r17 robotics

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V5 Robo t ics

Course Material

Expert

Master

Specialist


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Introduction to V5 Robotics - Specialist Course

Robotics helps manufacturing engineering departments define and manage manufacturing

processes. It not only defines the number and sequence of steps to obtain a specific state of a

product, but also is able to associate the tools, right methods and data to perform tasks.

This specialist course in Robotics will introduce you to the initial aspects of preparing an

environment to carry out Robotic activity. The assumption is that the software is going to be used

in a stand alone mode, not connected to the Manufacturing Hub and not using other DELMIA

software such as Process Engineer. Other courses will address the interface of the Hub and

additional software configurations.

The exercises in every module are for learning Robotics and will further help in understanding the

activity. However, in the interests of maintaining the project focus, not every feature and function

available in Robotics will be used or addressed. It is suggested that you access the on-line

documentation that comes with the software installation to further explore functionality.


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Demonstration

Overview

Demonstration Overview (Demonstrate the building of a simple work-cell)

V5 Robotics

Goal of the Project

Select File / New / Process. This will create a template for

this project.

1

Using Fastening Process Planner, create some high level

activities: Station Activity, Load, Clamp, Weld, Unclamp, and

Unload.

2

Insert a Product (R.H. Body Side). (Insert / Insert Product)3

Insert Resources (IRB 6400 / ROCKER2). (Insert / Insert Resource)4

Attach the Weld Gun (ROCKER2) using

the Set Tool icon from the Robot

Management toolbar.

5

Assign the Robot to the Welding Activity. (Drag and Drop).6

Assign the R.H. Body Side to the Load Activity. (Drag and Drop).7

Create a New Tag Group. (Empty)8

Create a New Tag in the Group.9



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Create a New Robot Task. (Empty)10

Demonstration

Overview

Demonstration Overview (Demonstrate the building of a simple work-cell)

V5 Robotics

Add the Tag Group to the Robot Task. Jog to Tags, Modify Tags, and Insert

VIA Points. (Using Teach / Jog)11

Add Weld Actions to the Points in the Robot Task. (Weld Actions)12

The State of the Simulation needs to be saved, use Save the Initial State icon

from the Simulation toolbar.

13

Switch to the Workcell Sequencing workbench, and using the Set an Active

Task icon, set an Active Task for the task just created.14

The Process is now set up to run this and can be done by using the Process

Simulation icon from the Simulation toolbar.15

The Simple Process is now complete and can be saved for future use or as a

reference.



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V5 RoboticsDemonstration

Overview

Instructor Note:

This manual is based on a simple method the first project is used as a base for the second and third projectsincluded in this manual. So the layout is a smooth flow the first exercise begins very slowly and simple the next

exercise covers some of the same methods with less instruction or direction from the manual and continues on

until the final third exercise which is the advanced topics which has even less direction counting on the fact that

the students have already completed these steps twice, once on the first initial exercise then again on the second

more complex exercise. Following this process flow should reinforce the learning and help the users become

more proficient quickly and easily.



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Module 1

Build the Layout

Build the

Layout

Tags and

Robot Tasks

Activities and

AssignmentsOptimizing the

Simulation

2

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Advanced

Topics5


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Build the Layout

Overview

The first step in building a simulation is to set up a working environment that best reflects the needs

and desired outcomes in your context.

Once the environment is prepared, construction of the 3D Layout of a virtual world can

begin. Bringing in plant layout items, resources and product are all items relevant to

the virtual world.

Objectives

Posit ion and Manipulate Comp ass

Insert Produc ts and Resourc es

Snap and A ttach

3 hours

1


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Workbenches and Toolbars used in this Module

Workbenches

Toolbars

Device Task Definition

Inst.


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Build the Layout1

3 hours

Position and

Manipulate

Compass

Snap and Attach

Using Manipulation Bounding Boxes

Snapping Automatically to Selected ObjectEditing Positions

Using Snap Icon

Defining Reference Plane (From) / Snap Options

Attaching Child Selection / Hide Show Attachments

Insert Productsand Resources

Starting New Process

Inserting Product

Mounting with Set Tool

Inserting Area

Using Fit all in / Properties

Using the Save As Function

Removing Resources


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APosition and

Manipulate

Compass

Using Manipulation Bounding Boxes

Snapping Automatically to Selected Object

Editing Positions

Inst.

