4.0

December 2000

G

V 6.0.3

December 2002

H

V 7.1.2

December 2004

I

V 7.5

October 2005

J

V 7.5.1

July 2006

This edition obsoletes all previous editions.

© UGS Corp. 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 restrictions: ) This Guide contains proprietary information belonging to UGS Corp. 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 UGS Corp. ) The text and graphics are for the purpose of illustration and reference only. The specifications on which they are based are subject to change without notice. ) The software described in this guide is furnished under a license. The software may be used or copied only in accordance with the terms of that agreement. ) Information in this Guide is subject to change without notice. Corporate and individual names and data used in examples herein are fictitious unless otherwise noted. This software and related documentation are proprietary to UGS Corp. LIMITATIONS TO U.S. GOVERNMENT RIGHTS. UNPUBLISHED – RIGHTS RESERVED UNDER THE COPYRIGHT LAWS OF THE UNITED STATES. This computer software and related computer software documentation have been developed exclusively at private expense and are provided subject to the following rights.

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If this computer software and computer software documentation qualify as “commercial items” (as that term is defined in FAR 2.101), their use, duplication or disclosure by the U.S. Government is subject to the protections and restrictions as set forth in the UGS Corp. commercial license for the software and/or documentation as prescribed in FAR 12212 and FAR 27.405(b)(2)(i) (for civilian agencies) and in DFARS 227.7202–1(a) and DFARS 227-7202-3(a) (for the Department of Defense), or any successor or similar regulation, as applicable or as amended from time to time. If this computer software and computer documentation do not qualify as “commercial items,” then they are “restricted computer software” and are provided with “restrictive rights,” and their use duplication or disclosure by the U.S. Government is subject to the protections and restrictions as set forth in FAR 27.404(b) and FAR 52–227–14 (for civilian agencies), and DFARS 227.7203–5(c) and DFARS 252.227–7014 (for the Department of Defense), or any successor or similar regulation, as applicable or as amended from time to time. UGS Corp., 5800 Granite Parkway, Suite 600, Plano, Texas 75024, USA. Copyright 2006 UGS Corp. All rights reserved. Teamcenter, NX, Tecnomatix, Solid Edge, eM-Engineer, eMPlanner, eMServer, Process Designer, Process Simulate, Web-Based BOP Manager, WI Browse Server, Process Reports Server, Robcad, ROSE, Plant Simulation Professional, eM-ProbeCad, eM-Qualify, eM-Quality (Valisys), eM-Gauge, eM-Insight, eM-Inspector, eMInspect, eM-Measure, eM-TolMate, eM-TolCenter, Machining Line Planner, eM-Spot, eM-Paint, eM-Arc, FactoryLink, Xfactory, eMDocument Expert, eM-Assembly Expert, eM-Test Expert (FABMaster), MES for Electronics, Unicam FX, Unidoc FX, FactoryCAD, Vis VSA, FactoryFlow, FactoryMockup; and the Teamcenter, NX, Tecnomatix, Solid Edge, and UGS logos are trademarks of UGS Corp. Other company and brand products and service names are trademarks or registered trademarks of their respective holders.

Table of Contents

Table of Contents Chapter 1: Introduction to Robcad ...............................................1-1 Lesson 1: Training Introduction.................................................................................1-3 Lesson 2: Basic Skills .................................................................................................1-7 Lesson 3: Basic Robcad operations ............................................................................1-1 Lesson 4: View Control in Robcad.......................................................................... 1-22 Lesson 5: Customizing user configuration .............................................................. 1-26 Lesson 6: Entity selection........................................................................................ 1-29 Lesson 7: Using Robcad Layers............................................................................... 1-34 Lesson 8:Additional commands .............................................................................. 1-40 Lesson 9: Robcad Help ........................................................................................... 1-44

Chapter 2: Workcell Layout..........................................................2-1 Lesson 1: Introduction to cell layout .........................................................................2-2 Lesson 2: Cell Construction .......................................................................................2-5 Lesson 3: Placement Commands................................................................................2-9 Lesson 4: Assembly Tree Intro ................................................................................ 2-33 Lesson 5: Final Layout ............................................................................................ 2-40

Chapter 3: Modeling and Kinematics ............................................3-1 Lesson 1: Modeling Basics .........................................................................................3-2 Lesson 2: Introduction to Representation Precision ............................................... 3-13 Lesson 3: Fundamentals of Kinematics ................................................................... 3-21 Lesson 4: More Modeling ....................................................................................... 3-25

Chapter 4: Processing ...................................................................4-1 Lesson 1: Inverse kinematics: Core technology of Robcad ........................................4-2 Lesson 2: Working with Paths................................................................................. 4-12 Lesson 3: Populating Libraries ................................................................................ 4-22

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Lesson 4: From Least Constraints to Most Constraints............................................ 4-29

Chapter 5: Basic Simulation Techniques .......................................5-1 Lesson 1: Introduction to Sequence of Operations................................................... 5-2 Lesson 2: Creating a Sequence.................................................................................. 5-8 Lesson 3: Using a Scenario ..................................................................................... 5-18 Lesson 4: Editing Operations .................................................................................. 5-23 Lesson 5: Types of SOP Events................................................................................ 5-26 Lesson 6: More SOP Tools ...................................................................................... 5-35 Lesson 7: Using Camera Views ............................................................................... 5-39 Lesson 8: Static Output........................................................................................... 5-43 Lesson 9: Storing Simulations ................................................................................. 5-53 Lesson 10: Creating Web Reports ........................................................................... 5-57

Chapter 6: Other Selected Topics .................................................6-1 Lesson 1: More on Robot Motion.............................................................................. 6-2 Lesson 2: Cables........................................................................................................ 6-7 Lesson 3: Introduction to CAD Integration with Robcad (Optional Topic) ............ 6-21 Lesson 4: Stand Alone GUI for CAD Interfaces (UNIX only) (Optional Topic) ...... 6-31 Lesson 5: Data Menu CAD Translating (Optional Topic)........................................ 6-32 Lesson 6: More Data Commands Windows (Optional Topic) ................................. 6-39

Appendix A: WKP100U Classroom Setup .................................... A-1 Appendix B: Customizing Your .robcad File .................................B-1

Introduction to Robcad CHAPTER 1

Chapter 1

Introduction to Robcad About This Chapter This chapter provides an introduction to Robcad and contains the following lessons: ) Lesson 1: Training Introduction, page 1-3, describes how to use the training manual. ) Lesson 2: Basic Skills, page 1-7, describes how to start Robcad and how to navigate through windows in Robcad ) Lesson 3: Basic Robcad operations, page 1-11, describes how to open project, load cells, and execute a sequence of operations. ) Lesson 4: View Control in Robcad, page 1-20, describes how to view controls using mouse or keyboard as well as using multiple graphic windows ) Lesson 5: Customizing user configuration, page 1-26, describes how to customize, save, and load configurations. ) Lesson 6: Entity selection, page 1-29, describes different methods of entity selections ) Lesson 7: Using Robcad Layers, page 1-34, describes how to set, create, and add/ remove components to active layers as well as blanking/displaying and filtering components in layers

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) Lesson 8: Additional commands, page 1-40, describes how to use some additional commands such as viewing panel. ) Lesson 9: Robcad Help, page 1-44, describes how to retrieve online command help and documentation and also how to use the undo and reset commands.

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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:

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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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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.

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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.

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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 windowat. ) 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 . 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 File -> Save. The current file is saved. 2

There are two ways to refer to a top menu item such as the Save as: Y From the File menu, select Save as. The Save as window appears. Or

Y File -> Save as. The Save as window appears. 3

Here is how an icon from a toolbar is refered to in an exercise: Y Click Save

from the Standard toolbar.

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Here is how a button on the keyboard or a common button on a window is refered to in an exercise: Y Select the [Enter] key. Y Click the [OK] button.

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Lesson 2: Basic Skills Logging in and Logging out of the System ¾

On UNIX:

1 Logging into the system: Y Type the training username supplied by your instructor and press [Enter] on the keyboard. 2 Logging out of the system (UNIX): Y Click and hold the right mouse button on the background of the screen, and select the Log Out button. The following window will appear.

Y Confirm that you wish to logout by clicking on the Yes button.

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On a PC:

1 Logging into the system: Y Type the training password supplied by your instructor and press [Enter] on the keyboard. 2 Logging out of the system (PC): Y Select Start -> Shutdown.

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Y Select Logoff from the dropdown. Y Click [OK].

UNIX Window Management ¾

Open a UNIX Shell

1 Select the Desktop button on the Toolchest menu. Y Click Desktop. 2 Selecting Open UNIX Shell. Y Click Desktop -> Open UNIX Shell.

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NOTES:

A window similar to this one will appear. PRINCIPLE:

You must have your mouse pointer inside the window to type text in the window. If you move your mouse out of the window your text will be thrown away.

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Minimizing and Maximizing a UNIX Shell

1 Press the large square icon in the upper right corner of the shell window to maximize it. 2 Press this same square icon again to return it to the regular size. 3 Press period icon in the upper right corner of the shell window to minimize it. NOTE

The window is changed to an icon on your desktop.

4 Click on the icon to return the window to its regular size.

Exercise: Starting Robcad Objective: To start Robcad

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On PC:

1 Log into the computer system.

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2 To start Robcad: Y Method 1: Double-click the Robcad (PC) icon on the desktop. Y Method 2: Select Start -> Programs -> Tecnomatix -> Robcad (Robcad) -> Robcad. 3 Exit Robcad: Y Using the left mouse button, click on the Robcadbutton in the Top Menu window. Y A pull down menu will appear. Y Move the mouse cursor to the Exit button and click the left mouse button. NOTE

It is important to exit Robcad before logging out of the system, in order to ensure changes are saved.

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On UNIX

Log into the computer system 1 To start Robcad: Y Place the mouse cursor inside of shell window and type: Y em_workplace 2 Exit Robcad: Y Using the left mouse button, click on the Robcadbutton in the Top Menu window. Y A pull down menu will appear. Y Move the mouse cursor to the Exit button and click the left mouse button. NOTE

It is important to exit Robcad before logging out of the system, in order to ensure changes are saved.

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Lesson 3: Basic Robcad Operations Introduction In this lesson, we will briefly discuss the Layout and SOP windows.

The Robcad Windows ¾

Top Menu Window:

The window across the top is the Top Menu window. It is made up of a row of buttons for the current menu. The menu’s name is shown in the title bar of this window. It displays the version of Robcad, the current menu name, the name of the cell, the folder path containing the cell, pick intent, and pick level.

PRINCIPLE

Each button in the Top Menu window (except the Robcadpull down menu) causes its own Commands Window to be displayed at the right side of the screen.

The Robcadbutton on the Top Menu window is used to change the current menu shown in Top Menu window and the icons in the Toolbox Manager window.

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Graphics Window:

The large window just below it is the Graphics Window. This window displays graphics information.

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Commands Window:

The window to the right of the Graphics Window is the current sub-menu window. Selecting buttons on the Top Menu window (except the Robcadbutton) changes the current sub-menu shown here. Pressing buttons here activates the actual commands.

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Messages Window:

This window is located under the Graphics Window. It displays up to three lines of text, each having a distinct function: ) The message line usually contains a status message (success/failure) for the last command completed. ) Previous messages are preserved and can be viewed by picking the scroll arrows.

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Status (Data) Window:

The Status Window is located along the bottom of the display. It lists the data returned by or required for the current command. PRINCIPLE

You may use the information displayed in the Status Window as input to any Robcad window. Use the right mouse button to copy the information.

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Toolbox Manager Window:

The window in the lower right corner is the Toolbox Manager window. Buttons pressed here toggle the display of sub-menus that appear over the Graphics Window. Pressing buttons on these submenus activates the actual commands.

It contains various Toolbox Managers. Some of these toolboxes are available at all times. PRINCIPLE

The Toolbox Manager window is always there for you, regardless of the chosen Commands Window.

Undo, View Center, Reset, Limits Check and Collisions are always present.

Exercise 1: Minimizing and Maximizing Robcad Objective: To minimize and maximize Robcad.

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This behavior is the same on UNIX and PC. 1 In the upper right corner of the Top Menu window, click the Minimize icon.

2 All Robcad windows are minimized to one Robcadicon that sits on top of the desktop.

3 Double-click on this Robcadicon to restore all the Robcad windows.

Mouse Conventions in Robcad We will cover a move complete list of mouse conventions throughout class. ) Left mouse button - Used for clicking buttons on menus and picking entities in the Graphics Window. ) Middle mouse button (the mouse wheel can be pressed like a button) - Has several important functions in Robcad. (To be discussed throughout class) ) Right mouse button - Has several important functions in Robcad. (To be discussed throughout class). The first use of the right mouse button we will discuss involves the right click menu in the Graphics Window. Y With the introduction of right-click context sensitive menus, users need fewer mouse clicks to carry out common operations. The result is increased speed and easier access to frequently used tools and commands.

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) When asked to Select or Click on a button, move the mouse cursor over the button then quickly depress and release the left mouse button. ) When asked to Drag, move the mouse cursor while holding the left mouse button down. Release the button to make your selection.

Exercise 2: Graphics Window Right Click Menu Objective: To use the Graphics window right click menu. Change the pick level to Component. Y Press the [F12] until the pick level is changed to Component. The current value is displayed in the upper right corner of the Top Menu window. Look at the right click menu for a robot.

Look at the right click menu for the E11 column.

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This menu can be used to start all sorts of the menus quickly and easily.

Load Cell Load cell is used to open cells (.CE) in Robcad. The thumbnail and one-cell previews can save users valuable time otherwise lost opening an incorrect cell from the list. The preview functionality provides users with a quick graphic display of the cells contained in a directory, allowing them to select exactly the cell they need.

Exercise 3: Loading a Cell and Changing Projects Objective: To load an existing cell from the projects/intro project folder. 1 Go to the Layout window. Y In the Top Menu window select the Layout button. The Layout window appears on the right side of the Graphics Window. 2 Change to the projects/intro project folder. Y In the Layout window, click the Load cell button.

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Y In the Load Cell window, browse to the /C=/Robcad/data/projects/intro folder.

NOTES:

A different drive can be accessed by typing /* in the Filter field and pressing [Enter]. You can then double-click the desired drive.

3 Load (Open) the desired cell from this project. Y Select the first_cell.ce workcell.

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

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Exercise 4: Playing a Sequence of Operations Objective: To play a SOP in Robcad. We will learn how to layout this cell and create the simulation later in this class. 1 Go to the SOP window. Y In the Top Menu window select the SOP button. The Sequence of Operations window appears on the right side of the Graphics Window. 2 Open the SOP for this cell. Y In the Sequence of Operations window, click the Sequence button. Y In the Sequences window, select Station11 in the Sequences window. Y Click the Select button.

3 Play the simulation. Y In the Sequence of Operations window, click the Play button.

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4 Press Stop on the Sequence of Operations window to stop the simulation 5 Press Rewind on the Sequence of Operations window to reverse the simulation

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Lesson 4: View Control in Robcad Introduction In this lesson, we will briefly discuss the Graphics and Display windows.

View Control using the mouse ¾

With the mouse cursor in the Graphics Window

) Middle button: Y Used for zooming in or out. Moving the mouse left or right affects the direction of zoom. Y Mouse movement left: zoom out Y Mouse movement right: zoom in Y Mouse distance moved: affects magnitude of zoom Y For example: Click and hold middle button of mouse while moving mouse slightly left then right. ) Right button: Y Used for panning. Moving the mouse in any direction affects the direction of panning. Y Mouse distance moved: affects the speed of panning. Y For example: Click and hold middle button of mouse while moving mouse slightly up, down, left, or right. ) Middle+Right buttons: Y Used for moving the eye viewpoint. Moving the mouse in any direction controls the movement of a sphere around the model. Y Mouse distance moved: affects the speed of rotation.

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Y For example: Click and hold middle button of mouse while moving mouse slightly up, down, left, or right. NOTE

Rotation is limited to + or - 180 degrees about the floor axes.

Y Zoom Window Control using the keyboard and mouse ) Ctrl + Alt & Left button: Y Hold down Ctrl and Alt keys and then depress left mouse button. A Zoom IN window can then be defined. Y The first corner will be where the cursor was when left button was depressed. The other corner will be defined where left button is released. ) Shift + Ctrl + Alt & Left button: Y Hold down Shift and Alt keys and then depress left mouse button. You can then define a Zoom OUT window. Y The first corner will be where the cursor was when left button was depressed. The other corner will be defined where left button is released.

View Control using the Keyboard ¾

With the mouse cursor in Graphics Window:

) [Home] key: Moves to the front view of the cell ) [Right arrow] key: Rotates cell 30 degrees counterclockwise ) [Left arrow] key: Rotates cell 30 degrees clockwise ) [Up arrow] key: Rotates cell 30 degrees up ) [Down arrow] key: Rotates cell 30 degrees down

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View Control using the Window setup menu ¾

To bring up Window Setup menu:

Place mouse cursor inside the Graphics Window. 1 Press the [F5] key on the keyboard. The Window setup menu is displayed.

2 Click on Cancel in the Window setup menu.

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To change View point of Cell:

Bring up the Window setup menu by pressing the [F5] key. 1 Click on View point -> Q1. View point of cell is updated 2 Bring up the Window setup menu. 3 Click on View point -> Back 4 Explore the workcell with the other view point options in the

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Window setup menu ¾

Method 1:

1 Select Display from Top Menu window. 2 Select Display/All in the Commands window.

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Method 2:

1

Put mouse cursor in Graphics Window and press the [F5] key.

2 Click on Full view.

Using Multiple Graphic Windows ¾

To open multiple graphic windows:

1 From the Top Menu window, click the Display button. 2 On the Display window select Viewing->Open graphics windows. 3 Click on any option from the Open graphics windows menu 4 Explore the other options

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To change view parameters in all graphic windows:

1

Move mouse cursor to any Graphic Window.

2 Press the [F6] key to get Global setup menu. 3 Move mouse cursor to Graphic windows and Graphic windows submenu will appear.

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4 Click on the window setting that you wish to change.

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To close a graphic window:

1

Move mouse cursor to the window that you want to close

2 Press the [F5] key. 3 Select Close Window.

Changing the View Center 1 Rotate the cell in any direction and note center of rotation. 2 Click View Center

from the Toolbox Manager window.

3 Click on an entity. Or select Values, Enter coordinates, and select [OK]. 4 Select [OK]. 5 Rotate the cell in any direction and note center has changed.

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Exercise: Trying Some View Control Commands Objective: To try some view control commands. 1

Open multiple windows. Y From the Top Menu window, click the Display button. Y On the Display window select Viewing->Open graphics windows. Y Select 3 windows.

2 Set same view parameters for all windows Y Press the [F6] key in the one of the Graphics Windows. Y Change some window settings 3 Set different view parameters for each window. Y Press the [F5] key in the one of the Graphics Windows. Y Change some window settings 4 Zoom, Pan and Rotate in each window. Y In the Graphics window, hold down the middle mouse button and move the mouse left to right (slowly). Y Hold down the right mouse button and move the mouse in a small slow circle. Y Hold down the middle and right mouse button and move the mouse in a small slow circle. 5 Close one of the windows: Y In one of the Graphics windows, press the [F5] key and select Close Window. 6 Set graphics window settings back to default.

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Lesson 5: Customizing User Configuration Introduction In this lesson, we will briefly discuss the Setup window.

Customizing your Configuration 1 From the Top Menu window, click the Setup button. 2 On the Setup window, click the Colors button. 3 Click on Color editing. Color editing panel appears. 4 Change the color of the windows. Y Click and hold on Choice button in Color editing panel. Y Drag down window displayed and Select Windows. Y Click and hold on a Color Bar. Drag cursor up and down to adjust color. Release to move to another color bar. Y The resulting color is dynamically updated on the display and in the color sample. 5 Repeat step 3 and 4 to edit the colors of: cursor, graphics background, headers and more. 6 To return to default color settings Click on Default in the Color editing panel.

Saving the Customized Configuration 1 From the Top Menu window, click the Setup button. 2 On the Setup window, click the Configuration button. The configuration buttons will appear in the Setup Window 3 Save the configuration by user id.

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Y Select Configuration -> Store. Y Click on User on window displayed. 4 Note that you can also save by name or project. Y Select Configuration -> Store. Y Click on Name on window displayed.

Y Enter your name, such as scott.

Loading a Configuration 1 From the Top Menu window, click the Setup button. 2 On the Setup window, click the Configuration button. 3 Load the default configuration. Y Click on the Configuration Load button. Y Click on Default. 4 Load a configuration by name. Y Click on the Configuration Load button.

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Y Click on Name on window displayed select one from the list.

Creating Your Own Menu of Commands 1

Open the user menu. Y In the Top Menu window, click Robcadand select User. Y The User_menu is added to the far right of the Top Menu window.

2 Look at the contents of the user menu. Y In the Top Menu window, click User_menu. 3 To add often used buttons to your User menu: Y Click on the Configure items button and switch to add. Y Click on some command buttons from the Commands Window next to the User menu. Selected buttons are added to the User menu. NOTE

Items in the Toolbox Manager window should not be selected, as they are always present. It is good practice to not add buttons to the user menu that can be affected by the Undo command, as Undo may not always be available.

4 Move to another Commands Window by selecting it from the Top Menu window. 5 Repeat steps 3 and 4 until you have added all of the commands you want in your User menu. 6 Try the rename option under the Configure items button. This allows you to change the menu item names on your user menu. 7 To begin using the buttons in the User menu, select Use on the Configure items button.

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Lesson 6: Entity Selection Introduction In this lesson, we will briefly discuss the Display window. PRINCIPLE

Click on what you want to do, then Click on what you want to do it on. (Reverse of word processors)

Entity selection by clicking with the mouse 1 From the Top Menu window, click the Display button. 2 On the Display window, click the Visibility/Modify color button. NOTE

A color pad appears at the bottom of the Commands Window

3 Click on a color. (Click on what you want to do) 4 Click on different entities in the cell. (Click on what you want to do it on). For example: the parts of the robot, the base, the column. Note that the Color of selected entities are updated.

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5 Click on another color, then click on some other entities.

Entity Blanking by Creating a List 1 From the Top Menu window, click the Display button. 2 On the Display window, click the Blank/Entity button. (Click on what you want to do) NOTE

The window below is displayed allowing you to pick one or more entities you want blanked

3 Click on different entities of the cell. (Click on what you want to do it on) 4 Click the Accept button. NOTE

The entities in the list are blanked. Blanked entities are not seen but they still exist. They will be ignored by all functions except Save and Load.

5 Click on Undo in the Toolbox Manager window. The blanked entities are displayed again. 6 Try blanking. Entities can be blanked by type and color. The entity list window allows the selection of more than one entity. Selecting the entities with the mouse creates a list in the entities list window. 7 To remove an entity from the list, click on name in the Entity List Window, then press [Backspace] on the keyboard. 8 Entities can be displayed/blanked by entity, type, color, all or only.

Entity Selection using Pick Level 1 Press the [F6] key and select Pick level. 2 Click on Component. The Pick Level is displayed on the right hand side of the Top Menu window

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3 From the Top Menu window, click the Display button. 4 On the Display window, click the Blank/Entity button. 5 Click on different entities of the cell. Notice that when you click on a part of the robot, the whole robot is selected and not just a single entity. 6 Click the Accept button. 7 Repeat for other pick level choices. 8 Try clicking the [F12] key to toggle between pick levels instead of using the [F6] key.