P iti d


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About Positioning and Manipulating Compass

1 Build the Layout

Device

TaskDefinition

Complete information about positioning and manipulating compass can be found in the

on-line documentation.

Factory Layout and Robotics / Device Task Definition

Position and

Manipulate

Compass

It is best to move each item to its approximate final position before inserting another resource. For itemsintended to be placed relative to another item (like a plant floor), at least one coordinate will be critical. For

the plant floor example, all items must be at 0 on the Z axis.

P iti d


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The Snap Compass to Object function canbe used. The Parameters for Compass

Manipulation box can refine the positioningeven further.

Positioning and Manipulating Compass - Procedure

Items can be manipulated using the bounding

box. This technique will permit movement

anywhere in the world according to the

increment size set in the Tools/ Options/

Equipment & Systems / General / Grid step.

OR

1

1 Build the Layout

Inst.

Position and

Manipulate

Compass

Position and


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Using Manipulation Bounding Box - Procedure

To move an object using the bounding box,

click on the item in the PPR tree.

When the bounding box is highlighted around the item (usually

green), point the cursor to one of the lines of the bounding box.Click and hold, and then move the item in the direction

permitted by the box. Let go of the cursor when this movement

is complete.

If additional movements are necessary, grab

another side of the bounding box and move in the

direction permitted by that axis.

Complete the grabbing and moving until the

item is positioned correctly.

NOTES: 1. Remember that the final placement of the item is defined by the grid size set in

Tools/Options as noted earlier.

2. Remember that items in reference to a floor must all be at 0 on the Z axis.

1

2

3

Inst.

1 Build the LayoutPosition and

Manipulate

Compass

Position and


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Snapping Automatically to Selected Object - Procedure

3

2

1 To move an object using the Compass, right click on the

compass and select Snap Automatically to Select Object.

Click on the object to be manipulated.

The compass moves to the object and the

bounding box appears.

Grab and hold the axis of the

compass that will move or rotate

the object in the desired direction.

Repeat the grabbing and moving until the object is in the

desired location.4

Right click on the compass and click Snap Automatically to

Selected Object again to toggle off this function and permit the

compass to be moved back into the world.

5

1 Build the Layout

Position and

Manipulate

Compass

Position and


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Editing Positions - Procedure

The positioning of objects can sometimes be more quickly and

efficiently accomplished by defining the parameters for compass

manipulation. These settings will cause the compass (and thus the

object) to move in these predefined increments.

This capability is useful if objects need tobe at a certain angle relative to another

object, or for speed of placement.

When snapped to the selected

object, the coordinates of the

object will be reflected in the top

of the box.

Setting the Rotation increments will

cause the compass to rotate aboutthe selected axis in the pre-defined

amount.

EXAMPLE: Setting 90 deg along W

axis will cause a right angle

movement on that axis.

Setting the

Translation

increments will

cause the

compass to

move along

the selected

axis in the pre-

defined

amount

To access this function, right

click on the compass and select

Edit

Inst.

1 Build the LayoutPosition and

Manipulate

Compass

Position and


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For viewing ease, keep the rotation of the mouse relative to the floor. To do this, select

the Tools / Options / Display / Navigation tab. In the Navigation section, activate the

Gravitational effects during navigation option and select the Z (axis) option.

Inst.

Editing Positions - Procedure

This setting should have already been set, this is just a reminder to show why and where it is to be set.

1 Build the Layout

1

Position and

Manipulate

Compass

2 Click OK.


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Insert Productsand Resources

B

Inst.

Starting New Process

Inserting Product

Mounting Device using Set Tool

Using Fit all In / Properties

Using the Save As Function

Removing Resources

Insert Products


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About Inserting Products and Resources

Insert Products

and Resources

DeviceTask

Definition

Complete information about Inserting Products and Resources can be found in the on-line documentation.


The insertion of products and resources depend on how you wish to use them in your process. The end result

of the process should be the creation of a finished product consisting of the products listed in the productbranch of the PPR tree. The resources used in the process to create the final product should be listed in the

resource branch of the PPR tree.

1 Build the Layout

Insert Products


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2

On the main menu bar, click Start / Resource Detailing / Device Task Definition.1

Scroll down to select Process and click OK.

A new Process window opens (Process 2). This shows

that you can run two different projects at the same time.

Then click the Close button for Process 2.

3

To create a new project, select File / New.The

New dialog box appears.

Starting New Process - Procedure

Insert Products

and Resources1 Build the Layout

NOTE: Only one process needs to be opened.

Insert Products


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2

Click Insert / Insert Productfrom the main menu bar.1

3To insert tooling (resources), follow the same method as the one above, but select Insert Resource

instead of Product.

Select the appropriate folder from your Project Data folder and clickOpen.

Inserting Product - Procedure

1 Build the Layout

The File Selection dialog box appears.

NOTE: Resources and products should be placed

in their appropriate place in the PPR tree.

Inst.

Insert Products

and Resources

Insert Products


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Inserting Product - Procedure

Another way to insert a product is by using the Insert Product icon from the Activity

Management toolbar.

1

The File Selection dialog box appears and the selection can be

made from here.

By clicking on the Insert Resources icon, resources can be inserted using the method shown above.

1 Build the Layout

Click Insert Producticon.

Inst.

Insert Products

and Resources

Insert Products


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1

3

4

5

2

Click the Set Toolicon from the Robot Management toolbar.

The Robot Dressup dialog box appears. Select a robot from the PPR tree

for Name in the Robot section.

Re-orientate the end effecters on the robot, if need be, using the

compass to manipulate to desired or appropriate orientation.

When completed, click OK.

CorrectIncorrect

Select a tool or weld gun from the PPR tree for Name in Device section.

Click on Apply.

Mounting Device using Set Tool - Procedure

Example:

1 Build the Layout and Resources

Insert Products


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Removing Resource - Procedure

It is possible to remove resources or products after insertion and the method is as follows:

Select the Resource or product to be removed either

from the PPR tree or the 3-D view.

2

1

Click on the Remove from PPRicon from the PPR

Tools toolbar.

The item selected will disappear automatically after selecting

the Remove from PPR icon.

1 Build the Layout

NOTE: The removing of products and resources can only be accomplished

on the top elements in the product or resource lists.

Inst.

and Resources

Insert Products


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Using the Save As Function - Procedure

9

To save the floor, from the main menu select File / Save As, and save in the appropriate

folder.

Example:

1 Build the Layout

Inst.

and Resources


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Inst.

Insert Products and ResourcesExercise

Exercise Insert Products and Resources


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Scope: Products and resources will be inserted and set up to start the creation of a simple onerobot one product work cell.

Conditions:V5 and Resource Detailing Device Task Definition workbench must be open.

In this exercise you will:

Start a New Process

Insert Products and Resources

Mount a Weld Gun

20 min.

ExerciseInsert Products and Resources

Do It Yourself (1/4)


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Starting Point Ending Point

Open: V5 with Device Task Definition workbench



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o t ou se ( / )

Start a New Process

1. Select File / Newfrom the drop down menu.

2. Select Processfrom the List of Types in the New dialog

box and click OK.

Inst.

A new Process opens and the page displays Process 2.

The software defaults to the last opened workbench automatically.

REMINDER: Only one Process needs to be opened at a time.



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( )

Insert Product

1. Using the methods from the procedure section

insert the following items.

Inst.

R.H. Body Side AssemblyProductStation (Fixture)Resource

IRB_6400_24_150 (Robot) Resource

Rocker2 (WeldGun) - Resource

The path to the Products and Resources is as follows:

R16 Robotics / Project Data / and then the appropriatefolder Resource or Product.

R.H. Body Side Assembly

IRB_6400_24_150

Station

ROCKER2



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Mounting Device using Set Tool

Inst.

( )

1. Click the Set Toolicon.

2. Select IRB_6400_24_150for robot name.

3. Select ROCKER2#2from the PPR tree for device name.4. Click Apply,do not yet click OK.

5. Double-click compass to use the Parameters for Compass

Manipulation dialog box.

6. Using Rotational Increments position the weld gun as shown:

7. Click OK.

Save As: R17 Robotics / R17-Robotics Project Data / Process

/ RoboticsExercise-1.CATProcess


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C Snap and Attach

Using the Snap Icon

Defining Reference Plane (From) / Snap Options

Attaching Child Selection / Hide Show Attachments

Inst.

Snap and Attach1 Build the Layout


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About Snapping and Attaching

The completion of a layout includes placing and attaching other various resources and assigning them to their

appropriate parent parts. This is done for the robots and other resources which sit on or depend on other resources

for full functionality. The snap function allows for placement and the child selection allows the parent childrelationship to be selected.