Entity Selection by Creating a Pick Window 1 From the Top Menu window, click the Display button. 2 On the Display window, click the Blank/Entity. 3 Set Pick Level back to entity by pressing the [F12] key. 4 Click and hold the Left button of mouse while dragging the mouse to your right. 5 Pick and start drag, then end drag and release.

6 Everything inside or partially inside the box is selected and added to the entity list to be blanked. 7 Click the Accept button.

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Entity Selection After Altering the Pick Window Mode / Type )

¾

Pressing the [F6] key and selecting Pick-window Mode allows one to change the pick window mode to one of the following: Y Inside window - all entities inside or partially inside window Y Outside window - all entities completely outside the window Y Inside visible - only visible entities inside or partially inside the window

Try the different modes.

) Pressing the [F6] key and selecting Pick-window Type, Allows the user to limit the pick window to select only one type of entity.

Reusing a List of Entities ) If a command creates a list of entities, the contents of the entity list can be recalled whenever using that command.

¾

To reuse list of entities by the same command

1 Press the [F8] key. 2 From the Top Menu window, click the Display button 3 On the Display window, click the Blank/entity button. 4 Click on some entities and Accept. 5 Click on the Undo button in the Toolbox Manager window to undo the Blank/entity command. The blanked entities reappear. 6

On the Display window, click the Blank/entity button.

7 Press the [F8] key.

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NOTE

The previous list of selected entities appears in the entity list window. Selected entities are also highlighted in the Graphics Window

8 To remove an entity from the list, Click on the entity in the list, then press the [Backspace] key on the keyboard.

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Lesson 7: Using Robcad Layers Setting the Active Layer 1 From the Toolbox Manager window, open the Layers Toolbox , if it is not already open and make sure the Layers tab is selected. 2 Highlight the layer in the layer toolbox by picking on its name. 3 Select the Set/Reset active layer

icon.

Creating a New Layer ¾

Create a new layer called "robot"

1 Select the Create Layer

Icon

2 Enter the name robot for the layer in the displayed window 3 Click [OK].

Adding Components to a Layer 1 Select the robot layer in the layer toolbox by picking on its name. 2 Set the pick level to Component by press the [F12] key until Component is displayed in the Top menu window. 3 Select the Add to Layer

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4 Select Reset to clear the list, then start selecting components from the graphics window. The names will appear in the window. 5 Select [OK] when done.

Using Layer Filters 1 Select the Filter by pattern icon from the layers window to bring up the filter selection window. 2 Select one of the filter name constraints and set a pattern 3 Click [OK]. 4 Click the Reset filter

icon to turn off filtering

Blanking and Displaying Layers 1 Highlight the layer name by picking on it. 2 Click the Blank Layer

icon (blank from view).

3 Click the Display Layer

icon (display in workcell).

Removing Components from a Layer 1 Highlight the layer name by picking on it. 2 Select the Remove from layer window will appear.

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3 Select Reset to clear the list, then start selecting components from the graphics window. The names will appear in the window. 4 Click [OK] when done

Advanced Tab ¾

Rename Layer

1 Highlight the layer name by picking on it 2 Select the Rename layer

icon

3 Enter the new name in the Rename window 4 Click [OK]

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Color all members of a layer 1 Select the Color Layer

icon from the Advanced tab.

2 Select the highlight color from the color window 3 Click Close

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Resetting Selected Layers

1 Highlight the layer name by picking on it 2 Select the Reset Selected layer selected layer. 3 Select the Reset all layers

icon to reset colors of

icon to reset colors of all layers

Query Layers 1 Highlight the layer name by picking on it 2 Select the Query layer

icon from the Advanced tab.

3 To query multiple layers at the same time. Y Highlight the layer name by picking on it Y Hold the [Ctrl] key down and select other layers, OR Y Hold the [Shift] key down and select another layer. Then select the Query

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Setup Tab ¾

Get component Behavior

) If this box is checked, then when you get a component and the prototype contains layers, the layers will be added to the list of layers in the cell. ) If this box is not checked, then when you get a component and the prototype layers will not be added to the list of layers in the cell.

¾

Update visibility status mode

) If this box is checked, then when you Blank or Display a layer, the visibility will be updated in the Layers window.

) + Layer is displayed ) +/- Some elements of layer displayed )

- No elements displayed

Filter Sort Area ) If Show empty layers box is checked, then layers that contain NO elements will be seen in list

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) If Show component layers box is checked, then layers added from prototypes during Get component will be seen in the list. ) You can sort the displayed layer names list by Full name or Last name.

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Lesson 8: Additional Commands Viewing Panel A panel allows the user to interactively modify elements. It will redefine the mouse button functions, so View must always be selected to regain view control of the mouse.

Using the Viewing Panel: 1 From the Top Menu window, click the Display button. On the Display menu, select Viewing -> Viewing panel.

2 Click on Floor Size. If the floor is not currently displayed, press the [F5] key and select Show Floor. 3 Change the floor size. Y With mouse cursor in Graphics Window, depress and hold middle button of mouse while moving mouse slightly left and right. 4 To manually change floor size: Y From the Top Menu window, click the Setup button. On the Display menu, select Floor -> Floor/Floor size Y Enter X and Y grid sizes Y Click the Accept button. 5 Click on Floor Height. 6 Change the floor height.

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Y With mouse cursor in Graphics Window, depress and hold middle button of mouse while moving mouse slightly left and right. NOTE

To return to default floor height: From the Top Menu window, click the Setup button. On the Setup menu, select Floor -> Floor/Adjust floor

7 Before selecting Angle, set the projection type to perspective by press the [F5] key and selecting Projection -> Perspective. 8 Click on Angle and change the perspective angle in the same way. 9 Click on View on the viewing panel to regain the original mouse viewing controls. (I.e. the middle mouse button used for zooming in and out).

Toggling the Displayed Entities ) From the Top Menu window, click the Display button. On the Display menu, select Toggle display button. This puts you into sort of an alternate universe. Entities that were blanked are now displayed. Displayed entities are now blanked. The display and blank menus also are reversed.

¾

Blank several entities in the workcell

1 Blank Entities Y From the Top Menu window, click the Display button. On the Display menu, select Blank / Entity. Y Pick some entities

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Y Click the Accept button. 2 Toggle the display Y From the Top Menu window, click the Display button. On the Display menu, select Toggle display. Note that the blanked entities are displayed, and the displayed entities are now blanked. 3 Blank the blanked entities again Y From the Top Menu window, click the Display button. On the Display menu, select Blank / Entity Y Pick some entities Y Click the Accept button. 4 Toggle the display Y From the Top Menu window, click the Display button. On the Display menu, select Toggle display. Y Note that everything is displayed again now.

Data Structure Definitions ) Project - Contains cells and prototypes. Projects can also contain other projects. To use a prototype from another project, you must copy the prototype to the current project. ) Library - A collection of prototypes. Prototypes in libraries can be used by all cells in the System. ) Prototype - Components that reside in either the current project or a library. When modeling a component, you are modeling a prototype. ) Instance - Pointers to the prototype. Components in a cell are instances of a prototype.

Characteristics of Instances Name in cell

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Colors in cell Place in cell For instances of mechanisms: Poses For instances of robots: TCPF For instances of robots: External Axis

Characteristics of Prototypes Initial colors Geometry Internal Connections (Assemblies, Groups, Links) Kinematics TOOLFRAME, BASEFRAME Display Precision For mechanisms: Poses

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Lesson 9: Help Introduction For PCs - Context sensitive online help is only partially enabled in this release.

To Browse all the Help from the Top 1 Open the online help: Browse to Start -> Programs -> Tecnomatix -> Robcad (Robcad) and select Robcad Reference Guide

.

NOTE

If step 1 does not work, use the api.htm document to browse through all the available manuals. It located in this location by default: C:\Robcad\online\manuals\wwhelp\wwhimpl\api.htm.

2 If you are using XP SP2 (or some other popup or some other internet security tool, you will get a warning concerning that the web page was blocked.

3 Right click on the information bar, Allow Blocked Content.

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4 Click Yes. 5 Browse through all the online help.

To View Help for a Selected Command 1 In Robcad, put your mouse point over command button you desire in help for and press the [F1] key. For example, let your mouse pointer hover on Load Cell and press the [F1] key. 2 Wait for the help window to open. NOTE

A help window containing manual pages will be open and displayed.

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3 In the help window that opens, select the hyperlink next to load cell and look at the tabs 4 Click the Show Navigation

button.

5 Browse and look at the other online reference manus.

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To View the Release Notes 1 Open the release notes: Browse to Start -> Programs -> Tecnomatix -> Robcad (Robcad) and select Release Notes

.

NOTE

If step 1 does not work, use the api.htm document to browse through all the available manuals. It located in this location by default: C:\Robcad\online\relnotes\RobcadRelNotes.pdf.

2 Use the Bookmarks to navigate the document.

Using the Messages Window )

Look at this window to read comments and error messages.

) Click on the arrow buttons to scroll through messages and errors.

Using the Undo command 1 From the Top Menu window, click the Layout button. On the Layout menu, select Delete. 2 Select some entities and click Accept.

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3 Click on Confirm. Icon in the Toolbox Manager window. 4 Click on Undo Note that the deleted entities are restored. 5 Click on Undo again. Note that the selected entities are deleted again. NOTE

The Undo command only "undoes" the last change. Some commands do not have an undo, and Undo will be dimmed.

Using the Reset Command 1 Click, hold and drag the Top Menu window down. 2 Click, hold and drag the Status Window anywhere. 3 Click on the Reset window.

button in the Toolbox Manager

NOTE

The Reset command only resets the position of all Robcad windows

Keyboard Summary [F1] - Help [F4] - Output Operations (Print graphics or text windows) [F5] - Window Setup (Full view, View points, etc...) [F6] - Global Setup (LOD, Pick window type, etc...) [F7] - Store global entity list (to shared between commands) [Shift]+ [F7] - Recall stored global entity list [F8] - Recall last entity list for the same command [F9] - Accept (Presses accept for popup windows)

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[F10] - Toggles between Wire and Gouraud Display Mode [F11] - Toggles between Pick Intents (Snap, Where picked, Self origin) [F12] - Toggles between Pick Levels (Component, Entity) NOTE

The Abbreviation MB stands for Mouse Button. MB1 is the left mouse button. MB2 is the middle mouse button, and MB3 is the right mouse button.

MB 1 - Picking MB 2 - Zoom In/Out (move mouse left and right) MB 3 - Pan (move in any direction) MB 2 + MB 3 - Dynamic Rotation Alt + MB 1 - Draw a box to zoom in to Alt+Ctrl+MB 1 Alt + Shift + MB 1 - Draw a box to zoom out of Alt+Ctrl+Shift+MB1 Shift + MB - Pick a component to see its self origin Ctrl + MB2 + MB3: Used for rotating about yourself Home- Jump graphics window to front view Rotate about the world frame perpendicular to the screen (Z-axis by default) 30 degrees Rotate about the axis perpendicular to the screen (Y-axis by default) 30 degrees

Hot Key Combinations All possible user hot key combinations are now organized and displayed in convenient tables. This makes it easy for users to configure hot keys combinations to match the ones they use commonly in their favorite CAD systems (e.g., display all = [Ctrl]+[A]).

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1 Open the Hot keys viewer. Y From the Top Menu window, click the Setup button. Y From the Setup window, click the Hot keys viewer button.

2 Close the Hot keys viewer window.

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Y Double-click in the upper-left corner of the window.

Chapter Summary In this chapter the following was learned: ) How to start Robcad and how to navigate through windows in Robcad. ) How to customize, save, and load configurations. ) How to set, create, and add/ remove components to active layers as well as blanking/displaying and filtering components in layers ) How to retrieve online command help and documentation

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Workcell Layout CHAPTER 2

Chapter 2

Workcell Layout About This Chapter This chapter provides a description of workcell layout and contains the following lessons: ) Lesson 1: Introduction to cell layout, page 2-2, gives an example that shows the different aspects that creates a cell ) Lesson 2: Cell Construction, page 2-5, describes how to construct or load cells. ) Lesson 3: Placement Commands, page 2-9, describes different tools and methodologies used to place, mount, and attach components ) Lesson 4: Assembly Tree Intro, page 2-33, describes how to display/blank and colliding entities, looking up tree nodes and nodes grouping. ) Lesson 5: Final Layout, page 2-40, gives one exercise that summarizes and uses most of the commands learned in previous lessons.

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Lesson 1: Introduction to Cell Layout Introduction This chapter of the training manual describes the basic definitions of what a Robcad cell is, what components are, and how to create a layout of a cell using the tools provided by Robcad. By Layout we refer to correctly positioning the components within the cell. When laying out a workcell you always have two options. You can place everything where it belongs when you get it. Or you can put everything at one location and move it to its proper position later. Here is a short story to help explain Robcad data organization: Welcome to the city of Robcad, Michigan.

Your Subdivision (Project) A good way to visualize the Robcad data organization is to visualize a typical neighborhood. It is just one of many subdivisions. You may want to move to a different subdivision from time to time. But, they all have a similar set up in Robcad, Michigan. Welcome to the subdivision. Your subdivision is filled with houses (workcells). Each house has a unique name. These houses have only one room, however. And each of these houses may contain some furniture (instances of components).

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Your Home (Workcell) NOTE: The user’s home is defined using the HOME environment variable. This folder should contain a sub-folder named Robcad used to store your personal settings (otherwise you will not be able to store a configuration file by name.). Each subdivision (project) contains a model home. This is a special house (workcell). It is always clean and empty. It has the special name "noname." If you would like to live in this subdivision, you start out by entering the model home. You can't live in the model house, so you'll need to decide where in the subdivision you would like to live. You can choose to build a new home, or use an existing one. So you can go to a house that already exists (load cell with an existing name). Or you can build a new house (load cell with a new name).

Getting Furniture (Components) from a Store If you are moving into a new house, you want to add some furniture (instances of components) to your house. Some furnishings you will have built and some you will get ready made. Lets start with the ready-made. Furniture comes from a store. There are many stores from which to choose. However, all the stores work like "Service Merchandise." There are products (prototypes of components) displayed on the shelves. When you buy a piece of furniture (Get component) you get an exact copy (instance) of the one on display. You never get the one that is on the shelf (the prototype). So in Robcad, prototypes exist in the stores and instances exist in the houses (workcells). You can get as many instances of as many components as your heart desires.

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Getting Furniture from the Neighborhood Store Unique to each subdivision is the neighborhood store where only residents of that subdivision are allowed to shop. There is no way to access this store (current project library) from another neighborhood.

Getting Furniture from a Store in the Mall At the mall, accessible to all neighborhoods, are many specialized stores (global libraries). Anyone from any sub-division can shop at these stores. You must decide if you wish to shop at the neighborhood store (Get component from the Current project) or a store in the mall (Get component from the global library.) Off to the store you go to select the furniture you want from the items (prototypes) on display. Then you order as many copies (instances) you need delivered to your house.

Putting Furniture in Your House Once the furniture is delivered, you must decide where to put it (perform Layout of the cell). If you already have a location picked out, you can have it taken directly from the truck and placed there (get component, use window to locate). The alternative is to pile everything on one spot (the working frame) on the floor and move it to its proper location later. Regardless of where you initially place objects, you can rearrange or adjust them at a later time using the placement commands.

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Lesson 2: Cell Construction Definitions ) Cell - The TOP unit in a Robcad project. A CELL consists of COMPONENTS and ELEMENTS. ) Components - The objects in the Robcad CELL (tables, workpieces, products, robots ). ) Elements - These are stand alone constructs such locations, paths, frames, etc… ) Entities -The building blocks of the prototypes (points, lines, surfaces and solids). Every entity is created with its own self origin. The user has no capability to affect the creation of this self-origin.

Components Are Either Prototypes or Instances Component What is it?

Where’s used ?

Where’s it Stored?

Prototype

Master Component

In Modeling

In the Project or a Library

Instance

Copy of the Prototype

In the Workcell

In a workcell in the Project

EXERCISE 1: Loading a Cell and Change Projects 1 Go to the Layout window. Y Select the Layout button from Top Menu window. 2 Create a new workcell in the layout project.

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Y Select Load Cell from the Layout Window. 3 In the Load Cell window, double-click on layout to enter the projects/layout project

4 Type in mycell at the end of the line in the Selection box 5 Click [OK].

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EXERCISE 2: Getting Components (instances) into a Cell 1 Go to the Layout window. Y In the Top Menu window, select the Layout button. The Layout window appears on the right side of the Graphics Window. 2 Insert all the components into the cell. Y In the Layout window, click the Get component button.

Y In the Get component window, Pick the cell_base.co prototype from the Files list. Y Scroll to the bottom of the list. Y Hold down the [Shift] key and pick the last prototype in the list (wire_part.co). Y Click on [OK] on the Get Component window. NOTE

An instance of all the selected prototypes are added to the current workcell

3 Congratulations! You've just created your first cell in Robcad. 4 Store your workcell Y In the Top Menu window, select the Layout button. Y In the Layout window, click the Store button.

¾

Saving a Cell

Y In the Top Menu window, select the Layout button.

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Y In the Layout window, click the Store button.

¾

Saving a Cell as Another Name

Y In the Top Menu window, select the Layout button. Y In the Layout window, click the Store as button. Y Type in the new name and click on Accept NOTE

The current cell displayed in the Graphics Window is still named mycell. The cell name is displayed in the Top Menu Bar. This is because, unlike any word processor, Robcad does not load the cell that was "saved as". The cell must be loaded.

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Lesson 3: Placement Commands Introduction Now we will cover in detail various tools required to position instances within a cell. The following is a list of placement commands you will learn in this section:

Place Editor 1 Xyz Shift 2 Shift 3 Rotate 4 Transfer panel 5 Place 6 Put

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Placement Methodology 1 Load a cell 2 Get a component instance 3 Use the Placement commands to move it into position 4 Store the cell

Techniques to Open the Placement Editor ¾

Method 1:

1 Open the Placement Editor and select the objects to be moved. Y Right click the object to be moved and select Placement . The right clicked object is automatically selected to be moved.

¾

Method 2:

1 Open the Placement Editor. Y Pick the Placement Editor window.

from the Toolbox Manager

2 Pick the object you wish to move. Y On the Placement Editor window, select Objects. Y Select the object to be moved.

EXERCISE 1: Attempting a Cell Layout Objective: To introduce the basic concepts of laying out a cell's components 1 Change project to projects/LAYOUT2 and load a new cell called mycell.ce.

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Y Select the Layout button from the Top Menu window. Y In the Layout window, click Load cell. Y Select layout2 project directory and enter mycell 2 Get same components into the cell, but from this new project. NOTE

This project has a different local library than the Layout project

Y Y Y Y Y

In the Layout window, click Get component Pick the first prototype, cell_base, in the list Scroll to the bottom of the list Hold down the [Shift] key. Pick the last prototype, wire_part, in the list

3 Click on [OK] on the get component window. NOTE

Unlike the previous exercise, the instances are not retrieved in their proper positions/locations

We will now learn how to use Robcad's placement commands (shift, XYZ shift, and rotate) to move the instances to their proper positions.

Placement Editor window Definitions The key to understanding and effectively working with Robcad lies in thoroughly understanding the following definitions. Understanding these definitions will allow you to grasp the concept behind the placement commands. ) Point/Position: Location defined by X,Y and Z values relative to reference frame. Position does not posses orientation. For example: (X,Y,Z) is a point/position ) Frame: Location having both position and orientation, an axis system. (The origin point of a frame is a position). For example: (X,Y,Z,R,P,Y).

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) World frame: The permanent origin of the graphics space. This is the default location for the working frame. ) Working frame: The default position of every component in Robcad is relative to this. A movable reference frame having a red, green, yellow axes. Its axes are referred to by the fields X, Y, Z in the Robcad command windows. ) Self Origin: A unique frame assigned to each prototype. Its position and orientation is assigned to that of the World frame at the time of modeling the prototype. Referred to by Lx, Ly, Lz in the Robcad command windows. This is the "local" origin of a prototype or instance. This is not the center of gravity.

EXERCISE 2: 3 ways to position an instance Objective: Learn multiple ways to position objects in the cell. 1 Load a new cell from the projects/Layout2 project Y Select the Layout button from the Top Menu window. Y In the Layout window, click Load cell Y Type in a name other than one in list. Y Click [OK] Y If a Warning message appears, select NO NOTE

Remember to look above the Top Bar Menu for the cell name to confirm the new cell has been added

2 Get instances of components: cell_base and column. 3 Find 3 ways to move the column to its correct position of -4000 in the X direction and -5000 in the Y direction.

¾

Using the Shift command

4 Open the Placement Editor and select the objects to be moved.

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Y Right click the column and select Placement . The column is automatically selected to be moved. 5 Shift the object -4000 in the X. Y Select Shift from the Placement Editor window.

Y Click the X button in the Shift window. Y Enter -4000 for distance. Y Click the Accept button. The column should shift by –4000 in the X-direction. 6 Shift it –5000 in the Y. Y Select shift from the toolbox again

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Y Click the Y button in the Shift window. Y Enter -5000 for distance. Y Click on Accept. The column is now in the correct position of -4000 along the X-axis and -5000 along the Yaxis. 7 Use the Shift command to return the column to the original X, Y position. 8 Close the Placement Editor window.

¾

Using the Xyz shift command

9 Open the Placement Editor and select the objects to be moved. Y Right click the column and select Placement . The column is automatically selected to be moved. 10 Shift it –4000 in the X and –5000 in the Y. Y Click on X in the Xyz shift window. Y Enter -4000 for X distance Y Press the [Enter] key. Y Enter -5000 for Y distance Y Click the Accept button. Q: What is the difference between the Shift command and the Xyz shift command? A: The Shift command can only move an object in one direction at a time, whereas the Xyz shift command can move an object in all directions (X, Y, Z). 11 Delete the column Y In the Graphics Window, right click the Column and select Delete.

¾

Using the Rotate command

12 Get an instance of component gmfs420 (Get Component) 13 Open the Placement Editor and select the objects to be moved.

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Y Right click the gmfs420 and select Placement robot is automatically selected to be moved.

. The

14 Click on Z in the Rotate command window. 15 Enter 180 for Rotation angle 16 Click Accept. The robot is now facing correctly. 17 Use one of the shift commands to move it to the proper location of X shift = -2100 and Y shift = -715

Using the Placement Editor Transfer Panel This panel enables one to interactively move an instance relative to the world, self or another selected frame. The default is the working frame

. 1 Select an object to manipulate 2 Choose an axis to move along (with left mouse button) 3 Move the mouse pointer into the graphics window 4 Hold down the middle mouse button

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5 Moving the mouse left and right in the graphics window will cause the object to mouse either positive, or negative, along the selected axis. If you want to undo the placement of the object select the Reset button NOTE

You must select view on the panel to retrieve original mouse controls.

EXERCISE 3: Using the Transfer Panel Objective: To learn the basics of the transfer panel. 1 Get an instance of column.co component from the projects/layout2 project) 2 Open the Placement Editor window for the column. Y Right click the column and select Placement. 3 Explore moving and rotating the column using this panel.

Y Y Y Y

Choose an axis to move along (with left mouse button) Move the mouse pointer into the graphics window Hold down the middle mouse button. Moving the mouse left and right in the graphics window will cause the object to mouse either positive, or negative, along the selected axis .

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NOTE

The step size is in the current units. The current units can be verified or changed using the Setup -> Units menu option.