Factory Layout and Robotics / Resource Detailing V5 R15 Robotics

Device Task

Definition

More about snapping and attaching can be found in the on-line documentation.

1 Build the Layout



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Using the Snap Icon - Procedure

In the Layout Tools toolbar, click the Snapicon.

The Snap Options dialog box appears.

Select a resource from the PPR Tree to be moved.

The Define Reference Plane (From) dialog box appears and a green compass is

displayed showing the resources current orientation.

As the mouse pointer is moved, a small white rectangle is

displayed to show the selectable planes.

Move the white rectangle and line to the desired plane and

orientation and click the left mouse button. The green compass

moves to this location and orientation.

2

1

3

Example:

1 Build the Layout

NOTE: Skip this step if the green compass is initially in the desired location

and orientation.



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Define Reference Plane (From) / Snap Options - Procedure

Click OKin the Define Reference Plane (From) dialog box. Then select

the object for the resource to be snapped.

Orientate the rectangle and the line as shown in the image. Click using the

left mouse button, and then click OKin the dialog box.

The Snap Options dialog box appears.

In the Select field, choose Faceand click OK.

2

1

3

The Define Reference Plane (To) dialog box appears.

Build the Layout

The resource should now be sitting on the object.



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Attach / Child Selection / Hide Attachments - Procedure

In the Layout Tools toolbar, select the Attach icon. The system prompts

to select the parent first, select the Object and then select the

resource.The Child Selection dialog box appears.

Select OK, the ParentChild relationship appears.

It is possible to Hide or Show this relationship. To hide it, right-click on the

text, and select Hide / Show from the contextual menu.

8

9

10

Build the Layout


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Snap and Attach Exercise

ExerciseSnap and Attach


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Scope: This exercise will finish the insertion of resources into the project. The resources will then be

snapped and the relationships defined.



Insert a Riser for the Robot

Snap the Robot to the Riser

Attach Robot and Riser

20 min.



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Load: R17 Robotics / R17-Robotics Project Data / Process / RoboticsExercise-1.CATProcess



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Insert Robot Riser

1. Applying the previously learned insertion methods navigate to and insert Riser M.CATProductas a

resource.

Inst.

The Riser M. is inserted near the robot, exact positioning is not necessary at this time.

Riser M



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Snapping Robot to the Riser

Referencing the methods from the procedure section Snap the Robot to the Riser M.

Inst.

1. Click Snapfrom the Layout Tools toolbar.2. The command prompts for the object to be

snapped, select the Robot (IRB_6400_24_150).3. Select as shown in the Define Reference Plane

(From) dialog box and click OK.

4. The command prompts for the object to be

snapped to, select theRiser M.

5. Select as shown in the Define Reference Plane (To)

dialog box and click OK.

6. Select as shown in the Snap Options dialog boxappears and click OK.



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Attaching Robot and Riser

Inst.

In order to complete the relationship between the robot and riser they need to be attached

to one another.

1. Click Attachfrom the Layout Tools toolbar.

2. Select the Parent (Riser M.)and then the Child (Robot),for the relationship

to be selected.

3. Click OKin the Child Selection dialog box.

The relationship is complete.

NOTE: This is done in case the riser needs to be moved,

everything attached to the riser will move with it.



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Attachments and Child Selection

Inst.

Using the compass and or the bounding boxes, create a layout that looks similar to this.

Save As: R17 Robotics / R17-Robotics Project Data / Process / RoboticsExercise-2.CATProcess

Build the Layout Module Summary1


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Summary

This module introduced the first step in building a simulation, i.e. to set up a working environment that best reflects

the needs and desired outcomes in your context.

Later procedure to bring in resources, products, and few basic tasks were discussed.

Coming Up

Create Tags and Robo t Tasks

Build the1


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Module 2

Create Tags and Robot

Tasks

Layout

Create Tags

and Robot

Tasks

Activities andAssignmentsOptimizing the

Simulation

2

3

4

Advanced

Topics

5

Create Tags and Robot Tasks2


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Overview

Objectives

Creating Tags

Creating Rob ot Tasks

Using Teach and J og

Running a Robot Process

Tag points are created to give the robot a path to follow to perform the job at hand. The job

may be welding, adhesions, or other tasks. The tag points need to be stored some whereand this is where Robot Tasks come in. A robot task is a storage area for multiple tag

points or groups.



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Workbenches

Toolbars

Create Tags and Robot Tasks2


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B

C

D

Moving with Jog Panel

Moving with Teach Pendant

Adding Tags from Teach Pendant

Saving Initial State

Using Task Simulation

Creating New Robot TasksAdding Tags to the Task

Renaming Tasks and Operations

Create Robot

Tasks

Use Teach and

Jog

Run a Robot

Process

Create TagsA

Creating New Tag Group

Creating New Tags

Renaming Tag Group and Tags

4 hours


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A Create Tags

Creating New Tag Group

Creating New Tags

Renaming Tag Group and Tags

2Create Tags

Create Tags and Robot Tasks


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About Creating Tags (Points and Groups)

Tags are created to ensure that the robot has a path to follow. By creating tag points a path is

created, this path can be numbered and named. The path can then be reordered after the path is

created or in the middle of the process.

Device

Task

Definition

Complete information about creating tags can be found in the on-line documentation.


2Create Tags



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To create a New Tag Group, click on the New Tag Groupicon from the Tag toolbar.

Creating New Tag Group - Procedure

The default name is acceptable but it can be given any name

you wish.2

1

3Click OK.

The tag group is created and is placed in the

Resource List of the PPR tree as shown.

The Tag Group dialog box appears.

2

Creating New Tags Procedure

Create TagsCreateTags and Robot Tasks


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Creating New Tags - Procedure

To create New Tags a group must first be created, once the group has been created a new tag can

be added to the group.

1 Click the New Tagicon from the Tag toolbar.

2

Click on Define Plane and using the define plane white bounding box,

select a position for the tag to be placed, and then click OK.3

Select the Tag Group from the PPR tree to place the tag.

The Define Plane dialog box appears.

The tag is created and can be viewed by zooming in the area where it was

placed.

2

Renaming Tag Gro p Proced re

CreateTags and Robot TasksCreate Tags


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Renaming Tag Group - Procedure

Tags and the tag groups can be renamed in order to separate it into many different tags and groups

for viewing ease.

1 Tag groups can be renamed by right-clicking on the group in the PPR tree and selecting Properties.The Properties dialog box appears.

2 Type a name under Instance name to rename the tag

group.

3 Click Apply.The name changes in the PPR tree.

4 Click Closeor OKto close the dialog box.

2 CreateTags and Robot Tasks

Renaming Tag - Procedure

Create Tags


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3

Click Apply.The name is changed and it is updated

automatically in the PPR tree.4

Right-click on the tag in the PPR tree and then select

Properties from the text box.The Properties dialog box appears.

Under Naming, the name of the tag can be changed to

your preference.

Click Close or OKto close the dialog box.5

Renaming Tag - Procedure

Tags can be renamed using the same method.

1

2 Click Tag in the Properties dialog box.


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Create TagsExercise

ExerciseCreate Tags


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Scope: The points for the welds must be created for the robot. In this section you will create tags and atag group to hold the tags that are created.



Create New Tag Group

Create New Tags

Rename Tag Group and Tags

20 min.



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1. Click New Tag Groupicon from the Tag toolbar.

2. The Tag Group dialog box appears, name the groupWeld_Path_1and click OK.

The TagList appears in the PPR tree as shown in the below image:


Create New Tags


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1. Click New Tagicon from the Tag toolbar.

2. Select Weld_Path_1from the PPR tree as a place to store the Tag.3. Click on the Define Planeicon from the Define Plane dialog box.

4. Using the White Define Plane box pick a place on the R.H. Body Side Assy.

Using the White Define Plane box pick a place on the R.H. Body Side

Assy.

Examples

Use the Next Page as a Guide to create tag Points.


Create New Tags


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g

Tags will be created on and around the R.H. Body Side Assembly.

Example

Using the picture below create a path of tag points similar to this.

Inst.

Rename Tags and Groups



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Inst.

1. Right-click on the Tag.1to be renamed, then select

Properties from the menu.

2. Click Tagnode in the Properties dialog box.

3. Under Naming, change the name to Weld_Tag.4. Click the Applybutton to complete the changes.

5. Select OK orCloseto close the dialog box.

The same method can be used to change the name of the taggroup except:

Instead of selecting the Tag node, the Product Node would

need to be selected.

NOTE: The tag group name can be changed but it is not necessary for this project.