EXERCISE 4: Using Get Component Position Prompt Objective: To use the Get component window to practice and understand the window because it is used in many other commands in Robcad. 1 Load the frame_forms.ce cell from the projects/placement project Y Select the Layout button from the Top Menu window. Y In the Layout window, click Load cell Y Select frame_ forms.ce. Y Click [OK] Y If a Warning message appears, select NO. 2 Display all entities in the workcell Y Select the Display button from Top Menu window. Y In the Display window, click Display/All. 3 Get the column into the cell (taking all the defaults) Y Select the Layout button from the Top Menu window. Y In the Layout window, click Get component Y Select the column component. Y Verify that the Locate At prompt is empty. If it is not, backspace out what is there. Y Click [OK]. Note that the Self-origin of this column instance is superimposed on the Working frame. 4 Get the column into the cell again. This time, though, locate the column on frame fr7. Y Select the Layout button from Top Menu window. Y In the Layout window, click Get component

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Y Select the column component.

Y Pick in the box to the right of the Locate At prompt. Then either pick fr7 from the Graphics Window, or type it in. Y Click [OK].

Demo: Creating and Manipulating Frames 1 Look at the Create frame window. Y Select the Layout button from the Top Menu window. Y In the Layout window, click Create Frame.

Y Observe the Create frame window. Now, select the following commands and notice that all of their windows are very similar to the Create frame window. 2 Put command. . Y Right click an object and select Placement Y From the Placement Editor window, select Put. 3 Place working frame command. Y From the Layout window, select Working frame -> Frame

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4 Place TCPF command Y Select Motion

from the Toolbox Manager window.

Y From the Motion window, select the Settings Y Select Robot Settings / Tcpf.

tab.

Because this window is dispersed throughout the Robcad software, a detailed description of its parameters is necessary. We will use the Create Frame window to describe all of the parameters. Offsets are always in reference to the current position of the Working Frame Locate at, which specifies a frame at which to superimpose the self-origin of the object. The offsets are in reference to the Locate at frame. NOTE

When the word Values appears in the Locate at field, and the offsets are all zero, then the object will be placed directly on the current location of the Working Frame.

¾

To use the window:

1 Position the input marker at the field you wish to enter by picking on the text of the desired field. 2 Pick the frame at which to locate the object, OR 3 Click on the Locate at arrow ( Frame Y Click on a frame in the cell.

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Y Select Accept NOTE

The working frame is superimposed on the selected frame.

2 Get a column into the workcell Y Select the Layout button from the Top Menu window. Y In the Layout window, click Get component Y Select the Column component in the Graphics Window Y Verify that the Locate At prompt is empty. If it is not, backspace out what is there. Y Click [OK]. 3 Return the working frame to its default position. Y Select the Layout button from the Top Menu window. Y In the Layout window, click Working frame -> World. NOTE

The working frame is placed in its original position on the invisible World frame

Using the Place Command This is a relative positioning command. Place moves the selected objects along a vector defined by two points. This command only affects the position of the selected objects. Object orientation is not affected. 1 Open the Placement Editor window. 2 Select the objects you want to operate on

Pick to type in Coordinates

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Place definition:

If a single axis (X, Y, or Z) is selected, movement will be restricted to only that axis. The distance will be limited to the length of the vector along that axis.

¾

Placing Along a Singular Axis

The way that Robcad figures out how far to move your component is by figuring the distance in X,Y,Z between the From and To points. ) In the example above the object is being moved using the place command from the From point to the To point. ) If you select All axes, it will move to the To point (as above). For example if you choose to move from point (1, 1) to point (10, 5), then the object will be moved 9 in the X and 4 in the Y direction. ) If you select X-axis only, it will move only the distance specified in X (as below). For example if you choose to move from point (1, 1) to point (10, 5), then the object will be moved 9 in the X and 0 in the Y direction.

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Setting Pick Intent Move the mouse pointer into the Graphics Window and press the [F6] or [F11] keys and choose pick intent. (Recall that the [F6] key opens a menu, while the [F11] key toggles the current setting). ) Snap: location picked will be snapped to the closest mid point of edge, end point of edge or center of face. ) Self-Origin: location picked will be snapped to Self-origin of entity selected. ) On Edge: location picked will be snapped to closest point along closest edge. ) Where Picked: location picked will be interpreted from eye position and mouse pointer position. ) The [F11] key toggles between the Pick intent options as specified in your .robcad file. (See Appendix B for more information on how to configure what is toggled with this button). NOTES:

By default, the [F11] key only toggles between Snap and Entity. In this class, we have configured it to toggle between Snap, Entity, and Self Origin using the .robcad file. Another place that you can go to set the pick intent is the [F6] ley Pick intent menu.

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EXERCISE 7: Using the Place Command Objective: To learn how to use the place command 1 Set the Pick Level and Pick Intent as follows: Y Press the [F11] key and select Snap OR press the [F6] key and select Pick Intent -> Snap. Y Press the [F12] key and select Entity OR press the [F6] key and select Pick Level -> Entity. 2 Display all the entities in the workcell Y Select the Display button from the Top Menu window. In the Display window, click Display/All. 3 Get an instance of the column into the workcell, if none exists. Y Select the Layout button from the Top Menu window. Y In the Layout window, click Get component. Y Select column. Y Click [OK]. 4 Select the instance of the column in the workcell that was just created. Remember that an instance is read only component used in workcells. Y Right click the column and select Placement. 5 Use the place command on the Placement Editor window to move the column Y In the Placement Editor window, click the Place button. Y For Point from select the corner of the base plate of column just loaded. Y For Point to select fr1 (magenta/purple frame). Y Click the Accept button. Y Notice the corner of base plate of column is placed at the origin of the frame selected and orientation of the component is maintained. 6 Get an instance of component direct1

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7 Place tip of green cone of direct1 at the self-origin of column. NOTE

To see the self-origin of an object in Robcad press the [Shift] key and pick on the object. (A large frame appears). To get rid of the large frame, pick the object again with the [Shift] key pressed.

Y Right click on the direct1 component and select Placement. Y On the Placement Editor window, select Place. Y Press the [F11] key and select Snap (or press the [F6] key and select Pick Intent -> Snap) Y Press [F12] key and select Entity (or press the [F6] key and select Pick Level -> Entity) Y For Point from, select the tip of the green cone (zoom in on it first). Y Press the [F11] key and select Self Origin (or press the [F6] key and select Pick Intent -> Self origin) Y Select [F12] key and select Component (or press the [F6] key and select Pick Level -> Component) Y For Point to, select anywhere on the column to select the self-origin. Y Click the Accept button. 8 Get another instance of component direct1 into the cell. 9 Place tip of green cone of direct1_1 at fr1 in the Z direction only 10 Make the direct1_1 component the active object for placement Y Right click on the direct1_1 component and select Placement. Y On the Placement Editor window, select Place. Y Select Z to place only in the Z direction of the working frame Y Press the [F11] key and select Snap (or press the [F6] key and select Pick Intent -> Snap) Y Press the [F12] key and select Entity (or press the [F6] key and select Pick Level -> Entity)

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Y For Point from, select the tip of the green cone (zoom in on it first). Y For Point to, select the fr1 frame. Y Click the Accept button. 11 Use the existing components and repeat steps 4 –11 using fr2 in place of fr1.

Using the Put Command This is an absolute positioning command. Put moves the Self-origin (or selected frame) of an entity to a selected frame. The entity can maintain its own orientation or take the orientation of the target. Like in the Place command, the motion of the entity can be restricted to only one axis direction. ) Select the From the Placement Editor window select Put

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¾

Put definition:

Put moves an element such that its Self-origin is superimposed on the frame selected. You may select a frame to use in place of the Selforigin. If more than one element is selected, each element's Selforigin will be superimposed. The window allows for setting additional offsets and limiting the movement along an axis. If Source orientation is selected, the element will be placed at the frame selected with its original orientation.

EXERCISE 8: Using the Put Command Objective: To learn how to Put with both source and target orientation 1 Display all the entities in the workcell Y Select the Display button from the Top Menu window. Y In the Display window, click Display/All. 2 Get an instance of component column. 3 Pick column as active object for placement Y Right click on the column component and select Placement. 4 Put the column from its self-origin to fr1 with target orientation. Y Select Put from the Placement Editor window. Y Move the input mouse pointer to the Locate At field. This will keep the default From frame of self origin. Y Select fr1 (magenta frame) for the Locate at field. Y Leave All and Target orientation selected. Y Click the Accept button. Y The orientation of the column is changed to the orientation of the object that was set in the Locate At field. 5 Get another instance of component column. 6 Pick the next column as the object you'd like to manipulate.

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Y Right click on then new column component and select Placement. 7 Put the column from its self-origin to fr1 with source orientation. Y Select Put from the Placement Editor window. Y Move the input mouse pointer to the Locate At field. This will keep the default From frame of self origin. Y Select fr1 (magenta frame) for Locate at field Y Leave All selected and select Source orientation Y Select Accept. Note that the current orientation of column is maintained. 8 Get another instance of component column. 9 Put this column at fr1 only in the Z-axis this time using either source or target orientation. 10 Get additional instances of the column and repeat 3 –14 using fr2 in place of fr1.

Attaching One Way and Two Way in Robcad This chart assumes object A is attached to object B: Move A

Move B

One-Way Attached

Only A moves

A and B moves

Two-Way Attached

A and B moves

A and B moves

One-way attaching is a special principle of Robcad that offers the user additional flexibility.

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What is the Mount Command? The Mount command is a shortcut for doing two commands. If the mount command did not exist, you would have to put the gun onto the TOOLFRAME of the robot. Then you would have to one-way attach the gun to the TOOLFRAME. Mount = (Put on TOOLFRAME) + (One-way attach)

EXERCISE 9: Using the Attach Command Objective: To see the difference between one-way and two-way attachments in Robcad. 1 Load the cell chair_man from the projects/layout2 project Y Select the Layout button from the Top Menu window. Y In the Layout window, click Load cell. Y Select chair_man.ce. Y Click [OK]. 2 One-way attach the man with the One Way Attached sign above his head to the chair under him. Y Select the Layout button from the Top Menu window. Y In the Layout window, click Attach. Y Select One way. Y For Cell elements, select m50 Y For Attach to, select big_chair 3 Two-way attach the man with the Two Way Attached sign above his head to the chair under him. Y Select the Layout button from the Top Menu window. Y In the Layout window, click Attach. Y Select Two way. Y For Cell elements, select m50_1 Y For Attach to, select big_chair1

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4 Move the One-Way Attached man using the Placement Editor window Transfer panel. Only he moves. 5 Move his chair using the Placement Editor window Transfer panel. Both the man and his chair move. 6 Move the Two-Way Attached man. Both the man and his chair move. 7 Move his chair. Both the man and his chair move.

EXERCISE 10: Using the Mount Command Objective: To see how to use the mount command 1 Create a new cell called mount_test in the layout2 project Y Select the Layout button from the Top Menu window. Y In the Layout window, click Load cell Y Enter mount_test in the Selection field. 2 Get the robot and the gun into the cell. Place the gun off to the side so that it will be easier to pick. Y Select the Layout button from the Top Menu window. Y In the Layout window, click Get component Y Select gmfs420 Y Select the Layout button from the Top Menu window. Y In the Layout window, click Get component Y Pick somewhere on the floor Y Select gun1 3 Select the robot as the Active mechanism Y In the Toolbox Manager window, click on the Motion Icon. Y In the Motion window, click on the Active Mechanism button. Y Click on gmfs420 in the list.

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Y Click the Select button. Y Press the [Enter] key.

4 Mount the Gun to the robot Y In the Motion window, select the Settings Y Click the Mount button. Y Just pick the gun and click Accept.

tab.

5 Rotate the gun about its Lz so that the tips are up Y Right click on the gun and select Placement. Y In the Placement Editor window, click Rotate. Y Click Lz. Y Enter –90. Y Click the Accept button. 6 Move the robot and notice how the gun is attached to the robot.

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Lesson 4: Assembly Tree Intro Introduction This set of commands allows hierarchical inspection of the currently loaded workcell. It also allows viewing collisions, grouping and querying of instances in the cell. icon from the To open the tree window select the Tree Toolbox Manager window. A window is opened displaying the component-level hierarchy of the currently loaded assembly. To close the tree window, pick its icon from the toolbox panel.

Getting an Overview of the Cell using Tree functions The tree tool is very handy to get an overview of a complex cell structure with many levels of related entities. Use the tree tool to get an impression of how the cell is structured, which entities are in the cell, etc.

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Updating the Window Changes made in the cell are not automatically updated in the Tree window. ) In the Tree window, select Tree -> Update to force the tree to be updated to show the changes in the cell. ) In the Tree window, set Tree -> Auto Update to off to cause the tree to be updated when any change in the cell is performed.

Example 1 Delete several components in the cell by right clicking them and selecting Delete. 2 The nodes representing the components in the tree do not disappear. (If Auto Update is turned off). 3 In the Tree window, select Tree -> Update. The tree is updated to the current cell. 4

In the Tree window, set Tree -> Auto update to on

5 Delete several components in the cell by right clicking them and selecting Delete. 6 The node in the tree does disappear.

Displaying Blanked Entities In the Tree window, successively picking View -> Show blanked causes the tree alternately to display and to hide nodes that represent entities that are blanked in the Graphics window.

Example 1 Select a node in the tree. Then select Edit -> Blank. Notice that the node will disappear when the entity is blanked on the screen and Auto update is on

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2 Select View -> show blanked NOTE

The blanked components are shown in the tree hierarchy, but notice the difference in the name of a blanked object and a displayed object. (The text is dimmed for the blanked objects)

Hiding Sub-trees To close the sub-tree under any node, pick the minus sign at the left of a node.

To restore the display of the sub-tree, again pick the plus sign now displayed.

In the Tree window, use View -> Expand all to open all the subtrees.

Selecting Nodes Any node can be selected by picking on the tree; previously selected nodes are then deselected. To pick multiple nodes simultaneously, press [Ctrl] and pick the additional nodes. Nodes can also be selected from the Graphics window. For this, enable the Auto-Update option from the Tree menu by selecting Tree -> Auto update and make sure pick level is set to Component using the [F12] key. If an entity is picked in the Graphics window and its node is located in a closed sub-tree, the tree display will not change.

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Example 1 Confirm Auto Update Option is selected Y In the Tree window, click Tree -> Auto Update. 2 Select nodes in the tree window and see the corresponding parts in the Graphics window become highlighted. 3 Select parts in the Graphics window and see the corresponding nodes become selected in the tree window

Showing Colliding Nodes In the Tree window, View -> Show collision. To color red all nodes that represent entities colliding with other entities, and color yellow all entities in a near miss condition. Collision checking is based upon the setting of the Icon Toolbox window collision mode.

Example Set Collisions in the Icon Toolbox window to ANear

1 In the Tree window, select View -> Show collision 2 In the Tree window, select Tree -> Update to update the tree window to the new state of the cell NOTE

The red nodes indicate the parts that are involved in a collision. The yellow nodes indicate parts that are in a near miss condition.

Querying In the Tree window, select Tree -> Node information.

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) Node information displays a window listing various items of information about the selected nodes. The information includes the instance name of the entity in the workcell, the name of the prototype, the name of the library directory in which the prototype component is located, and the coordinate location of the instance in the workcell.

Fast Operations To open a window that displays various tree node operations, place the mouse pointer on the text of a node and hold down the right mouse button. This will bring up the window and make this the acted upon node. This menu contains nine commands that duplicate commands that are located in various submenus of the tree window. ) Node information: displays text window containing information ) Delete: deletes the node ) Blank: blanks the node ) Display: displays the node ) Attach: allows you to attach this node to another ) Detach: allows you to detach this node ) Ungroup: extracts all group members and deletes the group ) Add to group: allows the node to be added to a group ) Extract from group: extracts the node from its current group To open a window of global tree commands, place the mouse pointer close to the right-hand border of the tree window and hold down the right mouse button. This menu contains 4 commands: ) Undo: undoes the last command executed ) Update: forces a redraw of the updated tree window ) View all: makes all nodes visible ) Expand all: expands all of the compressed nodes

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Fast Grouping of Nodes Components can be grouped, ungrouped, added or extracted from existing groups using the Edit pull-down menu in the Tree window. Additionally, complete groups can be moved by selecting the desired component in the tree window (Left mouse button), then using the middle mouse button to drag the selected node and drop it on the node of the group you wish to move it to.

Edit ) In the Tree window, select Edit -> Select CAD This function selects all of the nodes in the tree that cad linked parts from the specified cad system. The other Edit commands will operate on the entities that this command selects. ) In the Tree window, select Edit - > Select all This function selects all of the nodes throughout the tree. This command facilitates blanking most of the nodes of a large tree, in order to conveniently perwindow operations on a few of the nodes.

¾

To blank all but a few nodes:

1 In the Tree window, select Edit -> Select all 2 Hold down [Ctrl] key and pick the nodes intended not to be blanked 3 Select the Blank command to blank the selected nodes.

View ) In the Tree window, select View - > Show CAD This function adds a column into the tree containing the name of the originating CAD system. This is for CAD-linked parts only. ) In the Tree window, select View -> Show prototype

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This function adds a column into the tree containing the name of the prototype for each part. The @ symbol represents the library root.

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Lesson 5: Final Cell Layout Introduction The exercise on the following page should be laid out using several of the techniques learned in this chapter.

EXERCISE: Layout of a Cell Objective: To review the placement commands we learned. In this exercise we will get instances of the components and use the placement commands to create a cell layout identical to first_cell in the projects/intro project. A picture of the layout is on the last page of this section. 1 Load a new workcell called my_cell_layout in the projects/layout2 project. 2 Get cell_base component with no offsets. 3 Turn on some reference frames that are currently blanked. Y Select the Display button from the Top Menu window. Y In the Display window, click Display / Entity. Y Press the [F12] key and select Component. Y Pick the cell_base. Y Click Accept. Y Press the [F11] key and select Entity. Y Two frames should be displayed around the cell_base. 4 Get column: offset -4000 in X and -5000 in Y. 5 Get the gmfs420 robot and put it on the frame behind cell_base. 6 Get coll_box and place its bottom surface level with top surface of cell_base, then rotate it 90 degrees about Z. 7 Get the wire_part, surf_part, and all clamps and put all of these on the car_ref frame near the front of cell_base.

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8 Get instance of the gun1 component. Locate it at any random point in your cell (preferably away from the robot). 9 Turn on some reference frames that are currently blanked. Y Select the Display button from the Top Menu window. Y In the Display window, click Display / Entity. Y Press the [F12] key and select Component. Y Pick gun1 Y Press the [F11] key and select Entity. 10 Mount the gun to the robot. Y From the Toolbox Manager window, select the Motion

Y Y Y Y Y

Icon. Make the robot the active mechanism. In the Motion window, click the Settings tab. Click the Mount button. Click on the gun. Click Accept.

NOTE

If the active mechanism is not currently set, Robcad will prompt you for it in the message window (simply click anywhere on the robot you want as the active one).

11 Gun may need to be rotated so that tips are facing up. 12 Get the overhead and place its bottom surface level with the top surface of the cell_base 13 Rotate it 90 degrees about Z. 14 Make the cell look cleaner by blanking all the frames. Y Select the Display button from the Top Menu window. Y In the Display window, click Blank / By Type -> Frames 15 Store the cell. Y Select the Layout button from the Top Menu window. Y In the Layout window, click Store (Confirm).

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Chapter Summary In this chapter the following was learned: ) How to construct and load cells from projects. ) How to get components and place them using the Placement Editor Toolbox. ) How to mount and attach components ) How to look up nodes in trees, sub trees, and display/blank entities and components. ) How to use Collision command to show colliding nodes and editing and grouping of nodes.

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Modeling and Kinematics CHAPTER 3

Chapter 3

Modeling and Kinematics About This Chapter This chapter provides a description how to model solids, change entity precision, and create kinematic definitions in Robcad. It contains the following lessons: ) Lesson 1: Modeling Basics, page 3-2, describes how to do some basic modeling in Robcad. ) Lesson 2: Introduction to Representation Precision, page 3-13, describes how to change the entity representation precision. ) Lesson 4: More Modeling, page 3-21, describes how to model a gun shank. ) Lesson 3: Fundamentals of Kinematics, page 3-25, describes how to add kinematics to a component and move it around.

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Lesson 1: Modeling Basics Introduction Robcad/Modeling allows you to create geometry that can be used in Robcad. You can also import data from other supported CAD systems such as CATIA, UG and AutoCAD. This chapter will cover the concepts of Robcad/Modeling. In addition to creating geometry, Robcad/Modeling provides tools to create kinematics, or joint motion, to the geometry so that CMMs, heads, probe assemblies, and so on can have realistic motion.

Modeling Methodology 1 Open a component prototype in cell or independently 2 Design prototype geometry 3 Edit geometry 4 Define kinematics 5 Store prototype 6 Close the component prototype Let's return to our city of Robcad, Michigan to explain our modeling methodology:

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Modeling and Kinematics CHAPTER 3

Designing Furniture for the Neighborhood Store The stores don't have everything you need. So you will have to have some furniture (component prototypes) built (modeled). You call in a carpenter to create some furniture (open model). The carpenter is only allowed to work on a prototype superimposed on an existing copy (instance) in the house. When he is done, he will give the prototype to the neighborhood store (store model). When the carpenter goes away (close model) he leaves a copy (instance) where he was working on the prototype. The carpenter gives the prototype to the neighborhood store because this is a very friendly subdivision. You want other residents to be able to get copies for their homes. Plus, everything you get from a store has a lifetime guarantee. If the design is ever modified in any way, they will instantly replace all copies (instances) of the old model with a copy of the new model. Before you call in the carpenter, you must decide if the carpenter is going to modify an existing prototype or create an entirely new one. If the plan is to modify an existing prototype then you just have to tell the carpenter which piece of furniture to modify. If a new prototype is to be created it must be decided if it will be based upon an existing prototype or created entirely from scratch. If the decision is to base the new one on an existing one, then an instance of the existing one should be brought into the house before starting to build. This way the carpenter can duplicate the pieces he needs. Next you need to decide whether the carpenter should work (model) in an empty house (model independent) or a full house (model in cell). If you have him work in a full house, then he can use existing furniture for reference or duplication. If he is to base the new prototype on an existing prototype, he should model in a full house.

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If he works (models) in an empty house, he must create the new furniture parts from scratch. If he is to work in an empty house he must go to the model home (noname). Remember, the model home is always clean and empty.

Designing Furniture for a Store at the Mall Modeling an existing prototype from a mall store is much more complicated so your carpenter will have to go through some extra steps before modifications can begin, and your carpenter must be trusted by all (have the password). There are very restrictive agreements between subdivisions when it comes to modifying mall store prototypes. You pick a local store prototype to have modified and your carpenter starts to work. He immediately gets a fresh copy of the prototype to work on. The store prototype will not actually be modified until the carpenter is happy with his work (save). This way, if you change your mind before your carpenter is completely done, nothing currently in the house or the subdivision will be affected. Your carpenter is experienced and a professional so he is sure he is finished (end modeling) before he starts another job or gives (save) the prototype to the store for display. He learned a long time ago that if he does other things in the middle of building/modifying a prototype that he could lose pieces, move them to the wrong place or just plain make a mess of the prototype and the house.

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Having made all the changes to this copy of the prototype, he can now send it to the store (save) for display. If this is a new prototype, then the only copy will be in your house. If it is to replace an existing prototype, you must make sure that everyone in the subdivision likes the new design. As soon as you deliver the replacement prototype to the store, they will send out an army of carpenters to remake all of the existing copies in the image of this reworked prototype. You don't want to have all of your neighbors complaining about how you destroyed their decor. Remember, you live and work in a very friendly neighborhood. If you select a mall store (global library) prototype to modify, you have to be sure that everyone in the world wants your new improved version before replacing the existing one. Remember the store makes a lifetime guarantee to go modify all existing copies to be like the new one. If the finished prototype is to be a new choice for display in a mall store you should still make sure that a majority of the world's residents want to order copies sometime in the future. The store does not want its customers to have to browse through a lot of products that they will never use when looking for what they do want.

Moving To A New Neighborhood And so it goes in your neighborhood. But what if you move to another neighborhood? Well, you can't take any of your houses or furniture with you. You still have access to the same malls as the other neighborhood, but you don't have access to the other neighborhood's stores. What if you liked the set up of your old house or some of its custom furniture? You can have exact duplicates made in your new neighborhood. In fact you can have just one small piece, many pieces or the whole subdivision duplicated. These duplicates become part of your new neighborhood.

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No matter where you go in Robcad, the organization and rules for working remain the same.

Object Hierarchy in Robcad ) Project - A directory that contains cells. Components can also be placed in a project. ) Cell - The highest level of the Robcad world is a cell. It consists of component instances, frames, locations, and paths. NOTES:

We will discuss locations and paths in the next chapter.

) Component - An object made up of entities. ) Entities - The lowest element in the Robcad world. Examples found in a component are solids, surfaces, points, lines, and frames. In a workcell, locations and paths are also considered entities. NOTES:

Components found in a workcell are component instances. Components found in a project, library, or that are being modeled are component prototypes.

Modeling Definitions ) Primitives - Robcad works with 8 basic solid primitives: Cube, Box, Cylinder, Sphere, Wedge, Torus, Ring and Cone. Out of these primitives, a designer can create many required shapes. ) Solid creation - Robcad supports several operations to convert surface data into solids: Sweep, Sweep Curve, Thickness (extrude), and Revolution. ) Boolean Operations - These are key operations for the solid modeler. Robcad supports the following operations: Y Intersect - Creates a solid out of the common volume of two solids. Y Subtract - Creates a solid by using the volume of one solid to remove volume from another solid.

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Y Unite - Creates a solid out of all the volume occupied by two or more solids.

The Modeling Process ¾

Begin Modeling

1 Change to the MODELING menu. Y Select Robcad-> Modeling 2 On the Top Menu window, click the Files button. On the Files window, click the Open button.

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Editing an Existing Prototype:

1 Click on a prototype in the prototype list 2 Click Select. NOTES:

Select Files -> Display/Cell display -> Dim to Dim all entities not part of prototype being modeled.

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Modeling a New Component:

1 Type in a name for the prototype where it says Component.

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2 Click Accept. PRINCIPLE:

You always model a prototype. A component in a cell is a copy of a prototype with a pointer to the prototype.

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Storing the Prototype

1 On the Top Menu window, click the Files button. On the Files window, click the Save button. 2 Click Confirm. PRINCIPLE:

When a prototype is saved, the Self-origin is placed at the World frame. The location of each entity in the prototype is relative to the Self-origin. When the instance is created in a workcell, the Self-origin will be placed at the Working frame unless a different position is specified. NOTE:

When an existing prototype is saved, all instances in all cells using it will be updated. To update all instances in current cell before saving. Select Files -> Update cell.

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End Modeling

1 On the Top Menu window, click the Files button. On the Files window, click Close. NOTE:

When you are done modeling a prototype, you must Close (end modeling). Failure to do so will result in entities being added to the prototype instead of the cell.

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Indications that Close has not been selected:

Y On the Top Menu window, click the Robcad-> Workcell button. On the Files window, click Layout button. Y Try to click Load, Save and Save as. They are disabled. Y Modeling Prototype is written on the Top Menu window.

Storing the Prototype with another name 1 On the Top Menu window, click the Robcad-> Modeling button. On the Top Menu window, click the Files button. On the Files window, click Save as. 2 Type name in the form, then press [Enter]. Click the Confirm button.

EXERCISE: Modeling a Table Objective: To learn the basic functions in modeling. NOTE:

The examples are in the model_kinematics project. If you would like to look at them: Robcad-> Projects -> Browse project tree -> Project/Modeling

1 Change your top menu bar to Modeling Y On the Top Menu window, click the Robcad-> Modeling button. NOTE:

If Open is grayed out, select Close then Discard.

2 Start modeling your own table. Y On the Top Menu window, click the Files button. On the Files window, click the Open button. Y For Component enter: mytable Y Select Independent Y Click the Accept button.

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NOTE:

Above your top menu bar, should be the words MODELING PROTTYPE: mytable. If not, ask your instructor for assistance.

3 Create a cube Y From the Toolbox Manager window, click the 3D Sketcher button. Y From the 3D Sketcher window, select the cube Y For Edge length enter: 1000. Y Click Accept.

button.

4 Create two boxes to cut out the table legs Y Y Y Y Y

From the 3D Sketcher window, select the Box For Box1 enter: 800 x 2000 x 800. Click Accept. For Box 2 enter: 2000 x 800 x 800. Click Accept.

button.

5 Subtract the two smaller boxes from the big box

Y From the 3D Sketcher window, select the Subtract button. NOTE:

A table with sharp corners is modeled. And the Self-origin of the last solid picked becomes the Self-origin of the result.

6 Modify color of your table Y On the Top Menu window, click the Display button. Y On the Display window, click Modify color Y Pick a color. Y Pick your table.

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7 Create a cylinder. Y From the 3D Sketcher window, select the Cylinder Y Enter Diameter 200 and height 200.

icon.

(Top View) 8 Scale the cylinder in all directions using the scale panel in the General Tools toolbox such that only the corners of the table are visible. Y From the Toolbox Manager window, click on General Tools

Y Y Y Y Y

button. From the General Tools window, click Edit / Scale Panel Select Objects. Pick the cylinder and click the Accept button. Select ALL. With the cursor on graphics screen, press the middle mouse button. Moving the mouse pointer LEFT and RIGHT will scale the object interactively.

9 Intersect the table and the cylinder. It doesn't matter the order that you pick them for this command. Y From the 3D Sketcher window, select the Intersect button.

Y Select the table and the cylinder. Y Click the Accept button.

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NOTE:

A table with rounded (filleted) corners is modeled.

10 Save the table and Close modeling. Y On the Top Menu window, click the Files button. Y On the Files window, click Save. Y On the Files window, click Close. 11 Extra credit modeling: Y Model and place a donut or bagel onto your table: Y Model a wedge of cheese and place on your table: Y Model and place a drinking glass for your table: Y Make the glass translucent: On the Top Menu window, click the Display button. On the Display window Visibility / Low Y Model a coffee mug: 1

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Y Model two chairs for your table: 1

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Y Put a sun umbrella over your table on a pole: 1

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Lesson 2: Introduction to Entity Precision & Representation Solid Entity Representation in Robcad There are two types of solids that can be created within Robcad: polyhedral solids and exact solids.

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Polyhedral solids

) Can have up to 40 facets ) The math model is the same as the display model. ) The display accuracy is determined when they're created ) Default number of facets is 12

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Exact solids

) Do not have facets ) The display model can be either the same as the math model, or a simplified version to speed up simulation ) The display accuracy can be changed at any time. ) Default display precision is a 3 on a scale from 0 to 9

Surface and Wireframe Entity Representation in Robcad ¾

Surfaces and Wireframe representation:

) Do not have facets

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) The display model can be either the same as the math model, or a simplified version to speed up simulation ) The display accuracy can be changed at any time. ) Default display precision is a 3 on a scale from 0 to 9

Changing Display Precision ¾

Change the display precision

1 On the Top Menu window, click the Display button. 2 On the Display window Precision & direction -> Modify display precision 3 Select entities to change 4 Enter a value 0 to 9 5 Click the Accept button A good display precision is 6. Display precisions of 9 should be avoided, since it will greatly slow visualization performance A good number of facets for polyhedral solids is 20. Creating solids with 40 facets should be avoided, since it will greatly slow visualization performance and negatively affect translation from Robcad.

EXERCISE 1: Basic Surface Creation Objective: To learn some of the curve and surface creation commands 1 Open a new prototype called mysurface Y In the Top Menu window select Robcad-> Modeling. Y On the Top Menu window, click the Files button. Y On the Files window, click Open. 2 Create a “curve by points” that does not cross the x-axis of the working frame.

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Y From the Toolbox Manager window, click on 2D Sketcher button Y From the 3D Sketcher window, click the Curve by Points button. Y Pick several points on the floor defining a curve. Y Click the Accept button to create the curve.

3 Create a surface of revolution Y From the Toolbox Manager window, click on Surface button. Y Y Y Y Y Y

From the Surface window, click on Revolution For Curves pick the curve created For Axis pick the x-axis of the working frame For Start angle enter: 0 For End angle enter: 270 Click the Accept button

4 Turn the floor off Y Press the press the [F6] key and select key and select Show floor.

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5 Change the display precision Y On the Top Menu window, click the Display button. Y On the Display window, click Precision & direction -> Modify Display precision. Y Click the Select All button. Y For Value 0 to 9 enter: 9 Y Click the Accept button.

6 Turn on a single light source so that the inside of the surface is not shaded. Y Press the [F6] key and select Face Lighting -> Single. Y Rotate it around and look at the inside and outside of the object. 7 Turn on a double light source so that the inside of the surface is shaded too. Y Press the [F6] key and select Face Lighting -> Double. Y Rotate it around and look at the inside and outside of the object.

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EXERCISE 2: Manipulating Entity Display Precision Objective: To be introduced the concepts of entity representation and display approximation 1

This exercise will use the part from the previous exercise. Close and Save the component, if you have not already done so. Y On the Top Menu window, click the File button. Y On the File window, click Save. Y On the File window, click Close.

2 Let's go to the workcell menu for this exercise. Y On the Top Menu window, click Robcad-> Workcell 3 Toggle from shaded display to wireframe display. Y Press the [F10] key. 4 Notice how many lines are needed to represent the surface that we have created at the current display precision (currently set to 9, the highest). 5 Now set the display precision to 3. Y On the Top Menu window, click the Display button. Y On the Display window Precision & direction -> Modify Display precision. Y Click the Select All button. Y For Value 0 to 9 enter: 3 Y Click the Accept button. 6 Look at how many lines make up your surface with your part at a display precision of 3. 7 Now set the display precision to 6. NOTES:

A good display precision is 6. Display precisions of 9 should be avoided, since it will greatly slow visualization performance without giving high benefit to the representation of the surface.

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What is Level of Detail Level of details (LOD) has been known to give a 100% to 200% speed improvement in visualization and simulation performance since 3.5.1. All new components created, translated into, or CAD integrated into Robcad 3.8 (or above) will have level of details information (except for kinematic components). PRINCIPLE:

At the heart of this technology is the fact that an object that is far from the viewer's eye, does not have to be displayed in the same level of detail as an object that is close to the viewer.

In order for Robcad to use level-of-details (LOD), preprocessing is required to add the LOD information for a component. Preprocessing can occur in one of four ways: ) After CAD-linking, the generated components automatically include the LOD information. ) After CAD translating, the generated components also include automatically the LOD information. ) After modeling a component in Robcad, the LOD information is built for the prototype component when it is stored. ) For components from previous versions of Robcad (before 3.8), it is recommended to issue the genlod command to add LOD information to them.

Improving Visualization Performance These abilities can be accessed by pressing the [F6] while the mouse pointer is in the Graphics Window. ) Level of details - Is an LOD tool to lower the highest level of detail slightly to improve the speed of simulations. It is turned off by default. To turn it on, press the [F6] key and select Level of Details.

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Y Deviation Mode – Select Deviation for the Mode, type a deviation, and press [Enter]. Y Level Mode - Select Level for the Mode and move the slider to the desired level.

) Wire Viewing - Allows users to instantly jump to wire frame while rotating, panning, and zooming, to improve performance. It is turned on by default. To turn it off press the [F6] key and select Wire viewing. (Can decrease performance in some cases). ) Simplified Viewing - Allows users to instantly jump to a lower level of detail while rotating, panning, and zooming, to improve performance. It is turned on by default. To turn it off press the [F6] key and select Simplified Viewing. (Can decrease performance in some cases).

EXERCISE 3: Using Level of Details Objective: To be introduced the concept of level of details 1 Let's go to the workcell menu for this exercise. Y From the Top Menu window, click Robcad-> Workcell 2 Load the final_cell.ce from the projects/intro project. Y From the Top Menu window, click Layout. Y From the Layout window, click Load cell 3 Center it in the workcell Y Press the [F6] key and select Full view.

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4 Zoom out with the middle mouse button 5 Zoom in with the middle mouse button. NOTES:

The display of the surface_part keeps changing. This is because simplified viewing is turned on

6 Turn it off and turn rotating some more. Y Press the [F6] key and select Simplified viewing to turn it off.

Y Zoom in and out some more to see the difference. 7 Set the highest displayed level of details to a couple levels lower. Y Press the [F6] key and select Level of details. Y For the Mode select Level. Y Move the slider to 2.

Y Zoom in and out some more to see the difference. NOTES:

Read the previous page for more information on LOD

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Lesson 3: More Modeling Introduction We will now begin modeling some more complex geometry. However, we have another agenda here besides learning how to model better. We will use the next two exercises to explain and use the working fame and the placement editor while building a detailed project. These same techniques that we will learn can be used to place components into a workcell, or manipulate other objects in the cell. We will add kinematics to a simple Robot. If you would like to model this component, see Appendix G.

Using the Working Frame to Build The working frame is a special frame in Robcad. It can be placed anywhere on the screen. Many of the menus in Robcad place objects on the working frame (wherever it is in the cell) by default. This can be a very powerful tool. -> ) The Frame/Working Frame option is used to place the working frame where ever you want it ) The World option will place the working frame back on the world origin (the default location for the working frame)

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EXERCISE 1: Gun Shank Design Objective: To create the shank for a welding gun by placing the working frame, and then creating the next solid.

1 Create the following in order and place accordingly. NOTES:

After each step, shift your working frame up in the z-direction by the appropriate height

Y From the Toolbox Manager window, click the General Tool button.

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Y In the General Tool window, click Working frame -> Frame Y For Z offset: (give offset) 2 Create a cylinder with 25 mm diameter, 125 mm height. Y From the Toolbox Manager window, click the 3D Sketcher . Y

From the 3D Sketcher window, click the Cylinder

icon.

3 Create a cylinder with 35 mm diameter, 90 mm height. 4 Create a prism with 6 edges, 14 mm edge length, 10 mm height Y First, create polygon surface. Y From the Toolbox Manager window, click the Surface button Y Y Y Y Y

button. From the Surface window, click the Polygon For Number of edges enter: 6 For Center pick the top of the last created shape For Edge length enter: 14 Turn the shading off to see the last created shape by pressing the [F10] button. The polygon created is a flat surface

5 Sweep the polygon. Y From the 3D Sketcher window, click the Sweep By Points Y Y Y Y

Pick the Polygon tab. For Polygon pick the polygon just created For Direction pick the Z axis of the working frame For Length enter: 10

6 Create a cylinder with 23mm diameter, 60mm height. Y From the 3D Sketcher window, click the Cylinder

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7 Create a cylinder with 16 mm diameter, 40 mm height. 8 Create a cone with 8 mm top diameter, 16 mm base diameter, 12 mm height. Y From the 3D Sketcher window, click the Cone Y Create the specified cone.

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Review of Ways of Creating & Placing Objects in Modeling ¾

Method 1:

Create it at the working frame then move with Placement Editor window.

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Method 2:

Move the Working Frame then create it

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Method 3:

Use the optional Frame prompt in most entity creation pop-ups to locate it when you create it. (This works best when not picking the tops of cylinders for the optional frame). These skills will be practiced in the next exercise.

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Lesson 4: Fundamentals of Kinematics Definitions ) Kinematic chain - collection of links and joints ) Link - minimum non moving segment of a kinematic chain ) Joint - minimum moving part of chain. A joint consists of 2 links and an axis. There are 2 types of joints. Y Revolute joint - rotates around axis Y Prismatic joint - linear movement along axis

L => link

J => joint

NOTES:

Must be in Modeling mode to define kinematics. Kinematics chain has an order established by the relationship of the links. The parent link precedes a child link in the sequence order. When the parent link moves the child link will follow. The parent takes the child with it. In a kinematic chain, the number of links is equal to 1 more than the number of joints. For example: if there are 6 joints, there will be 7 links.

Methodology to Define a Kinematic Device 1 Envision the kinematic chain

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Y What are the links, what type of joints, and so on) 2 Create the links 3 Verify that all entities have been selected as part of a link

4 Create the axis for each joint Y An axis is defined by its two end points. The positive direction is from the first point to the second. (right hand rule) 5 Define each joint (parent link, child link, axis and joint type) Y Joints are defined between one object/assembly to a second object/assembly. The father is the stationary object. Axis (right hand rule)

Child link

Parent link

6 Define the device. 7 Store component prototype 8 Test joints on mechanism using joint jog 9 Define a range for each joint 10 Define the device 11 Test joints in the device again 12 Store component prototype

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EXERCISE 1: Add Joints to a Simple Component Objective: To add joints to the door The completed example is called room_door_demo that your instructor showed you. You will open the component called room_door and add the joints to it. 1 Verify that you are in the projects/model_kinematics project. If you are not, then change your project. Y Open a new workcell in the projects/model_kinematics folder. 2 Verify the menu you are on should be MENU: Modeling. This is printed above the top Menu bar. If it is not then, change it to modeling. Y On the Top Menu window, select Robcad -> Modeling. 3 We must open the room_door to add the joints to it. Y On the Top Menu window, select Files. Y On the Files window, select Open. Y For Component select room_door Y Click the Independent button. Y Click Accept. 4 Envision the kinematic chain. There are only two joints in this case. One for the door at the hinges and another for the handle. Y First Joint: The doorframe is fixed and does not move when the door opens. So, this link will be the parent to the door hinge joint. The door will be the child link to the door hinge joint. Y Second Joint: The next joint goes through the center of the door handle. Relative to the door handle joint, the door is the parent link and the handle is the child link.

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NOTES:

The links and axis have already been created for you. All you have to do is define the joints and the mechanism.

5 Define the first joint: Y On the Top Menu window, select Kinematics. Y On the Kinematics window, select Joint / Create. Y For Parent Link select door frame Y For Child link select the door Y For Axis select the line though the hinges Y For Joint Type click the Revolute button. Y Click Accept. 6 Define the second joint: Y On the Kinematics window, select Joint / Create Y For Parent Link select the door Y For Child Link select door handle Y For Axis select the line though the handle Y For Joint Type click the Revolute button. Y Click Accept. 7 Define mechanism: Y On the Kinematics window, select Robots / Define NOTES:

A message should be printed below the Graphics Window that says Device has been defined PRINCIPLE:

You must define the mechanism every time you modify the kinematics. Current joint values are saved for home position when define is selected. NOTES:

Kinematics -> Query/Mechanism displays kinematic details of the mechanism in the Status Window.

8 Save mechanism Y On the Top Menu window, select Files Y On the Files window, select Save 9 Test the joint in mechanism

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Y From the Toolbox Manager window, click Device Jog

Y Y Y

Y Y

. For Active mechanism pick CURRENT_MECHANISM For Joint select J1 Move the mouse into the Graphics Window; hold down the middle mouse button; move the mouse left and right to see the selected joint move. For Joint select J2 Move the mouse into the Graphics Window; hold down the middle mouse button; move the mouse left and right to see the selected joint move.

IMPORTANT:

Select Reset Mechanism on panel before saving the component or defining it again.

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IF YOUR KINEMATICS DON'T WORK, THESE STEPS MAY HELP YOU FIND THE PROBLEM

1 Verify that all entities have been selected as part of one of the links: Y On the Kinematics window, select Query / Link list NOTE:

The list of defined links is displayed in the Status Window.

2 Blank by entity one link at a time Y On the Top Menu window, select Display. Y On the Display window, select Blank / Entity Y For Type enter: k1 Y On the Display window, select Blank / Entity Y For Type enter: k2 Y On the Display window, select Display / All 3 If there is an entity remaining, add it to the correct link. Y On the Top Menu window, select Kinematics. Y On the Kinematics window, Links / Add

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Methodology for Defining Device States 1 Open a gun prototype 2 Make the gun the active mechanism 3 Edit the gun states to define the OPEN, SEMIOPEN, CLOSE states 4 Jog the joint(s) of the gun. 5 Enter the joint value(s) for the OPEN state. 6 Define the CLOSE and SEMIOPEN states for the gun using the same technique. 7 Save the gun.

EXERCISE 2: Defining OPEN and CLOSED States Objective: Create OPEN and CLOSE states for the door The kinematics must already be defined from the last exercise. Verify that the project is set to projects/model_kinematics. 1 Open the room_door prototype, if it is not already open Y On the Top Menu window, select Robcad-> Modeling. Y On the Top Menu window, select Files. Y On the Files window, select Open. Y Select room_door. 2 Jog the door to an OPEN state. Y For active mechanism select CURRENT_MECHANISM. Y For Joint select J1. Y Jog the door open. 3 Edit the states to create an OPEN state Y On the Top Menu window, select States Y On the States window, select States / Edit

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Y On the States window, select Define state / State Y Type OPEN at the prompt Y Press the [Enter] key. NOTES:

The current joint value is shown

Y Press the Accept button at the bottom of the states menu. 4 Now, define another state called CLOSED. Y On the States window, select Define state / State Y Type CLOSED at the prompt Y Press the [Enter] key. 5 This state will have a joint value of 0. Y Click in the J1 box and enter 0 Y Press the [Enter] key. 6 Move the door to the OPEN and CLOSED states Y From the Toolbox Manager window, click Device Jog . Y On the Device Jog window, click Move. Y Select OPEN. Y Select CLOSE. 7 Reset the mechanism Y On the Device Jog window, click Reset mechanism 8 Save and close Y On the Top menu window, click Files Y On the Files window, click Save Y On the Files window, click Close

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EXERCISE 3: Adding Kinematics to a Robot Model Objective: To add kinematics to the robot created in an earlier exercise in order to learn the kinematic tools provided in Robcad. The example is in the projects/model_kinematics project. 1 Go to the Modeling Menu Y On the Top Menu window, click Robcad-> Modeling 2 Open the my_robot for modeling from the model_kinematics project Y On the Top Menu window, click File Y On the Files window, click Open Y Select my_robot. NOTES:

Steps to create this simple robot are in Appendix C. We will not cover these steps in class.

Y Click the Accept button.

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3 Envision the kinematic chain Y What are the links, what are the joints, and so on 4 Create the first link:

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Y On the Files window, click Kinematics Y On the Kinematics window, click Link/Create Y Select the bottom three solids for the first link. Notice that these first three solids are all the same color to help you. Y Click the Accept button. NOTE

The default name k1 is assigned to this link.

5 Create the second link: Y On the Kinematics window, click Link/Create Y Select the next three solids from the bottom. Notice that these next three solids are all the same color to help you. Y Click the Accept button. NOTE

The default name k2 is assigned to this link.

6 Define the next 5 links the same way, for a total of 7 links. 7 Create the axis for the first joint: Y On the Kinematics window, click Joint/Axis Y Click on the first point arrow of the axis form

Y Y Y Y

Type zero for X and press the [Enter] key Type zero for Y and press the [Enter] key Type zero for Z and press the [Enter] key Click the Accept button.

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NOTE

This will enter 0 as the X, Y, and Z values for the first point of the axis.

Y Y Y Y Y

Click on the second point arrow of the axis form Type zero for X and press the [Enter] key Type zero for Y and press the [Enter] key Type 1000 for Z and press the [Enter] key Click the Accept button.

NOTE

This will enter 0 as the X and Y and 1000 for Z values for the second point of the axis.

Y Click the Accept button. to create the axis line NOTE

The length of the axis is arbitrary. But the vector direction is very important. It will determine which way is positive when rotating the joint around the axis.

8 Create the second axis by picking on the screen. HINT

Make sure that your pick level and pick intent are set to Snap and Entity respectfully. Also make sure that you are in shaded mode [F10].

Y On the Kinematics window, click Joint/Axis Y For first point, select the center of one end of this cylinder. Y For the second point, select the center of the other end of this cylinder. HINT

Make sure that your pick level and pick intent are set to Snap and Entity To reach the second point correctly, you will have to rotate your view 180 degrees.

Y Click the Accept button.

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9 Follow the same process as described in step 8 to create the other three axes. (We will use the same axis for joint 4 and joint 6).

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10 Define the first joint: Y On the Kinematics window, click Joint/Create. Y For Parent link, select the first link we created (the bottom three solids). Y For Child link, select the second link we created.

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Y For Axis, select the first axis we created. You will have to go to wire frame mode [F10] to pick it because it is inside the other solids. Y Click the Revolute button. Y Click the Accept button.

Parent Link Child Link

11 Define the second joint: Y On the Kinematics window, click Joint/Create. Y For Parent link, select the area pointed to in the graph above. Y For Child link, select the area pointed to in the graph above. Y For Axis, select the first axis we created. You will have to go to wire frame mode [F10] to pick it because it is inside the other solids. Y Click the Revolute button. Y Click the Accept button. 12 Select the other 4 joints in the same way. 13 Define mechanism: Y On the Kinematics window, click Robots/Define Y A comment appears in the Message Window.

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NOTE

You must define the mechanism every time you modify the kinematics. NOTE

Current joint values are saved as home position when define is selected. NOTE

Kinematics -> Query/Mechanism displays kinematic details of the mechanism in the Status Window.

14 Save mechanism Y On the Top Menu window, click Files. Y On the Files window, click Save. 15 Test the 6 joints in mechanism. Y From the Toolbox Manager window, click Device Jog

Y Y Y Y Y Y

. Click on Active Mechanism on the device jog panel. Click on robot to make it the active mechanism. Select a joint (J1, J2, etc.) Select the Jog button and test the joint utilizing the middle mouse button in the Graphics Window. Determine and record the desired range of each joint from the Status Window. Click on Move -> Home pose before leaving this window.

NOTE

The current value of the joint being jogged is displayed in the Status Window. Values are relative to home pose. NOTE

The range is specified based upon all joint values being 0 at the home pose. Home pose is defined by the position of the links when you click Robots/Define from the Kinematics window IMPORTANT

Select Reset Mechanism on panel before leaving panel.

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EXERCISE 4: Adding Ranges to the Joints of the Robot Model Objective: To add ranges to the joints. 1 Define range of each joint: (See below for values) Y On the Top Menu window, click Kinematics. Y On the Kinematics window, click Edit joint/Current Y Enter first joint name and press the [Enter] key. Y On the Kinematics window, click Edit joint/Range Y Select the Constant button on the Range window. Y Enter the values for the joint limits. Y Click the Accept button. 2 Repeat for all 6 joints. 3 Define mechanism Y On the Kinematics window, click Robots/Define 4 Test joints in mechanism using Joint Jog. NOTE

Select Home pose on panel each time before leaving panel.

5 Save mechanism Y On the Top Menu window, click Files. Y On the Files window, click Save. NOTE

Reference joint range values for the purposes of this exercise only:

Joint

Low Limit

High Limit

J1

-180

180

J2

-70

70

J3

-25

25

J4

-190

90

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J5

-110

110

J6

-340

240

EXERCISE 5: Making a Mechanism into a Robot Objective: To create a simple Robcad robot. The example is in the projects/model_kinematics project PRINCIPLE

If a component has kinematics, then it is a mechanism. If it also has a tool frame, then it is a robot.

1

Make a mechanism into a Robcad robot Y To make newly created mechanism a robot, add a tool frame at the end of its kinematic chain. Y On the Top Menu window, click Kinematics. Y On the Kinematics window, click Robots/Toolframe.

2 Define mechanism Y On the Kinematics window, click Robots/Define 3 Try setting and moving the robot to various locations using Joint jog. Return to the home pose when done. 4 Save mechanism Y On the Top Menu window, click Files. Y On the Files window, click Save. 5

End modeling. Y On the Files window, click Close.

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Chapter Summary In this chapter the following was learned: ) Described how to do some basic modeling in Robcad ) Described how to change the entity representation precision ) Described how to model a gun shank ) Described how to add kinematics to a component and move it around

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Processing CHAPTER 4

Chapter 4

Processing About This Chapter In this chapter, we will use the knowledge gained in the first three chapters to setup our own paths and work with the Robcad library structure. It contains the following lessons: ) Lesson 1: Inverse kinematics: Core technology of Robcad, page 4-2, describes how to use inverse kinematics to make the robot in Robcad move. ) Lesson 2: Working with Paths, page 4-12, describes how to work with robotic paths in Robcad and rename instances.. ) Lesson 3: Populating Libraries, page 4-22, describes how to use the library utilities. ) Lesson 4: From Least Constraints to Most Constraints, page 429, describes how to follow a simple process from beginning to end in Robcad.

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Lesson 1: Inverse kinematics: Core technology of Robcad Principles of Inverse Kinematics

Definitions ) Mechanism/Device - A component with kinematics ) Robcad Robot - Creating a TOOLFRAME at the end of a kinematic chain and compiling (defining) mechanism will transform a simple kinematic device into a Robcad robot (or CMM).

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Placement Editor Put Command ¾

Put with source orientation:

Putting an object from the source frame to the target frame will: ) Move the object from the source frame to the target frame ) Orientation of the object is not affected (orientation of the source frame is maintained)

¾

Put with target orientation:

Putting an object from the source frame to the target frame will: ) Move the object from the source frame to the target frame. ) Orientation of the object is changed to the target frame

Direct Kinematics ) Easy for Robcad to do because Robcad already knows the joint values ) Direct kinematics can be used for any kinematic device such as guns, clamps, robots, etc . . .

¾

How direct kinematics work:

1 You give Robcad a state/pose. The state/pose contains the exact values for each joint of the mechanism. Current Position

Target Pose

J1=0

J1=10

J2=10

J2=120

J3=0

Move to PoseÆ J3=100

J4=15

J4=45

J5=40

J5=32

J6=20

J6=46

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2 Robcad moves the mechanism from the current position to the destination pose

Inverse Kinematics ) Takes more effort from Robcad, because the destination pose must be calculated on the fly. However, this gives more flexibility to the user. ) Only available for robots (and CMM's).

¾

How inverse kinematics work:

1 You give Robcad a location. The location contains the target position and orientation of the TCPF of the robot. Current Position

Target Location

Calculated Pose

J1=0

X=10

J1=10

J2=10 J3=0

Y=2547 Move to LocationÆ Z=301

J2=120 Æ

J3=100

J4=15

Rx=35

J4=45

J5=40

Ry=145

J5=32

J6=20

Rz=76

J6=46

2 Internally, Robcad tries to put the TCPF of the robot onto the location 3 Once Robcad puts the TCPF on the location, Robcad then looks at the joint values required to reach this location 4 Robcad moves the mechanism from the current pose to the calculated pose which places the TCPF of the robot on the target location.

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Processing CHAPTER 4

Level of Kinematic Inverse The goal is to put, with target orientation, the TCPF of the robot onto the target location (both the position and orientation of the target location are used). This is referred to as a Full Inverse. Sometimes it is not possible for the robot to perfectly place its TCPF onto a location. However, it may be able to put with source orientation onto the location (only the position of the target location is used). This is referred to as a Partial Inverse. A partial inverse can be used to get a full inverse using special tools in Robcad. In some cases, the robot may not be able to reach the location's position or orientation. This is referred to as No Inverse. There are some tools in Robcad to fix this situation also.

EXERCISE 1: Move a Component to a Library Objective: To move the robot we modeled to the robot library 1 Open the move to library window. Y From the Top Menu window, click Data. Y From the Data window, click Library Utilities. Y From the Library utilities window, click Component. Y From the Library utilities window, click Move to Library.

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2 Move the robot to library Y Verify that you are in the source project that contains the robot that you modeled. If this is not right, then browse to the correct directory.

Y When you get into the right source project, pick the robot myrobot once. Y Pick the robots library once Y Pick the move button to move myrobot to the robots library.

EXERCISE 2: Get Component from a Library Objective: To get a component from a library. 1 Load a new cell Y From the Top Menu window, click Layout. Y From the Layout window, click Load cell Y Enter new1.ce and click [OK]. 2 Go to the Get component window. Y From the Layout window, click Get component

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3 Change to the robots library: Pick Libraries Y Double click on robots. Y Get your robot into the cell: Pick my_robot (or my_cmm from the list of components) Y Click [OK]. 4 Also get the gmfs420.co robot into the cell.

EXERCISE 3: Intro to the Mechanism Status Window Objective: To see inverse kinematics in action with your robot (or cmm) 1 Open the Mechanism Status window. Y From the Toolbox Manager window, click the Mechanism Status

button.

2 View the mechanism status for the robot. Y From the Status window, click the Mechanism Status button. Y From the Mechanisms window, select the robot (gmfs420).

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Y Click [OK]. 3 Follow the same process to open a mechanism status window for one of the clamps.

Motion Window These tools can be accessed in several places in Robcad including the Motion

window.

) Move commands Y Target – Used to select the locations for the active mechanism (i.e. robot) to move to. Y Play - A full Inverse command, it moves the robot’s TCPF to a location’s position and orientation. Y Move XYZ – A partial Inverse command, it moves the robot’s TCPF to a location’s position, but not orientation of X, Y, and Z. Y Move Align Z – A partial Inverse command, it moves the robot’s TCPF to a location’s position, and aligns the Z axis of the TCPF with the Z axis of the location (but ignores the location’s orientation of the X and Y axes).

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) Robot Jog – Allows the movement of all the joints of the active mechanism by repositioning the TCPF. ) Joint Jog – Allows the movement of one joint of the active mechanism at once.

EXERCISE 4: Intro to the Motion Window Objective: To see inverse kinematics in action with your robot (or CMM) 1 Bring up the Motion window. Y From the Toolbox Manager window, pick Motion once. 2 Make the robot the active mechanism. There are two ways to do this: Y Method 1: Right click the gmfs420.co robot and select Active Mechanism. Y Method 2: In the Motion window, pick the Active Mechanism button; pick the robot, and press Accept. 3 Let's look at Robot Jog tab: menu. Y In the Motion window, pick the Robot jog Y In the Graphics Window, pull the TCPF (which is currently sitting on the TOOLFRAME) of a robot around--like the leash of a dog--and the robot will follow. Several joints of the robot will move at the same time. Press the Tcpf button first to move relative the TCPF. 4 Let's look at Joint Jog tab:

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Y In the Motion window, pick the Joint jog tab. Y Choose one joint of the robot from the list. Y Move the mouse left and right in the Graphics window with the middle mouse button depressed. Y Select the next joint of the robot and move it in the same way. 5 Jump to the HOME pose. Y On either the Joint Jog

or Robot Jog

the Motion window, click the Home return the robot to its home pose/state. 6 Use the Joint Jog robot around.

or Robot Jog

tabs of button to

tabs to move the

7 Create a location to mark the current position of the TCPF (which is currently sitting on the TOOLFRAME). Y Press the Mark loc button at the bottom of the Motion window. 8 Repeat steps 6 and 7 three or four times to create several locations in the workcell. 9 Go to the Move commands

tab of the Motion window.

Y In the Motion window, click the Move commands button. 10 Turn the Automatic mode to Move. Y In the Motion window, for Automatic mode, select Move.

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11 Move to each location (Notice a full inverse is used). There are two ways to do this: Y Method 1: Double click on the location (very fast doubleclick) Y Method 2: Pick the Target button; select the location; and click the Accept button. 12 Turn Automatic mode to off on the motion toolbox Y In the Motion window, for Automatic mode, select Off.

13 Now if you pick the Target button; select location, and click the Accept button, you would notice that the joint does not move. In order to make it move to the location desired with Automatic Mode set to Off you need to press the Play button. (This will try to move the location using a full inverse).

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Lesson 2: Working with Paths Introduction In this lesson, we will work with paths. Let’s note the similarities and differences between a real robot and a Robcad program. ) Robot program Y Created by the teach pendant of the real robot Y Consists of a sequence of poses (robot joint angles) with associated instructions ) Robcad program (path) Y Robcad uses inverse kinematics to determine the joint values needed to reach a given target location Y Consists of sequence of target locations (TCP position and orientation) with associated attributes Y Can use Robcad OLP to convert the Robcad program to a real robot program

Robcad Path Editing Tools ) Robcad Basic tools: Y Path Editor ) Robcad OLP tools (covered in WKP211U): Y Location Attributes Y Program Editor Y Various teach pendants ) Robcad Spot (WKP202U), Robcad Paint (WKP203U), Robcad Arc (WKP204U): Y Other application specific tools are available in these applications for editing paths

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Processing CHAPTER 4

EXERCISE 1: Intro to the Path Editor Objective: To create a path from the locations we created in the previous exercise and move along it. 1 Continue using the same workcell.

2 Use what you have learned to insert a second gmfs420.co robot offset 3000 in the Y direction (a.k.a. at working frame absolute coordinates 0,3000,0). 3 Bring up the Path Editor.

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Y From the Toolbox Manager window, click the Path Editor button.

4 Create a path to determine the order of locations for simulation. Y From the Path Editor window, click Create Path . Y Select the locations in the order that you want them in the path.

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Processing CHAPTER 4

Y Click [OK].

5 Rename the path and its locations. Y Pick the pa1 path. Y Y Y Y

In the Path Editor window, click Rename . In the Rename window, enter robot1_path1 for the To field. Click Path and locations. For the Prefix, enter r1p1_.

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Y Click [OK].

6 Make a copy of the first robot’s path for the second robot. Y Select the robot1_path1 path.

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Y In the Path Editor window, click Copy . Y In the Copy window, enter robot2_path1 for the New name.

Y Click the Offset button. Y In the Offset window, enter 3000 for Y.

Y Click [OK]. Y Click [OK].

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7 Delete location from the workcell. Y Select a location from the secon path.

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Y In the Path Editor window, click Delete

.

Y Click [OK]. 8 Extract a location from the path. Y Select a location from the first path (robot1_path1). Y In the Path Editor window, click Extract . Y Look at the effect in the Graphics Window and the Path Editor window. 9 Insert a location into a path.

Y Y Y Y Y Y Y Y

In the Path Editor window, click Insert . In the Add window, pick in the Destination path field. Select the first path (robot1_path1). Pick the After checkbox. Pick in the Reference location field. Select the first location in this path. Pick in the Locations to add field. Select the extracted location.

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Y Click [OK]. 10 Rename the second robot to robot2.co Y From the Layout window, pick the Rename button. Y In the Rename window, click the Add button. Y In the Object drop down, select gmfs420_1 Y For the New name type robot2. Y Click Add and Close. Y Click [OK].

Y Click Confirm.

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Y Click Yes.

11 Move along the path. There are two ways to do this: Y Method 1: In the Motion window, turn the automatic mode to Move; and double-click on the path (the dotted line, do not pick on a location in the path) Y Method 2: In the Motion window, pick the Target button; pick the path (dotted line); and select Accept. Then press the Play

button

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Lesson 3: Populating Libraries Process To Manipulate Libraries ) From the Toolbox Manager window, click Data ) From the Data window, click Library Utilities ) From the Library Utilities window, click Library

Here are some library commands: ) Create - create a new library ) Rename - rename existing library ) Remove - remove library and contents ) Query - list prototypes being edited in selected library ) Copy - copy library and contents

Process To Manipulate Components in Libraries ) From the Toolbox Manager window, click Data

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) From the Data window, click Library Utilities ) From the Library Utilities window, click Component

) Get for edit - puts a copy of selected prototype in current project. No one else can get a copy for edit until this one is returned. ) Cancel for edit - removes copy that was created for editing and allows others to get for edit. ) Rename - allows renaming of prototype file. Will modify connections of workcells that use this prototype. ) Return from edit - makes a backup of the existing prototype in the library and then moves edited prototype back from current project. ) Move to library - moves project prototype to library selected. Fixes all cells in project to reference library prototype. ) Remove - removes a component from library. ) Recover from edit - used to fix prototype usage if prototype is gotten for edit and never returned.

Using the Data Forms NOTES:

You must be in Workcell to access Data commands

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) Double click on ../(Up) to move up one level. ) Double click on directory name to move into project. The project path name is updated. ) Select to enter from keyboard

EXERCISE 1: Creating Libraries Objective: To create some libraries to place some components into them. 1 Go to the Libraries tab of the Library Utilities window. Y From the Top Menu window, click Data. Y From the Data window, click Library Utilities. Y From the Library Utilities window, click Library.

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2 Create the parts library. Y From the Library Utilities window, click Create.

Y From the Create Library window, click Create.

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Y Type in parts

Y Press the [Enter] key. 3 Create the clamps library Y From the Create Library window, click Create. Y Type in clamps Y Press the [Enter] key. 4 Create the misc library Y From the Create Library window, click Create. Y Type in misc Y Press the [Enter] key.

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EXERCISE 2: Populating the Libraries Objective: To move some components into the libraries that were created in the last exercise. 1 Go to the Libraries tab of the Library Utilities window. Y From the Top Menu window, click Data. Y From the Data window, select Library Utilities. Y From the Library Utilities window, click Component. 2 Prepare to move components to library. Y From the Library Utilities window, click Move to Library. Y Verify that the source project is projects/intro. If it is not, then change it.

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3 Move the following components to the robot library Y Move the gmfs420 to the robot library Y Click on gmfs420 in the Source Component window, then click on robot in the Target Library. Y Click Move. 4 Move the following components to the guns library using same procedure of step 5. Y Move the gun1 to the guns library. 5 Move the following components to the clamps library. Y Move r1_clamps, r2_clamps, and r3_clamps to the clamps library. 6 Move the following components to the parts library. Y Move surf_part and wire_part to the parts library. 7 Move all the components that are left in the project to the misc library. Y Move the remaining components to the misc library.

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Processing CHAPTER 4

Lesson 4: From Least Constraints to Most Constraints The Process 1 Place workpiece in cell. 2 Create target locations on the work piece (Method depends on the Robcad application being used). 3 Create the path (Method depends on the Robcad application being used). 4 Bring in the gun and perform a first run along the path. 5 Bring in the robot. 6 Test the reachability of robot. 7 Check for collisions. 8 Refine the path. 9 Optimize path cycle time (method depends on the Robcad application being used).

Setting Up Projects ¾

Create, Rename, Remove, Copy and Move Projects

) From the Toolbox Manager window, click Data. ) From the Data window, click Project Utilities. ) From the Project utilities window, click Project.

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¾

To Explode, Resume or Replace Connections

) From the Toolbox Manager window, click Data. ) From the Data window, click Project Utilities. ) From the Project utilities window, click Connection.

Here are some commands on this menu: ) Explode - Allows user transfer a reference to a library prototype to a project prototype for selected workcell. ) Resume - allows for the restoration of connections to prototypes.

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) Replace - allows the user to replace the connection from a workcell to a prototype with a connection to a different prototype.

EXERCISE 1: Creating a New Project Objective: To create a new project under the projects directory. 1 Prepare to create a new project. Y From the Toolbox Manager window, click Data. Y From the Data window, click Project Utilities. Y From the Project utilities window, click Project.

2 Prepare to create your own project. Y From the Project window, click Create. Y Reset the Source project area of the Project window so that we are looking at what is currently in the Projects directory.

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3 Create the myproject project Y Select the Create button Y Type in myproject

Y Press the [Enter] key. NOTES:

You should now see this project listed in the window along with the rest

EXERCISE 2: Create a Cell from Library Components Objective: To review the placement commands we learned.

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Processing CHAPTER 4

1 Create a new workcell called my_cell_layout.ce in the myproject project using the Load Cell. 2 Get instances of the following components and use the placement commands to create a cell layout identical to first_cell.ce in the projects/intro project. A picture of the layout follows this exercise. REFERENCES: 3 Get cell_base: no offsets. 4 Turn on some reference frames that are currently blanked. Y From the Display window, click Display / Entity. Y Press the [F12] key and select Component Y Pick the cell_base Y Press the [F12] key and select Entity 5 Get column: offset -4000 in X and -5000 in Y. Y Use Get Component, Shift, or XYZ-Shift to place it 6 Get robot (gmfs420): Put robot on the white frame behind cell_base. Y Use Get Component or Put to place it 7 Get coll_box: It will be placed okay (no need to move it) Y Use Get Component 8 Get wire_part, surf_part & all clamps: Put all of these on the green frame near the front of cell_base. Y Use Get Component or Put to place them. 9 Get instance of component gun1 (from the guns library). Locate it at any random point in your cell (preferably away from the robot, otherwise it will be under the base). Y Use Get Component 10 Turn on some reference frames that are currently blanked. Y From the Display window, click Display / Entity Y Press the [F12] key and select Component Y Pick the gun1

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Y Press the [F12] key and select Entity 11 Mount the gun to the robot. Y From the Toolbox Manager, click the Motion button. Y Right click the robot and select Active Mechanism. Y Y Y Y

. From the Toolbox Manager, click Settings Click Mount. Pick the gun that you just got into the workcell. In the Mount window, click the Accept button.

NOTE

If the active mechanism is not currently set, Robcad will prompt you for it in the message window (simply click anywhere on the robot you want as the active one).

12 Gun may need to be rotated so that tips are facing up. 13 Define the TCPF (Tool Center Point Frame) Y Right click the robot and select Active Mechanism. menu, select TCPF. Y In the Motion window Settings Y Pick the frame between the gun tips. 14 Get overhead (misc library): It will be placed okay (no need to move it) 15 Make the cell look cleaner by blanking all the frames. Y From the Display window, select Blank / By Type -> Frames 16 Get the fencing (4 instances from the Misc. library). Put them together in a U shape beyond the robots envelope. Y Put two fences end-to-end, parallel to the rail. Move these fences to a distance behind the robot so that when you swing the robot around J1 with the gun mounted, the fence will not be hit. Y Connect another fence to these two, but at 90 degrees from them, enclosing the robot. Y Connect another fence to the other side of the first two (but 90 degrees from them, enclosing the robot.

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Y See the picture at the end of this exercise 17 Get the cable_hook, man (m50), and controller (controller) and place in the cell. Y controller (misc library): put behind the fence in line with the robot. May have to rotate Y cable hook (misc library): put it next to the controller Y m50 (HUMAN_MODELS library): put in front of the controller, may have to rotate 18 Store the cell. Y From the Layout window, click Store. Y Click Confirm.

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Creating an Envelope Around the Robot and Gun To create an envelope around both the robot and the gun (TCPF), use: ) From the Top Menu window, click Robcad-> Workcell. ) From the Top Menu window, click Layout. ) From the Layout window, click Robot envelope. This takes a few minutes to generate. NOTES:

The old way of creating a quick envelope around just the robot is still available in the modeling menu - From the Top Menu window, click Robcad-> Modeling. - From the Top Menu window, click Kinematics. - From the Kinematics window, click Envelope.

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EXERCISE 3: Create and Use a Robot Envelope Objective: To create and use a robot envelope 1 We will use the workcell from the last exercise as a starting point. NOTES:

From the last exercise, you should have a gun mount to the robot and a TCPF defined at the gun tips.

2 Create the envelope Y From the Top Menu window, click Layout. Y From the Layout window, click Robot envelope.

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Y Y Y Y Y

For Robot pick the robot in the workcell For Tolerance enter: 100 For Clearance enter: 10 Click the Accept button. Select Confirm to continue

NOTES:

The computer will now sit for about 5 minutes to generate the envelope.

3 Turn the shading on Y Press the [F5] key and select Shaded 4 Change the display of the envelope Y From the Top Menu window, click Display. Y From the Display window, click Visibility / Wire Y Pick the envelope Y Click the Accept button. 5 Look from the top view Y Method 1: Y Press the [F5] key and select View points -> Top Y Press the right and left arrow keys (on keyboard) Y Method 2: Y Press the [Home] key. Y Press the up arrow key three times (on keyboard) Y Press the right and left arrow keys 6 Notice that everything behind the back fence can be hit by the robot. Let's fix this problem by moving the fence (and the stuff behind it) back past the robot's reach. Y Press the [F12] key and select Component Y From the Toolbox Manager window, click Placement Editor . Y From the Placement Editor window, click Objects. Y Select all four fences, the controller, cabe_hook, and the man.

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Y Press Accept Y Select the X button on the transfer panel of the Placement Editor. Y Hold down the middle mouse button in the Graphics window and move the mouse left and right to move the selected objects back past the envelope. 7 Store the cell. Y From the Top Menu window, click Layout. Y From the Layout window, click Store Y Click Confirm.

File Utilities - Copy, Remove, Move, Rename files ) From the Top Menu window, click Data. ) From the Data window, click File utilities

) Type of file on which to operate: component, cell, simulation, or other.

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) Select name of file or files by highlighting. ) Project in which source file resides. ) Some functions are not enabled until the Source file is selected.

EXERCISE 4: Copying Files Between Projects Objective: Copy the weldpath.path from the projects/intro project to projects/myproject 1 Go to the File Utilities menu. Y From the Top Menu window, click Data. Y From the Data window, click File utilities. 2 Choose to operate on text files. Y For Operate on select Other.

3 Set the source file. Y In the Source file area of the File Utilities window, verify that you're in the intro project.t Y The source project name is shown in the lower left hand corner.

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4 Set the target file. Y In the Target file area of the File Utilities window, verify that you're in the myproject project Y The target project name is shown in the lower right hand corner 5 Select the pa1.no_robot in the Source file window.

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6 Click on the Copy button. NOTES:

This copies these components from the source project to the target project

EXERCISE 5: Read Path Into Cell Objective: To read a path into a cell. This exercise builds on the results of the last three exercises. 1 From the Toolbox Manager window, click the Path Editor icon, if it is not already up. (If it is already up, this will close it, so click it again). 2 From the Path Editor window, click the Load path

icon.

3 Load the robot path just copied. Y In the Load Path window, select pa1.no_robot from the list of paths.

Y Pick in the box next to the Robot: prompt. Y Then pick the robot in the cell. (The name of the robot will now be displayed in the box next to the robot).

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NOTES:

The name of your robot may be different than the one in the training manual.

4 The robot path should now be shown in the cell in front of the robot, and in the Path Editor window. 5 Move the robot along the path. Y Right click the robot and select active mechanism. Y In the Motion window, set the Automatic mode to Move Y Move along the path (double-click the path) 6 Store the workcell Y From the Top Menu window, click Layout. Y From the Layout window, click Store Y Click the Confirm button.

Collision Detection ¾

Define a collision list:

Collision detection is accomplished by looking for a collision between each component in one list and each component in another list. We must create a pair of lists to use for collision detection. ) From the Toolbox Manager window, click Collision setup . ) From the Collision Setup window, click Define pair.

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EXERCISE 6: Using Collision Detection Objective: To setup collision lists and see collisions detected 1 Get the clamps Y Bring the clamps into the cell (r1, r2, r3 clamps), if you have not already, and locate them at the green car reference frame. 2 Open up the Collision Setup window Y From the Toolbox Manager window, click Collision setup . 3 Define a new collision list Y From the Collision Setup window, click Define pair.

Y The Pair Definition window will appear.

4 Add components to the first list Y In the Pair Definition window, click Add under First list box.

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Y Pick the r1_clamps, r2_clamps, r3_clamps, wire_part, and surf_part

Y Select Accept on the Add window. NOTES:

Do not press the Accept on the Pair definition window yet.

5 Add components to the second list Y In the Pair Definition window, click Add under Second list Y Pick the gun and the robot Y Select the Accept button on the grey window in the upperright corner of Graphics Window

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6 Create the collision list Y Now select the Accept button on the Pair definition window. 7 Make a bell ring, when collisions occur. This button is on the Collision Setup window. Y For Collision parameters / Bell select On

8 Start checking for collisions

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Y In the Toolbox Manager window, change collision checking from Off

to Lists.

9 Store the cell. Y In the Top Menu window, click Layout. Y In the Layout window, click Store. 10 Use the Motion window to move the robot kinematically Y From the Toolbox Manager window, click the Motion icon. Y From the Motion window, click Joint jog. Y From the Motion window, click Robot jog. Y From the Motion window, click Move along path. 11 Move the robot into the part using the Placement Editor window.

More on Detecting Collisions ¾

Collisions can be missed if:

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. 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. From the Motion window, click Settings and then click Time interval to set the interval. The default value is 0.2 seconds. It is suggested to use lower values only after all collisions have been removed at the default value. It is not suggested to stay at the lower value because of the decrease in performance.

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¾

Additional Collisions may be found or missed if:

Collisions are determined by the distance between surface facets of the objects. Hence, if objects to be checked for collisions have curved surfaces, higher display precision should be used. From the Display window, click Visibility / Precision & direction to adjust precision. The default value for surfaces, exact solids and wire-frame is 3 (on a scale from 0 to 9). It is best to not increase the precision higher than 6 because of decreases in performance.

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Near Miss (a.k.a. Clearance):

Robcad can not only detect collisions (i.e. when the robot hits an object they are highlighted red), it can also detect when it gets within a specified distance to the object (objects are highlighted in yellow). This is called a near miss. A near miss value can be entered for each specific collision list or a global value can be entered for all collision lists.

EXERCISE 7: Using Collision Detection Wisely Objective: To understand how collision detection works and to use it more effectively. 1 Read the previous page first. Collision detection should be set to Lists and collision lists defined for this exercise. 2 Set the Display precision to 2. To see the difference better, turn the shading off first. Y From the Display window, click Precision & direction -> Modify display precision Y For List pick the Surf_part Y For Value 0 to 9 enter: 2 Y Click the Accept button.

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3 Set the time interval to 1 and simulate Y From the Motion window, click Settings Y Click Time interval. Y For Time Interval enter: 1 Y Press the [Enter] key. 4 Move the Robot along its path by double-clicking on it automatic mode should be set to Move in the Motion window. 5 Set the Display precision to 6. To see the difference better, turn the shading off first. Y From the Display window, click Precision & direction -> Modify display precision Y For List pick the Surf_part Y For Value 0 to 9 enter: 6 Y Click the Accept button. 6 Set the time interval to .05 and simulate Y From the Motion window, click Settings Y Click Time interval. Y For Time interval enter: .05 Y Click the Accept button. 7 Move the Robot along its path by double-clicking on it.

View Manager In general the View Manager is used to create custom view points. When a custom view is applied to the Graphics Window, the stored object display (Object vis), pose/states (kin poses), etc… can also be applied.

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EXERCISE 8: Using the View Manager Objective: To use the View Manager toolbox to setup views for our workcell. 1 Bring up the View Manager window. Y From the Toolbox Manager window, click View Manager .

2 Rotate, Pan, Zoom the Graphics windows a little. 3 Create a view. Y From the View Manager window, click the Create button.

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4 Repeat steps 2 though 3 about three times.

5 From the View Manager window, click VIEW_1 once. What happens? 6 From the View Manager window, click VIEW_2 once. 7 Jump to View. 8 Move to View. Y In the View Manager window, set the Apply mode to Move. Y Pick Steps, type 70, and press [Enter].

Y Double-click on VIEW_1. What happens? Y Double-click on VIEW_2. 9 Select Open to open another graphics window. Y From the View Manager window, click a view. Y Click Open.

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10 To resize a window: Y Move the move pointer over the grey border of the graphics window to be resized. (The mouse pointer will change from pointing down to pointing up). Y Pressing the right mouse button will now display a menu. Y Select Size from the menu. (The border of the window will become highlighted with red lines and the mouse pointer will be jumped to the middle of the graphics window). Y Now move the mouse point past one of the window borders and you will see the window stretching or shrinking in that direction. 11 To close a Graphics window (if you have more than one): Y Move the mouse into the window to be closed Y Press the [F5] key and select Close window.

Note Editor This toolbox enables adding notes to entities in the workcell. To select a note, pick its name in the note-editor list.

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To select multiple, consecutive notes, drag the mouse through the list, or press the [Shift] key and pick a second note. To select multiple, individual notes, press the [Ctrl] or the [Ctrl] key and pick the desired notes. To toggle between see the notes as flags or text in the Graphics window use: Press the [F6] key and select Text notes The font and font size can be changed for all notes in the graphics window by adding two .robcad parameters. See the online documentation for the note editor for more details.

EXERCISE 9: Flagging Problem Areas Objective: To create some notes in the Graphics Window 1 Bring up the Note Editor window. Y From the Toolbox Manager window, click Note Editor . 2 Create some notes by pick. Y In the Note Editor window, select CreateByPick.

Y Change pick intent to Where picked : Press the [F11] key and select Where picked. Y Pick a couple of places on your part to put flags. Y Click the Cancel button when done picking places.

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3 Enter some text for a note. Y Pick note1 Y Pick in the empty box at the bottom of the Note Editor window and start typing some text for this note flag. (It's the box near the bottom of the Note editor window).

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Y Select Apply. 4 Repeat step 3 for note2. 5 Toggle between see text on the note flags or just a flag Y Press the [F6] key and select Text notes. Y The notes are turned into flags in the Graphics Window. Y Press the [F6] key and select Text notes. Y The notes are turned back into text in the Graphics Window.

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EXERCISE 10: Labeling Objects in the Graphics Window Objective: To add labels to objects in our workcell. 1 Continue using the Note Editor window. 2 Setup the Multi Note. Y In the Note Editor window, pick the Settings tab. Y For Default text, select Name.

3 Create Multi Notes. Y In the Note Editor window, pick the Notes tab. Y Pick the Create button. Y In the Create Note window, pick the Multi-notes tab. Y Change the Filter type to Components.

Y In the Graphics Window, window all the compenents. Y Click [OK]. 4 Reposition Notes.

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Y In the Note Editor window, click Reposition. Y In the Graphics Window, pick a note and pick where to move it to. Y Click the Cancel button in the Reposition window when finished.

Introduction to Cell Previews This area of the Layout window is used to add a preview image and description to our workcell.

NOTE

To mamke preview images of components, run the macROSE create_lib_icons or create_proj_icons scripts.

EXERCISE 11: Creating a Cell Preview Image and Description Objective: To add a cell description to our workcell. 1 Turn off the floor. 2 Change the background color.

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3 Set the view point 4 Enter a description for your workcell. Y From the Layout window, enter a description in the Cell description textbox. Y Click Apply. 5 Create the preview image. Y Click the Generate cell preview button.

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Chapter Summary In this chapter the following was learned: ) Described how to use inverse kinematics to make the robot in Robcad move ) Described how to work with robotic paths in Robcad ) Described how to use the library utilities ) Described how to follow a simple process from beginning to end in Robcad

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Basic Simulation Techniques CHAPTER 5

Chapter 5

Basic Simulation Techniques About This Chapter This chapter provides various techniques for creating and viewing simulations in Robcad and contains the following lessons: ) Lesson 1: Introduction to Sequence of Operations, page 5-3, describes the basics of SOP in Robcad. ) Lesson 2: Creating a Sequence, page 5-8, describes how to create a sequence. ) Lesson 3: Using a Scenario, page 5-18, describes how to create a scenario. ) Lesson 4: Editing Operations, page 5-23, describes how to edit operations. ) Lesson 5: Types of SOP Events, page 5-26, describes how to add events to an SOP. ) Lesson 6: More SOP Tools, page 5-35, describes how to use sub-sequences, copying sequences, and driven operations. ) Lesson 7: Using Camera Views, page 5-39, describes how to create and use camera views. ) Lesson 8: Static Output, page 5-43, describes how to output pictures. ) Lesson 9: Storing Simulations, page 5-53, describes how to output simulations to various formats.

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) Lesson 10: Creating Web Reports, page 5-57, describes how to create web reports of the workcell.

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Lesson 1: Introduction to Sequence of Operations Introduction ¾

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 mock-up environment, and to produce a detailed assembly report.

¾

Demo

1 Load the first_cell.ce cell from the projects/intro project. 2 Open the SOP for the station. Y From the Top Menu window, click Robcad-> Workcell. Y From the Top Menu window, click Sop. Y From the Sequence of Operations window, click Sequence.

Y Pick Station11 and click Select.

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3 Play the simulation. Y From the Sequence of Operations window, click Play to play the simulation.

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 directory. 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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Types of SOP Operations There are 6 types of operations: 1 Flow: Consists of the movement of the part along its partsassembly path, created with Path menu. Flow operations are green on the Gantt chart. (Created with eM-Assembler) 2 Robot: Consists of any type of robot, gun or tool function, such as painting, gluing and welding. Robot operations are orange on the Gantt chart. (Created with eM-Arc, eM-Spot, eM-Paint, and eM-Laser) 3 Manual: A procedure consisting of any type of human operation. Manual operations are pink on the Gantt chart. (Created with eM-Human) 4 Mechanical: A procedure consisting of any mechanical device moving to different poses. Mechanical operations are cyan on the Gantt chart. (Abbreviated mechanic or mech). 5 Non-Simulation: 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 non-sim) 6 Sub-sequence: A way of adding all the operations from a previously created SOP sequence to the current sequence. (Abbreviated sub-seq)

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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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Lesson 2: 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.

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Open a Sequence

1 Open a sequence Y From the Top Menu window, click Sop. Y From the Sequence of Operations window, click Sequence.

Y Select from the list, type in a name, or select NEW for a default name for the sequence. 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.

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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

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Y Type in a name for the operation or select NEW for a default name 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. This step must be done before anything else. Y Select Operation -> Type.

4 Enter the procedure, or procedures. (i.e. matching a robot and path)

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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7 Click the Accept button. 8 Repeat these steps until all desired operations for this sequence have been defined.

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Store the Sequence of Operations

It is very important to note that a sequence is NOT stored when performing the Store cell command. A sequence can only be stored using the command (can store or store as) 9 Store the sequence Y From the Sequence of Operations window, click store or store as.

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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 1: Planning a Workcell Sequence of Operations Objective: To plan the sequence for the training cell The first steps are to figure out what the sequence is for this cell. Then we need to figure out what type of Robcad operation that we should use to perform each step in our sequence. Here is the sequence of operations for this cell: 1 Part enters the cell on a rail

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2 Part is loaded into fixture 3 Part loader is retracted 4 Clamps are closed 5 Welding of parts 6 Open clamps 7 Lower loader 8 Unload part from clamps 9 Part exits the cell on rail Match each of the above operations with one of the operation types below:

A Robot (A Robot does the work) B Manual (A Human does the work) C Mechanical (Move from one state to another)

EXERCISE 2: Add a Robot Operation to the 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 Y Press the [Enter] key.

3 Setup the SOP defaults. Y From the Sequence of Operations window, click Settings. Y Click Operation Duration.

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Y Enter 0.1 and press [Enter]. (This will allow the joint speed and acceleration determine the time for the operation). 4 Create a new operation by pressing the operation button on the operation menu Y From the Sequence of Operations window, click Operation Y (May have to click Operation on the Operation window)

Y At the operation name prompt enter: Welding

Y Press the [Enter] key. 5 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

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Y Select the gmfs420 robot.

Y In the Robots window, click the Select button. 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 the Select button. NOTE

Robcad will figure out the duration for you later when the simulation runs

6 Pick in this box and enter a description of this operation.

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7 Click the Accept button on the Operation window (You may have to click Confirm also). 8 Simulate it. Y From the Sequence of Operations window, click Play

.

9 After the simulation is finished, reset the sequence. Y From the Sequence of Operations window, click Reset . 10 The SOP file must be stored to save changes. The Cell is not stored with this button, however. Y From the Sequence of Operations window, click Store.

EXERCISE 3: Make the Clamps Open and Close Objective: To Add a mechanical type operation to our Sequence 1 Create a new operation by pressing the operation button on the operation menu Y From the Sequence of Operations window, click Operation Y (May have to click Operation on the Operation window)

Y At the operation name prompt enter: Open_clamps.

Y Click the [Enter] key. 2 Change the type to a Robot operation Y On the Operation window, select Type -> Mechanic (Mechanical).

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Y Pick in the first box of the Device column and select r1_clamps.

Y Pick in the first box of the From column and select CLOSED.

Y Pick in the first box of the To column and select OPEN.

NOTE

Robcad will figure out the duration for you later when the simulation runs

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3 Now, pick in the box below r1_clamps and select r2_clamps. Move the r2_clamps from the CLOSED state to the OPEN state. 4 Now, pick in the box below r2_clamps and select r3_clamps. Move the r3_clamps from the CLOSED state to the OPEN state.

5 Select the Welding operation as the previous operation Y On the Operation window, select Previous operations / Add

Y Pick the big orange bar in the Gantt chart Y (You may have to press Confirm also)

6 Pick in the description box and enter a description of this operation.

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7 Click the Accept button on the bottom of the Operation window. (You may have to press Confirm also). 8 Now, create another operation to close the clamps before the welding operation begins. Using the steps above. 9

After creating the Close_clamps operation, Edit the Welding operation and add Close_clamps as the previous operation.

10 Reorder the operations by time Y From the Sequence of Operations window, click Reorder -> By time. 11 Simulate it Y From the Sequence of Operations window, click the Play button.

12 After the simulation is finished, reset sequence Y From the Sequence of Operations window, click the Reset button. 13 The SOP file must be stored to save changes. The Cell is not stored with this button, however. Y From the Sequence of Operations window, click Store.

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Lesson 3: Using a Scenario Introduction Scenarios allow you to turn off the simulation of part of an SOP. This can be helpful when building very complex simulations.

EXERCISE: Making the Overhead Move Objective: To add three operations into the SOP to make the part loader move into the cell, lower, and then rise. 1 Create a new scenario so that we cannot simulate spot welding and clamps opening and closing. We only want to see the part loader move into the cell, raise and lower.

Y From the Sequence of Operations window, click Scenario. Y Select the New button.

Y In the Scenarios window, click Select.

2 Edit the new scenario. Y From the Sequence of Operations window, click Edit scenarios.

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Y Move the operations for welding, and closing and opening the clamps to the Inactive side by highlighting them and press the >> button.

Y The inactive operations are shown hallow in the Gantt chart and will not be simulated (for now).

3 Create three more operations in our sequence as described here:

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4 Simulate the sequence. Notice only the active operations are simulated Y From the Sequence of Operations window, click the Run button.

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Y From the Sequence of Operations window, click the Reset button. 5 Edit the new scenario. Y From the Sequence of Operations window, click Edit scenarios. Y Move all the active operations to the inactive list using the >> button. 6 Create three more operations in our sequence as described here.

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7 To prepare for the next exercise select the all active scenario Y From the Sequence of Operations window, click Scenario > All Active.

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Lesson 4: Editing Operations Introduction Previous operations: ) An operation can have more than one previous operation. ) Two operations can both have the same previous operation. In this exercise, we will edit the operations and add additional previous operations. There are two ways to open an operation for editing: )

Method 1: Just pick the operation on the Gantt chart. The operation is opened for editing.

) Method 2: From the Sequence of Operations window, click the Operation button. Select the Operation button, select the desire operation from the list, and click Select. The operation is opened for editing.

EXERCISE: Creating More Complex SOPs Objective: To add all the operations in our sequence for your cell in your project that is similar to the sequence station11 from the projects/intro project. 1 This exercise builds on what was done in the previous exercises 2 The previous operation for Welding (operation 5) will be both Close_clamps (operation 4) and Retract_loader (operation 3). Y In the Gantt chart window, pick the Welding operation.

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Y The operation is opened for editing.

Y In the Operation window, click the Add button.

Y Pick the Retract_loader from the Gantt chart.

Y In the Operation window, click the Accept button. (You may also have to click Confirm). 3 The previous operation for Unload_part (operation 8) will be both Open_Clamps (operation 6) and Lower_loader (operation 7).

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Y In the Gantt chart window, pick the Unload_part operation. The operation is opened for editing.

Y In the Operation window, click the Add button.

Y Pick the Open_Clamps from the Gantt chart.

Y In the Operation window, click the Accept button. (You may also have to click Confirm). 4 Two operations can both have the same previous operation. Add these relationships in the same way: Y The previous operation for both Retract_loader (operation 3) and Close_clamps (operation 4) is Load_part (operation 2). Y The previous operation for both Lower_loader (operation 7) and Open_clamps (operation 8) is Weld (operation 6). 5 Play the simulation and then reset it afterwards. 6 Store the SOP and store the workcell. NOTE

We will add the events in the next exercise to complete our SOP.

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Lesson 5: Types of SOP Events Introduction An event is an activity that requires zero time, such as attach or detach. Events happen relative to the start or the end of an operation. Each of the different types of operations can contain multiple events. Events can happen before, after, or at a specific time offset within an operation. Here is a brief description of SOP events.

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There are 15 SOP events:

(Listed here as shown in the Gantt Settings button / window) ) Blank - Hide an entity during simulation ) Display - Unhide an entity during simulation ) Change View – Change the viewpoint during simulation, using a view created in the View Manager. ) Change Color – Change the color of an object during simulation. ) Attach - Attach two components during simulation ) Detach - Detach two components during simulation ) Group - Group several components during simulation ) Ungroup - Ungroup several components during simulation ) Change TCPF - Change the TCPF of a ROBOT during simulation ) Change CP frame - Change the CP frame of a HUMAN during simulation ) Put - Put an component at a specific location during simulation ) Collision Pair - Activate or deactivate a collision pair during simulation

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) Set Time Interval – Change the time interval during simulation ) Drive Device – Change the pose for a device during simulation. ) Send Signal – Send a signal (i.e. stop or go) between two robots during a simulation.

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EXERCISE 1: Adding Attach and Detach Events Objective: To finish the sequence of operations by adding the events. 1 This exercise builds on what was done in the previous exercises 2 Position the part before the attach event. Y Change the Pick Level to Component. Y From the Display menu, click Display/Entity. Y Pick the Overhead, and click Accept. Y In the Graphics Window, right click the wireframe part and Y Y Y Y

. select Placement From the Placement Editor window, click Put. Change the Pick Level to Entity. From the Put window, for the Target Frame, select the frame floating in space (named overhead.carriage). Click Accept.

3 Edit the Enter_cell operation. Y In the Gantt chart window, pick the Enter_cell operation.

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4 Create an attach event. Y In the Operation window (for the Enter_cell operation). click the Events/Add button.

Y Select the event type such as Attach. Y In the Attach window, for Cell elements, pick the wireframe part. (It doesn’t matter whether your Pick Level is Entity or Component for this pick). Y Change the Pick Level to Entity. Y In the Attach window, for Attach to, pick one of the suction cups (black objects) on the overhead. Y In the Attach window, click Rel to start. (Our time offset will be zero so we do not have to enter it). Y In the Attach window, click the Accept button. Y In the Operations window, click the Accept button. (You may also have to click Confirm). Y In the Gantt chart window, a white diamond is shown at the beginning of the Enter_cell operation. 5 Look at the events color legend. Y In the Gantt chart window, click Events & signals -> Legend.

Y If the events show in black (not with the colors from the legend): In the Gantt chart window, click Events & signals > Colored. 6 Initialize the start position for the wireframe part. Y From the Sequence of Operations window, click Simulation.

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Y From the Sequence of Operations window, click Reset and Initialize before running the simulation (after changing the positions of objects). 7 Create a detach event: Y Edit the Load_part operation by picking it on the Gantt chart (its contents should be shown in the Operation window). Y In the Operation window, click the Add button and select detach.

Y Add a detach event for the wireframe part at the end of the Load_part operation.

Y In the Detach window, click Accept. Y In the Operation window, click Accept.

Y In the Confirm window, click Confirm. 8 Create an attach event: Y Edit the Welding operation by picking it on the Gantt chart (its contents should be shown in the Operation window).

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Y In the Operation window, click the Add button and select attach. Y Add an attach event for the wireframe part (component) to the surface part (entity) at the end of the Welding operation. Y In the Detach window, click Accept. Y In the Operation window, click Accept.

Y In the Confirm window, click Confirm. 9 Create another attach event: Y Edit the Unload_Part operation by picking it on the Gantt chart (its contents should be shown in the Operation window). Y In the Operation window, click the Add button and select attach. Y Add an attach event for the wireframe part (component) to a suction cup (entity) of the overhead at the beginning of the Unload_Part operation. Y In the Detach window, click Accept. Y In the Operation window, click Accept.

Y In the Confirm window, click Confirm. 10 Play the simulation and reset it afterwards.

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EXERCISE 2: Adding “Change to View” Events Objective: To finish the sequence of operations by adding the events. Putting It All together: Recall what you have learned to perform this exercise. 1 Using the View Manager position. Name it Full_View.

create a view at the Full View

create a view zoomed in on 2 Using the View Manager the clamps (i.e. where the parts will be welded). Name it Zoomed_In.

3 Add a Change to View event at the beginning of the SOP which references the Full_View.

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4 Add a Change to View event at the beginning of the Retract_Loader operation which references the Full_View. Apply the view in 50 steps.

5 Play the simulation and reset it afterwards.

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Lesson 6: More SOP Tools Introduction We now have the ability to create a basic SOP. However, we can do many more things with SOP. Let's look at some of them.

Sub-Sequences Sub-sequence enables putting an existing sequence into the current sequence. The Gantt chart displays the subsequence as a white bar showing the duration of the subsequence. Subsequences must be for the same workcell as the current sequence.

Copying Operations Operation/operation COPY option enables copying the current operation. 1 You must have the operation you want to copy in the operation window . 2 Then the operation button COPY will be available.

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Showing Driven Operations The sequence chart can show driven operations. The motion of a robot or human may cause other mechanisms to move, e.g., guns, conveyors and index tables. These devices produce their own bars on the chart as the simulation proceeds and their motions are created. The bars correspond to operations that have the names of the devices to which they pertain.

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The bars are displayed as hollow and are colored according to the type of the motion. Such a device operation may contain several procedures, i.e., several motions for the same device. One example is a spot-welding gun that is operated at each welding location. All of the procedures of the same device are included in the same operation. Every such driven operation lasts from the time it is created until the end of the simulation. When the simulation is run, the bars are shortened to correspond to the actual time that the device moved.

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Lesson 7: Using Camera Views (Optional) Introduction We can create cameras (viewpoints) in the cell, and camera views known as viewfinders. The viewfinder windows display the views as seen by their respective cameras; these windows have a red border. The position of every camera is specified. If the attach command in the layout menu subsequently attaches a camera to a moving entity, the camera moves together with the entity.

Types of Camera Views The view of a camera can be specified as one of three modes: ) If the view follows a moving entity and the camera is not attached to a moving entity, the camera pivots as necessary to maintain the specified view, i.e., it maintains the same position but its orientation changes. Viewpoint mode is Follow entity. ) If the view is a fixed point or follows a moving entity and the camera is attached to a moving entity, the camera pivots as necessary to maintain the specified view, i.e., it maintains the same position relative to the entity to which it is attached but its orientation changes. Viewpoint mode is Fixed on point. ) If the camera view is free and the camera is attached to a moving entity, the camera does not pivot but remains stationary relative to the entity; neither its relative position nor its relative orientation changes. Viewpoint mode is Free.

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Generating a new camera with an unspecified (free) viewing mode causes it to point initially toward the viewing center of the Graphics Window: either the reference frame or as determined by the view center command in the Utilities Window. In this mode the camera view is controlled either by the movement of the entity to which the camera is attached if any, or manually by means of the transfer panel.

Viewing Through the Eye of the Robot The view mode of an existing camera can be changed. This feature permits generating a camera located at the TCP of a robot with a view along its approach vector, attaching the camera to the TCP, and then freeing the view of the camera from any external entity. As the robot moves during a simulation, the viewfinder window corresponding to the camera displays the changing view along the approach vector. This use constitutes the camera as an eye of the robot.

Manipulating Viewfinders Any graphics window either can be activated as the viewfinder of a selected camera, or it can be used for the usual Robcad display: ) If the graphics window acts as a camera viewfinder and if the projection is parallel, the camera itself appears in the viewfinder window as a small rectangle surrounding a circle. Zooming the view does not affect its size. If the projection is perspective, the camera appears in the viewfinder window as a box surrounding a circle. Zooming the view moves the observer closer both to the view and to the camera and therefore affects the size of the camera, until the camera disappears behind the viewing plane, i.e., the observer.

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) - If the graphics window is used for the usual Robcad display, it shows the cameras in their specified locations; if a camera pivots and/or moves during a simulation, the display is updated accordingly. The cameras are always displayed in the wireframe mode regardless of current selection of the display mode command in the Window Setup and Global Setup menus, and they remain the same size of zoom operations. However, the Query window’s Current Cell Lists/components command lists the cameras; they are named vp1, vp2, etc. The Query window’s Information commands return pertinent information on specified cameras.

Instructor Demo: Creating a Free Camera Viewpoint 1 From the Display window, click Viewing / View Points. 2 Select View points -> Create view point 3 Pick where to locate it Y Select Free (view mode). Y Click the Accept button. 4 Attach the camera to something that moves along a path. (the camera viewpoint moves with the part). Y From the Layout window, click Attach. Y Create a 2-way attachment. Y Click Accept.

Instructor Demo: Changing the Camera Viewpoint 1 From the Display window, click Viewing / View Points 2 Change the viewpoint mode. Y Select View points -> View point mode. Y Select the new mode Fixed at a Point.

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Y Pick the point. Y Click Accept.

Instructor Demo Closing a Camera Viewpoint 1 Place your mouse pointer into the camera view point. 2 Press the [F5] key and select Close Window.

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Lesson 8: Static Output Outputting the Workcell A static image of the workcell can be created by placing the mouse pointer in the graphics window and pressing the [F4] key or using the View Manager toolbox. ) Screen to a File - Can create an RGB, JPG, or TIFF file (it's best to specify the full path of where you want the file ) Screen to Printer - Sends the RGB file to a Robcad defined printer. Robcad printers can convert the RGB to Postscript or PCL printer languages. ) VRML-2 to file - Creates a VRML file. The VR stands for Virtual Reality. This is the format allows users with Netscape or Internet Explorer to view the Robcad cell in 3D. They can pan, zoom, and rotate the workcell.

Outputing a Robcad Text Window A text file can be created by placing the mouse pointer in the text window and pressing the [F4] key. ) Screen to a File - Creates a text file (it's best to specify the full path of where you want the file) ) Screen to Printer - Sends the text file to a Robcad defined printer.

EXERCISE 1: Generating Output from the Graphics Window Objective: To create a picture of the graphics window 1 To save ink in the printer, change the graphics background color to white.

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Y From the Setup window, click Colors. Y From the Setup window, click Color Editing.

Y On the Color Editing window, select Choice -> Graphics Bgd.

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Y Make it white by dragging the red, green, and blue bars to the top.

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2 Turn the Floor top to white. Y On the Color Editing window, select Choice -> Floor top. Y Make it white by dragging the red, green, and blue bars to the top. 3 Turn the Floor grid to black. Y On the Color Editing window, select Choice -> Floor grid. Y Make it black. 4 Save this as a configuration named for_printing Y From the Setup window, click Configuration. Y From the Setup window, click Store -> Name.

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Y Name it for_printing.

Y Click the Accept button. 5 Move cursor to the Graphics Window. 6 Make a picture of the Graphics Window. Y Press the [F4] key. Y In the Output operations window, select Screen to JPEG file. Y For File name enter: mypicture.jpg.

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Y Click the [OK] button. 7 Return to the default configuration Y From the Setup window, click Configuration. Y From the Setup window, click Load -> Defaults.

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EXERCISE 2: Generating Output from a Text Window NOTE

The printer must be defined by the system manager before sending output to the printer with the option.

1 Move cursor to a text window. (Status Window) 2 Press the [F4] key. NOTE

An Output operations window appears with option to output the text to a printer or to a file.

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3 Click the Cancel button to close the Output operations window. We will not output a text file at this time.

EXERCISE 3: Using the View Manager to Output Pictures Objective: To create a picture of the graphics window a second way 1 Load the configuration you stored in a previous exercise called for_printing. Y From the Setup window, click Configuration. Y From the Setup window, click Load -> Name.

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Y Select for_printing.

Y Click Select. 2 You should already have created at least one view in the previous exercises. We will now send one them to a picture file. 3 From the Toolbox Manager, click View Manager 4 Select one of the view you created. 5 Create the picture. Y In the View Manager, pick either JPEG or TIFF. Y Click the Export button. Y In the Store image window, for Name, enter AnotherPicture.jpg Y Click the Accept button. 6 Load the default configuration again

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Y From the Setup window, click Configuration. Y From the Setup window, click Load -> Default

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Lesson 9: Storing Simulations Outputting the Simulation A movie of the workcell can be created in two ways ) VRML-2 - Creates a 3D simulation of the workcell that can be played in a web browser (with a VRML2 plug-in) without the need of Robcad. Or static 3D workcell can be viewed in a web browser. NOTE

A (3D) VRML-2 simulation can be recorded on UNIX using Robcad-> Utilities -> RecordVRML2. On a PC only static (3D) VRML-2 files can be created. NOTE

The web browser (using a plug-in) must support VRML-2 format in order to run the simulations. (For example: on SGI and PC this is the Cosmo Player). NOTE

It is suggested to get the Cosmo VRML-2 plug-in and the TCL plug-in. They are available on the web for downloading

) MPEG Simulation - Creates a 2D movie that can be played on any computer with a MPEG player without the need for Robcad. NOTE

The Robcad CDROM contains a freeware MPEG player for UNIX and another for PC

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You can open VRML files in two ways:

) Locally using file -> open file in a web browser. ) Remotely by placing it in a website and accessing it using a web browser (with a VRML2 plug-in).

EXERICSE 1: Creating a VRML-2 File for Web Browsers Objective: To create and view our cell in a web browser (using a plug-in such as the Cosmo VRML2Player)

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1 Create a VRML-2 file Y In the Graphics Window, press the [F4] button. Y Select VRML 2 to file. Y Enter cell1.wrl for the file name. Y Click [OK]. 2 Minimize Robcad by pressing this button in the upper right corner.

3 On UNIX: In a shell window with a prompt, type Netscape and press the [Enter] key. On a PC, double-click on the Internet Explorer desktop icon (or other web browser with a VRML-2 plug-in installed). 4 Open the VRML file using a web browser. Y Select File -> Open Y Browse into your project directory (projects/myproject) Y Browse into your cell directory (projects/myproject/mycell.ce) Y Select the VRML file (such as cell1.wrl ) Y Click [OK]. NOTE

If the plug-in is installed, your 3D workcell will be shown. It can be panned, zoomed, or rotated. If the plug-in is not installed, it will just show the contents of the WRL text file.

EXERCISE 2: Recording Robcad Simulations (for Creating an MPEG movie) NOTE

Ensure that the current condition of the contents of the graphics space is easily reproducible. It is usually preferable to begin recording a command file immediately after loading the desired contents of the graphics space.

1 From the Top Menu window, click Robcad-> Utilities. From the Utilities window, click logger to display the logger window.

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2 Select record. A window appears listing the names of the existing command files. 3 To overwrite an existing command file, pick its name; the window disappears and the name of the selected command file appears in the file value field. To produce a new command file, pick close. The list of names disappears; type the name of the new command file in the file value field, and press the [Enter] button. Entering the command-file name causes the logger to begin the process of recording subsequent Robcad commands. 4 Issue Robcad commands as desired. Each command is recorded in the named command file as it is issued, and accordingly increments the counter. 5 To exclude commands from the command file, select pause. Stop is then deactivated, leaving only pause active; subsequent Robcad commands are then not recorded in the command file. To resume recording commands, again select pause; the stop function is again activated. 6 To close the command file, select stop. The name of the command file disappears from the file value field, the count value field is reset to 0, the play, record and erase functions are activated, and the pause and stop functions are deactivated. The command file is preserved in the database and its name is included in the window list that appears when the play, record, and erase functions are selected. NOTE

Exiting the logger before terminating the command file, or exiting the Robcad operating session even without preserving changes, nevertheless preserves the command file in the database. Use the erase function to delete a command file.

EXERCISE 3: Creating a MPEG file from a Recorded Session NOTE

Ensure that the contents of the graphics space are suitable for the sequence of commands contained in the command file. Commands that cannot be performed exit with an error message; some errors terminate the playing of the entire command file.

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1 Open the logger window. Y From the Top Menu window, click Robcad-> Utilities. Y From the Utilities window, click logger to display the logger window. 2 Select play & create movie. A window appears listing the names of the existing command files. 3 Pick the name of the desired command file; the window disappears, the name of the selected command file appears in the file value field, and the command file begins issuing the Robcad commands as they were recorded. The count value field increments accordingly. NOTE

To interrupt the command file, select the pause function. Stop is then deactivated, leaving only pause active; Robcad commands can then be issued as desired. To resume playing the command file, again select pause; the stop function is again activated. NOTE

To cancel the command file before it finishes, select stop. The logger panel reverts to its condition when it was invoked. The same occurs if the command file finishes normally, with the addition of a corresponding message in the messages window.

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Lesson 10: Creating Web Reports Introduction The Report Creator window is a tool for the automatic creation of reports from the current workcell for viewing on standard browsers. The Report Creator window contains options for creating views manually or automatically for inclusion in the report. Add an optional description that displays on the title page of the report in the browser. 1 Select target dir and define the path and location of the Web directory where the browser opens and the report is stored. 2 Press prepare images to create images in JPEG format of the components that will display in the report. Choose from the matrix of options to include exactly the images needed for the report: Y Automatic — prepares images of cell components using view parameters determined by the system Y Set Viewpoint — prepares images of components with view parameters set by the user Y Create new — prepares a new image of a component, even if one already exists Y Use existing — uses component images that were already prepared Y All — prepares an image for every component in the cell Y Selected list — user picks the components in the graphics window for which to prepare images or types the selected component names in the Selected list window

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3 It is possible to select a combination of prepare image options. For example, by choosing Automatic/Create new/Selected list, the system prepares new images of components selected by the user (even if images for these items already exist) with view parameters that are automatically determined. 4 Press Generate to create the report and open the browser automatically (Netscape by default, or configure the .robcad file to determine which browser is used by adding the flag: WEB_BROWSER ). The command creates a cell view with default view parameters. The browser opens a page in the Web directory which contains links to Cell reports and other reports. Click on the Cell report link to display the image of the cell and links to various cell sub-reports. The report page contains the name of the project, date, name of the report’s creator, and the optional description that was added when generating the report. Choose the all in one page option to view the report as one continuous document, or choose to display the report by topic: Robot, Gun, Device, Man, Non-kinematic components, Path, Weld points, Views. Press Show report to open a new browser window and display reports that were generated for the current cell, and for other cells and other reports.

EXERCISE: Creating and Viewing a Web Report Objective: To create a picture of the graphics window a second way 1 To complete this exercise, you must have workcell open. 2 Open the Report Creator window. Y From the Toolbox Manager, select Report Generator

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3 Create the web report Y From the Report Creator window, click Target dir. Y In the Save report to directory window, click Current project.

Y Click Accept. Y From the Report Creator window, click Prepare Images.

Y Click Accept. Y From the Report Creator window, click Generate. Y (If you are on a PC or the browser does not open automatically, See the next steps for information).

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4 Minimize Robcad by pressing this button in the upper right corner 5 On UNIX: In a shell window with a prompt, type Netscape and press Enter (If it is not already running). On a PC start Internet Explorer, by double clicking on the desktop icon (if it is not already running). 6 On UNIX: Open the Web Report using menus in Netscape. Y Select File -> Open page -> Choose file Y Select Browse into your project directory (projects/myproject) Y Browse into your WEB_REPORT directory (projects/myproject/myproject_WEB_REPORT)

Y Select the HTML index file (index.html) Y Click [OK]. Y Select Open in Navigator 7 On PC: Browse to the file and open it in Internet Explorer. Y Select File -> Open.

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Y Select Browse. Y Browse to your project directory (projects/myproject) Y Browse into your WEB_REPORT directory (projects/myproject/myproject_WEB_REPORT).

Y Select the HTML index file (index.html) Y Click Open. Y Click [OK]. 8 Pick CELL (or the name of your sop shown on the web report) to see the report for this sequence of operations.

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Chapter Summary In this chapter the following was learned: ) The basics of SOP in Robcad. ) How to create a sequence. ) How to create a scenario. ) How to edit operations. ) How to add events to an SOP. ) How to use sub-sequences, copying sequences, and driven operations. ) How to create and use camera views. ) How to output pictures and static VRML files. ) How to output simulations to various formats. ) How to create web reports of the workcell.

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Chapter 6

Other Selected Topics About This Chapter This chapter provides a description of other important topics in Robcad such as CAD Integration. It contains the following lessons: ) Lesson 1: More on Robot Motion, page 6-2, describes more on robot motion. ) Lesson 2: Cables, page 6-7, describes how to use and create cables. ) Lesson 3: Introduction to CAD Integration with Robcad (Optional Topic), page 6-21, describes how to create and use CAD-linked components. ) Lesson 4: Stand Alone GUI for CAD Interfaces (UNIX only) (Optional Topic), page 6-31, describes how to import and export data via some UNIX tools. ) Lesson 5: Data Menu CAD Translating (Optional Topic), page 6-32, describes how to import and export components from other file formats. ) Lesson 6: More Data Commands Windows (Optional Topic), page 6-39, describes how to use some of the other Robcad data commands.

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Lesson 1: More on Robot Motion Introduction This lesson provides some transitional information between the Robcad base class (WKP100U) and the eM-OLP class (WKP211U).

More with the Motion window ) Solution and turns – Can be accessed in several places in Robcad including the Motion window (i.e. using the Solution and turns button). In cases where multiple solutions are available to reach a location, allows the viewing and selection of different inverse kinematics solutions. ) Location types Y Global Locations – Can be created using several buttons with Robcad including the Path Editor

window and

the Motion window (i.e. using the Mark Loc button). They are locations whose origin is tied to the origin of the workcell. Can be used with any robot. Can to be converted to Local Locations before downloading. Not specific to one inverse solution.

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Y Compound Locations – Can be accessed in several places window (i.e. using in Robcad including the Motion the Update button). It is a global location with a value th stored for an external axis (i.e. 7 axis). An external axis must first be defined for the robot. Topic not covered in class.

Y Local Locations – Can be accessed in several places in eMwindow (i.e. using Workplace including the Motion the Auto teach -> On button). They are locations whose origin is tied to base frame of a specific robot. Can only be used with one robot. Inverse solution specific. See the eMOLP class (WKP211U).

) Robot Controller – Can be accessed in several places in eMWorkplace including the Motion window (i.e. using the Controller button). It is used to assign an Robcad controller to a robot, which sets the teach pendant (containing robot specific motion parameters) and motion planner for a robot.

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Default Controller Location Attributes ) 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. These attributes can be assigned in several ways in eM- Workplace: ) Temporarily assignment – including the Motion (i.e. using the Set motion params button). )

window

Permanent assignment – Default attributes can be set on locations using the Location Attributes window. For example, it can be used to set the motion type, zone, speed, and wait time. Topic not covered in class.

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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

External Axis th

7 Axis - Topic not covered in class.

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Accurate Robot Motion Simulation RRS versus MOP versus .e – Topic not covered in class. See the eM-OLP class (WKP211U).

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Lesson 2: Cables Introduction The eM-Cables product provides a convenient means of simulating the use of the various cables used with robotic applications. These include electrical power and control cables, liquid-conducting coolant and materials cables, and air-pressure control and cleaning cables. Although many designs enable ignoring these cables, critical component placement for optimizing space requirements can require taking cable runs into account.

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Overview The eM-Cables product enables generating cables in the workcell, routed where and as desired. In the Robcad system, a cable is a special component that obeys the natural rules of physical motion. It looks like a long, narrow pipe attached at both ends to other objects in the workcell. When these objects move, the cable remains attached and changes its shape accordingly. Other forces, such as gravity and contact with objects in the environment, also affect the shape of the cable. User-determined properties of cables that affect their behavior are length, radius, and stiffness. The length and radius determine the size of the cable; the stiffness affects the gravity and internal forces that act on the cable to determine its final shape. In addition, as many hooks as desired can be placed along the length of the cables, attached where desired either with fixed force or with linearly variable spring-like force, or attached directly to the hooked point either at a fixed point or with the ability to slide through the attachment. Both the cables can be modified, deleted, colored and queried like any other component; when the workcell is copied or deleted, the cables accompany it. But they cannot be actively placed, shifted or rotated. If cables touch other items in the workcell, a contact feature can be actuated to cause the system automatically to route the cables over and around obstacles; highlighting can also be enabled to show in a distinctive color both the cables and the contacted obstacles.

Usage To use the eM-Cables product, load the desired workcell, and proceed as shown below. 1 Create start and end point frames.

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Y

From within the Workcell Layout menu, Create frames where it is desired to attach the endpoints of each cable. The cables protrude from the X-Y plane of each frame on the +Z-axis side of that plane.

2 Create the cable. Y From within the Cables menu, use the Create cable command to generate a cable between the two frames created in Step 1. The cable is displayed with the diameter and length specified for the command; the bend of the cable is determined by the stiffness. NOTES:

The stiffness value is expressed in an arbitrary unit from 1 (flexible) to 5 (stiff). If the assigned value results in a cable that appears different from the actual cable, use the modify cable command to assign a different value to produce a displayed cable that more closely approximates the actual cable. The fulcrum value establishes the distance of the cable from the connection point until bending, measured as a ratio to the cable radius.

3 Fine tune the cable parameters. Y If the cable can to be modified, the Modify cable command can be used to change any or all of its parameters. The delete command can similarly be issued to delete a cable together with its hooks. NOTES:

Modify cable modifies all of the parameters of an existing cable, except its name.

4 Regenerate cables (as needed). Y Cables may not appear in the actual resting place in accordance with the pose of the robot. Use the Regenerate cables command to view a cable in its final, correct position for the current pose. 5 Add cable hooks (if desired). Y If hooks need to be added to the cable, the Create hook command can be issued to produce as many hooks as desired. Hooks can be modified and deleted independently of the cable itself.

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NOTES:

The system assumes a cable shape in accordance with the user’s intention. Nevertheless, users can influence the creation, modification and regeneration of the cable by letting the cable shape pass through a selected frame.

Exercise 1: Simulating Robots with Cables Objective: To load an existing cell and simulate a robot with flexible cables. 1 Load the cable_servo.ce workcell. Y From the Top Menu, select Layout. Y From the Layout window, Load cell. Y In the Load Cell window, browse into the projects/other_selected project. Y Select the cable_servo.ce workcell.

Y Click [OK]. 2 Load the eM-Cables window. Y From the Top Menu, select Robcad -> Applications.

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Y From the Applications window, select eM-Cables.

3 Simulate robot r120_3 and path pa3. Y From the Toolbox Manager, click the Motion button.

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Y From the Motion window, set the Active mech to be the r120_3 robot. Y Set the Target to be path pa3 (blue path).

Y Click the Play button. 4 Watch the cable flex as the robot moves. If a cable is moved too fast or otherwise stressed, its display will change to a row of diamonds.

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Exercise 2: Creating a Cable on a Robot Objective: To create a cable to enhance the existing dress package of a robot. 1 Continue with the loaded cell from the previous exercise. 2 Create a frame to represent the cable start point. Y From the Layout window, click the Create frame button. Y From the Create frame window, click the By Circle tab.

Y In the Graphics Window, zoom in on the first cable bracket of the r120_1 robot (the robot following the red path).

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Y Pick three points, counter clockwise around the inside edge of the eye of the hook.

Y In the Create frame window, pick the Attach to prompt and pick the hook where we just pick the three points.

Y Click Accept.

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3 Create a frame to represent the cable end point. Y In the Graphics Window, zoom in on the second cable bracket of the r120_1 robot (the robot following the red path).

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Y Follow the same procedure to create a frame here (don’t forget to attach it). NOTES:

Keep in mind that the cable will follow the Z-axis out of each frame.

4 View the eM-Cables window. Y From the Workcell Top Menu window, select eM-Cables. NOTES:

When loading an window from the Applications menu, it will become the last menu on the Workcell menu by default (until you exist Robcad).

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5 Create the cable. Y From the eM-Cables window, click the Create cable button. Y In the Create cable window, pick your first frame for the Start location. Y Pick the second frame you created as the End location. Y Enter a Length of 1200 (current units=mm). NOTE

A length of 1600 may be okay as well.

Y Enter a Radius of 41.25. Y Enter a Stiffness of 1 (i.e. very flexible). Y Enter a Fulcrum of 2 (i.e. flex quickly from the ends).

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NOTE

A pass through location (frame) may have to be added to reduce the sag of the cable.

Y Click Accept. 6 Modify the cable as needed. Y From the eM-Cables window, click the Create cable button. Y In the Create cable window, pick your newly created cable for the Cable name. Y For Stiffness, enter 4.

Y Click Accept.

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7 Simulate the r120_1 robot along the pa1 path (yellow path), with the newly added cable. Notice how the cable flexes.

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Lesson 3: Introduction to CAD Integration with Robcad (Optional Topic) Introduction In this lesson, we will describe how to CAD link parts and assemblies from several CAD systems. CAD integration (CI) is a much cleaner way to bring data from other CAD systems into Robcad. This is because the original CAD models are never translated into Robcad. With CI, the original CAD model is read and displayed (tessellated) in Robcad as a component. Unlike translated components, integrated components are only a shadow of the original CAD data. Therefore, the geometry of this component cannot be changed, but kinematics can be added to it.

What Does CAD Integration Answer? ) Can continues associativity with product data ) CAD independent e-Manufacturing environment ) Access to product assembly tree ) Multiple CAD system environment ) Communicate process information feedback Y Notified of design problems Y Preliminary design link ) Quick and accurate access to product data

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CAD Integration Benefits ) Use best-in-class CAD and e-Manufacturing solutions ) Enables concurrent engineering Y Such as on-demand design reviews ) Start process studies early on ) No data translation or duplication ) Reduce data management costs ) No precision loss ) Attribute, geometry, and assembly linking

CAD Integration Strengths Summary ) Gives quick & accurate procedure ) Allows concurrent engineering ) Reduces data management costs

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Concept 1 of CAD Integration Synchronous Math Based Manufacturing

Concurrent Access

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Differences between CAD Integration and CAD Translation Here are the plusses and minuses for each method.

¾

CAD TRANSLATION (CAD Interface)

+/- Can modify the translated parts + Requires less CAD licenses - Breaks the link between the CAD model and the Robcad model - May not get 100% of the CAD model - Takes up more disk space than CAD Integration

¾

CAD INTEGRATION (CAD Linking)

+/- Read only parts - Requires more CAD licenses + Maintains a live link between the CAD model and Robcad + See 100% of the CAD model the way it is viewed in the CAD system + About 60% less disk space is used (no duplication of data)

Multiple CAD Integrated Parts in the Same Cell Users can have CAD integrated parts from NX, CATIA, I-DEAS, and Pro-E in the same cell. For example, you could design your spot weld guns in NX and your fixtures in CATIA and your work parts in Pro-E.

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Support of Attributes from the CI Parts It is possible to CAD-Link the geometry, but also the attributes of the entities in the CAD system. The attributes from the original CAD system are mapped to Robcad attributes. (For NX the file is called ugrob.map).

Ability to See the CAD Integrated Assembly Tree in Robcad If you want to see the assembly tree of an assembly that has been CAD Integrated, use this button. It allows you to see and use the component tree structure from the original CAD system in the Robcad tree tool.

Support of Kinematics with CAD Integrated Parts It is possible to add kinematics to CAD Integrated parts. For example, you could CAD Integrate a spot weld gun into Robcad, add the kinematics to it in Robcad modeling, and then use it in your spot welding cell.

Exercise 1 On UNIX: Steps to Creating a Link Part (NX, CATIA, ProE) NOTE

These steps assume that you have already setup your CAD Integration environment. If you have not, please see the next couple of sections titled Setting Up CAD Integration and Example .cshrc File Settings.

1 Enter the CAD Link menu on the Workcell Data menu Y On the Top Menu window, click Robcad-> Utilities.

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Y On the Utilities window, select CadIT. 2 Select the Cad system you want to CAD Integration Y On the CadIT window, click Setup -> CAD -> UG NOTE

ProE parts are also available in the training data.

3 In the window labeled Cad select your NX part Y On the CadIT window, click File -> Insert Elements Y Browse to the: ..\projects\robdata\ug_parts Y Choose: board.prt 4 Pick the part in the List. 5 In the window labeled Robcad library select the place to put the pointer component that will refer to your NX part Y On the CadIT window, click Edit -> Part parameters -> Destination Y Choose: misc NOTE

It is suggested that users have a standard directory structure for the CAD parts and a standard directory structure for their CAD Integrated pointer components in the Robcad libraries

6 Create the link Y On the CadIT window, click Apply. 7 Exit CadIT Y On the CadIT window, click Exit.

Exercise 1 On PC or UNIX: Steps to Creating a Link Part (NX, CATIA, ProE) NOTE

These steps assume that you have already setup your CAD Integration environment. If you have not, please see the next couple of sections titled Setting Up CAD Integration.

1 Open a command window. Y From the Windows toolbar select Start -> Run.

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Y Type: cmd 2 Change into the folder with the data. Y Type: cd C:\Robcad\data\projects\robdata\ug_parts NOTE

ProE parts are also available in the training data.

3 Look at the syntax for the cadlink command Y Type: cadlink 4 Run the cadlink command for a NX part named board.prt. Y cadlink C:\Robcad\data\libraries\misc\board -p board.prt

Exercise 2: Steps to Using a Link to a NX Part in a Cell (NX, CATIA, ProE) 1 Load your cell Y Start Robcad, if it is not already started. Y From the Top Menu window, select Layout. Y From the Layout window, select Load cell. Y Choose an existing or a new cell. 2 Change your current library to misc Y From the Layout window, select Get component. Y In the Get component window select Current library. Y Choose: misc. 3 Get the CAD integrated component into the cell Y Choose: board.co Y Click [OK].

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4 Store your cell

How To Know You Have The Latest Part? (NX, CATIA, and ProE) 1 Load your cell 2 If the original NX part has been changed Robcad will print a message before updating the changed components in the cell. Each time you load a cell with CAD Integrated parts, Robcad checks to see if you have the latest.

Setting Up CAD Integration with NX Before using CAD Integration, the user must install it from the Robcad CDROM. The license name for NX CAD Integration is UG_CI. Please see the Robcad Installation Notes for more information on how to install a product from the CDROM. Robcad loads NX CAD Integrated parts the same way as NX: Using the settings in the load_options.def file. It is suggested that a standard load_options.def file be created for a project and placed in the /usr/local/robcad/usr folder on UNIX or the c:\Robcad\usr folder on a PC. The following parameters must be added to a .robcad file (Typically in the /usr/local/robcad/usr folder on UNIX or the c:\Robcad\usr folder on a PC):

¾

On UNIX:

CAD_WORK_DIR /usr/local/robcad/usr

¾

On a PC:

CAD_WORK_DIR C=\Robcad\usr

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To do NX CAD Integration, Robcad will need access to NX and the following NX licenses from UGS: ) UFUNC license (User Function Executable Environment) ) GATEWAY license

¾

On UNIX:

Example .cshrc File Settings for UG Version 15 CAD Integration # These parameters can be added to the .cshrc in the users home # dir or to the r.cshrc in /usr/local/Robcad/sys to affect all # users # # For SGI and SUN # #setenv UGII_BASE_DIR /usr/ugs150/ #setenv UGII_ROOT_DIR /usr/ugs150/bin/ # source /usr/local/robcad/sys/r.cshrc setenv LD_LIBRARYN32_PATH ${LD_LIBRARY_PATH}

¾

On a PC:

Verify that these system environment variables are set by rightclicking on My Computer and selecting Properties. Then choose the Advanced tab and select Environment Variables. ) UGII_BASE_DIR ) UGII_ROOT_DIR ) PATH should contain the UGII_ROOT_DIR folder path

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Lesson 4: Stand Alone GUI for CAD-Interfaces (UNIX only) (Optional Topic) Introduction A new stand-alone application has been created with a GUI for CAD translation. It gives users the ability to import and export data without starting Robcad. The CAD translation stand-alone interface is activated by typing robdex at a UNIX prompt. 1 Select whether to import to Robcad or export from Robcad 2 Choose the file format to exchange with Robcad 3 Select the desired parameters relating to the selected exchange format 4 Select the files to be imported/exported and to put the resulting files 5 Click Run.

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Lesson 5: Data menu CAD Translation (Optional Topic) Introduction This chart shows which interfaces are supported on the various Robcad platforms. Interface

SGI Platform

PC Platform

AutoCAD DXF

Yes

Yes

CATIA v4 *

Yes

CATIA v5 *

Yes

IGES

Yes

Yes

SET

Yes

STEP

Yes

STL

Yes

Yes

NX *

Yes

Yes

VDFS

Yes

* Check the Robcad release for a list of the supported versions of CATIA and NX.

Process To Import a CAD file From the Top Menu window, select Data. From the Data window, select Cad import. ) Name of file to import ) Import format: Robfacein, Igesin, Setin, Stepin, Dxfin

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) Name of component to be created ) Import button is not enabled until a Source file is selected

PRINCIPLE

Robcad does the import as a two step process. First, it creates a ROBFACE file from the input file. Then it converts the ROBFACE file to a component file.

EXERCISE: Importing IGES Files into Robcad Verify that you are in the processing project 1 Import the IGES files from projects/robdata to the projects/processing project Y From the Top Menu window, select Data. Y From the Data window, select Cad import.

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2

In the Source file area of the Cad Import window, verify that you're in the projects/robdata project Y The source project name is shown in the lower left hand corner

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Y From the robdata folder, double-click on the iges_parts folder.

NOTE

There are 2 IGES files in this project.

3 Click on import format on the Cad import window and select Igesin.

Y Two IGES files are shown. 4 In the Target file area of the Cad Import window, verify that you're in projects/myproject project.

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Y The target project name is shown in the lower right hand corner.

5 Import the file. Y Select surf.igs in the Source file area of the Cad Import window.

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Y In the Cad Import window, click Import.

Y In the Confirm window, click Confirm. Y The file is translated from surf.igs to surf.co. Y When it is done translating, press a y to close the translation window 6 Repeat translation for the second file. (wire.igs) 7 View the imported surf.co and wire.co in Robcad. 8 Store the workcell, if desired.

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Process To Export a CAD file From the Top Menu window, select Data. From the Data window, select Cad export ) Name of file to export ) Export format: Robfaceout, Igesout, Dxfout ) Name of component to be created ) Export button is not enabled until a Source file is selected

PRINCIPLE

Robcad does the export as a two step process. First, it creates a ROBFACE file from the component file. Then it converts the ROBFACE file to a specified file format.

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Lesson 7: More Data Commands Windows (Optional Topic) Introduction This lesson will cover the following menus: ) System Utilities (UNIX only) ) Instance to Prototype Connections

System Utilities (UNIX only) ¾

To Find a file, Backup a file, Convert a file from a earlier version of Robcad, or Get information about Files sizes and Disk usage

) From the Top Menu window, click Data ) From the Data window, click System utilities. ) From the System utilities window, click System. You must have clearance to access these functions: ) Disk usage - displays list of disks and their current usage ) Backup - creates a backup of data selected to device selected ) Find - finds file of name specified ) File sizes - displays sizes of files selected ) Restore - recovers data from backup storage ) Converter - converts files from previous Robcad version format to current format

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Instance to Prototype Connections ¾

To Explode, Resume or Replace Connections

) From the Top Menu window, click Data. ) From the Data window, click Project utilities. ) From the Project utilities window, click Connection.

Here are some of the commands on this menu: ) Explode Allows user transfer a reference to a library prototype to a project prototype for selected workcell. ) Resume allows for the restoration of connections to prototypes. ) Replace allows the user to replace the connection from a workcell to a prototype with a connection to a different prototype.

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Chapter Summary In this chapter the following was learned: ) More on robot motion. ) How to use and create cables. ) How to create and use CAD-linked components. ) How to import and export data via some UNIX tools. ) How to import and export components from other file formats. ) How to use some of the other Robcad data commands.

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WKP100U Classroom Setup APPENDIX A

Appendix A

WKP100U 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 9, 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.

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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. 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 projects and libraries folder, currently exists rename them 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.

EXERCISE 2: Setting up the Robcad Library Root Objective: To set the Robcad library root.

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On an Robcad computer do these steps:

1 Start Robcad. Y Select Start -> Programs -> Tecnomatix -> Robcad (Robcad) -> Robcad Y Or double-click the Robcad icon on the desktop. 2 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.

Y In the Setup window, select the Set library root button.

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Y In the Library Root Browser window, browse into the C:\Robcad\data\libraries folder.

Y Click [OK]. 3 Save settings for the library root. Y In the Setup window, click the Configuration button.

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Y In the Setup window, click the Store button.

Y Select Project from the dropdown. Y A robcad_config.xml file is stored in the C:\Robcad\data folder. 4 Exit from Robcad Y Select Robcad -> Exit.

EXERCISE 3: Test that the First Cell Works Objective: To open the first cell in Robcad.

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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.

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Y Browse to the /C=/Robcad/data/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 first_cell.ce workcell.

Y Click [OK]. Y The workcell contents are displayed in the Graphics Window. 3 Rotate, Pan, and Zoom the workcell. 4 Open the Station11 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.

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Y In the Sequence of Operations window, select the Sequence button. 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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WKP100U Classroom Setup APPENDIX A

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 the libraries, projects, 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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Customizing Your .robcad File APPENDIX B

Appendix B

Customizing Your .robcad File About This Chapter This chapter provides a description of the most basic parameters of the .robcad file. It contains the following lessons: ) Lesson 1: Basic .robcad File Parameters page B-2, describes some basic parameters that can be placed in the .robcad file.

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Lesson 1: Basic .robcad File Parameters Introduction The .robcad file allows you to customize your ROBCAD environment. You can establish an environment based upon which site, which user, and which project. The .robcad file is read each time that ROBCAD is started.

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On UNIX:

A .robcad file can be located in any of the following folders:

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) /usr/local/robcad/dat/.robcad

contains standard settings

) /usr/local/robcad/usr/.robcad

contains site specific settings

) $HOME/.robcad

contains user specific settings

)

contains project specific

(working directory/.robcad) settings

On PC:

A .robcad file can be located in any of the following folders: ) C:\Robcad\dat\.robcad

contains standard settings

) C:\Robcad\usr\.robcad

contains site specific settings

How Robcad Reads this File When ROBCAD is started, it looks in each of the folders defined above and reads the .robcad, if found. The folders are searched in the order listed above. The environment setting in the .robcad file being read overrides the setting in any previous file.

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Customizing Your .robcad File APPENDIX B

Let's say for example, that you set ARROWS_IN_PATH to "on" in the /usr/local/robcad/usr/.robcad file. In the $HOME/.robcad file you set it to "off." ROBCAD will use "off" as the value for ARROWS_IN_PATH, because the $HOME/.robcad file is read after the other .robcad file. If an environment variable is not set in any of the .robcad files or if you've set a variable to a value that ROBCAD doesn't understand, the default value will be used for that variable. Remember, the default value is not necessarily the same value found in the /usr/local/robcad/dat/.robcad file supplied by Tecnomatix. NOTE: This appendix is an introduction to the usage of the robcad file. It is not intended to be all inclusive of its functionality.

General File Description Each line in this file contains a keyword followed by a value to be assigned. A keyword defines which environment parameter will be affected. To set the value of a parameter, start the line with that corresponding keyword, followed by a space, and the value you would like to assign. Depending on the keyword, you can assign it's value to be a number or a text string. In the .robcad file, comments lines can be added by starting the line with either a # or a space. Here is an example of a simple .robcad file: ################ Miscellaneous Settings ################ FLOATING_LICENSE

off

ANGLE_GOURAUD

166

FLIP_DISPLAY_MODE

wire gouraud

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FLIP_PICK_LEVEL FLIP_PICK_INTENT

entity component where_picked snap

STATUS_MOTION_UPDATE

on

Do not modify the standard .robcad file in /usr/local/robcad/dat. This file will be overwritten each time that a new version of ROBCAD is installed. To set the system wide settings for your site, create a .robcad in /usr/local/robcad/usr directory and set the parameters to your liking. The .robcad files in any directory other than /usr/local/robcad/dat usually contain only those parameters that you wish to change. There is no need to copy the entire .robcad file to these folders.

Keyword Descriptions NOTE

Not all parameters are active on a PC.

) FLIP_DISPLAY_MODE - This specifies the list of display modes that you can cycle through by pressing the {F10} key. The three modes available are wire, flat and gouraud. The default modes specified are wire and gouraud. ) FLIP_PICK_INTENT - This keyword specifies the list of pick intents that you can cycle through by pressing the {F11} key. The currently selected pick level intent is displayed in the Top Bar Menu. The four modes available are snap, on_edge, self_origin, and where_picked. The default pick intents specified are snap and where_picked. ) FLIP_PICK_LEVEL - This keyword specifies a list of pick levels that you can cycle through by pressing the {F12} key. The currently selected pick level is displayed in the Top Bar Menu. The five modes available are entity, assembly_group, part, component and cell_group. The default pick intents specified are entity and component.

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Customizing Your .robcad File APPENDIX B

) ANGLE_GOURAUD - This number tells ROBCAD which neighboring polygons in a solid will be smoothed to one surface when gouraud mode is on. The minimum value is 120 degrees and the default value is 137 degrees. This is the difference in the angles of the surface normals. ) CONFIRM_UNLOAD_STORE – (UNIX only) This is used during Load, Exit, and Change project commands. Setting it to off will eliminate the question: "Do you want to store cell ...?" The default value is on. ) FLOATING_LICENSE – (UNIX only) This is a toggle that enables or disables license node-locking. The default value is off. Put the name of the license server in to activate. ) ARROWS_IN_PATH - This enables or disables the display of direction arrows in the paths. It can be set to on or off. The default value is on. ) ARROWS_IN_PATH_SIZE - This number describes the size of the arrows in a path. It can range from 1 to 5. The default value is 3. ) ARROWS_IN_PATH_NUM - This number tells ROBCAD how many arrows to place on the path. It can range from 1 to 100. The default value is 20. ) LEVEL_OF_DETAILS - This number determines how many points to skip when drawing a mesh. A small number will cause large gaps and a big one small gaps. A reasonable number is 0.3 which is the default. ) MIN_VISIBLE_SIZE - This number determines how small objects can become before they are no longer displayed. The default size is 4 (measured in pixels). ) MOVIE_SIZE - The movie size is specified as two numbers and determines the size (in pixels) of a created movie. The first number is the horizontal size , and the second number is the vertical size. The default is 352 by 240. It is suggested that you set the size to multiples of these numbers.

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) PARALLEL_VIEW - The parallel view has two numbers separated by a comma. The first number sets the threshold and the second sets the sensitiveness to mouse movement during parallel viewing. The default values are 0 and 2. ) PROJECT - This toggle determines whether or not the project command item is displayed on the Robcad menu. The default value is on. Setting this to off will keep users from changing their project. ) ROBCAD_KEYDIR - (Unix Only) This specifies the directory used by the licensing mechanism to determine the location of the node-locked license files. The full path and filename must be specified. The default is /usr/robcad_keys. ) STATUS_MOTION_UPDATE - This toggle is used by the Move -> Motion/Move location command in ROBCAD. It specifies whether to update the Status window only when the command is done or during a command at a specified time interval. (The time interval is set in ROBCAD by the time interval command). The default, off, updates the Status window after the command is done.

Changing Top Level Menus (UNIX only) This is the general syntax for setting up your top-level menu buttons. Top-level menus are selected from the Robcad menu. Examples of these are Robcad->Modeling, Robcad->User, Robcad>Workcell, and Robcad->Spot. Top level menu buttons such as setup, layout, and motion can be placed into any top level menu using this syntax in the .robcad file: TopMenu "TopItem_1 TopItem_2" This is the general syntax for defining which menu item will pop up first when you change to that top level menu item: TopMenu.invoke

TopItem

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Customizing Your .robcad File APPENDIX B

Here's a small piece of a .robcad file that sets up the modeling menu: ############# Top level menu configurability ######### Modeling "setup display modeling create edit kinematics modeling_query" Modeling.invoke modeling

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