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Create Robot

TasksB

Creating New Robot Tasks

Adding Tags to Tasks


About Creating Robot Tasks

Create RobotTasks2 Create Tags and Robot Tasks


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This user friendly function makes programming robots less cumbersome. This provides the ability to take

the fastener points assigned to a process activity and reuse them for creating a robot task. Based on the

amount of fasteners assigned prior to selecting this powerful function, this generates operations that robots

use in a matter of seconds. A task is a linear sequence of activities called operations, each operation cancontain a motion and a set of actions.

Device Task

Definition

More about creating robot tasks can be found in the on-line documentation.

Factory Layout & Robotics / Device Task Definition

Creating New Robot Task - Procedure

2 Create Tags and Robot TasksCreate Robot

Tasks


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2 The task must be associated with a robot, so select the appropriate robot for the task.

The task is automatically placed in the PPR tree under the Robot in the Program section.

Once the Robot Task has been created it can bepopulated with tasks and operations.

To create a new robot task, click on New Robot Taskfrom the Sequence toolbar.1

Adding Tags to the Task - Procedure


Tasks


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Adding tags to the robot task can be done using the Add Tag icon from the Sequence toolbar.

1 Click the Add Tagicon from the Sequence toolbar.

2 Select the robot task to associate the tags with.

The operations are completed automatically and are displayed under the

Robot Task in the PPR tree.

Example3 Select tag group to be placed in the robot task.

Renaming Tasks and Operations - Procedure


Tasks


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Tasks and operations may need to be renamed in order to keep the process easy to read and understand.

1

2

Right-click on the Operation or Task that needs to be renamed.

Click on Propertiesfrom the menu and under the General tab the names can be changed.

3 Click on Apply.


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Creating Robot TasksExercise

Create Robot Task - Exercise


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Scope: Robot Tasks are created as a storage area for the operations assigned to the robot. A taggroup can be inserted into a robot task to create operations.



Create New Robot Task

Add Tags to the Task

Rename Tasks and Operations

20 min.



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Create New Robot Task


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1. Click New Robot Taskicon from the Sequence toolbar.

2. Select the Robot (IRB_6400_24_150)from the PPR tree.

Now that the Robot Task has been created it can be populated with the

associated paths and tags.


Adding Tags to Tasks


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1. Click the Add Tagicon from the Sequence toolbar.

2. Select the Robot Task.1for a place to store the tags.3. Select Weld_Path_1as the tag group to be placed in Robot

Task.1.

NOTE: When only one task is available, step 2 is not necessary.

The operations will be completed automatically and placed in the RobotTask.1 as

shown in the example.




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1. Right-click RobotTask.1 from the PPR tree, then select

Properties from the menu.

2. Select the Generaltab from the Properties dialog box.

3. Under Naming, change the name to Welding_Task.4. Select OK orApplyin order to complete the changes.

The same method can be used to change

the name of the operations.

NOTE: The operations name can be changed but it is not necessary for this project.



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C Move a Robot

Moving with Jog PanelMoving with Teach Pendant

Adding Tags using Teach Pendant

About Moving a Robot

Move a Robot2 Create Tags and Robot Tasks


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Using Teach and Jog are two methods of performing the same task. The task being to move a robot, a robot

can be moved to create a tag point or for various other reasons. Teach and Jog are both used to move a

robot. Utilizing the Teach Pendant it is possible to add tags to the robot path this can be useful when a tag

point has been missed or if one is incorrectly placed.

Device Task

Definition

More about moving a robot can be found in the on-line documentation.


Moving using Jog Panel - Procedure

2 Move a RobotCreate Tags and Robot Tasks

Jogging can be done using the Jog a Device icon from the Robot Management toolbar


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Jogging can be done using the Jog a Device icon from the Robot Management toolbar.

1 Click the Jog a Deviceicon, then select the device to be moved.

The Jog Panel appears.

2

Using the panel, there are multiple ways to jog the device.

One way is by using the Predefined Positions, the panel comeswith one default position Home_1.

Selecting this will move the device back to the original home

position.

Another way to return the device to the home position is by

clicking the Reset button.

OR

Moving using Jog Panel - Procedure



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The device can be moved using

Joint Motion.Cartesian Motion can also be used

to jog devices.

Each Joint can be moved

independently utilizing the arrows

or the degree arrows.Linear and Angular Step size can

be set using these buttons.

This button closes the Jog

Panel.Highlighting this button

makes the changesimmediate.

Returns the device to the

default position.

Predefined Home Positions

can be set and accessed

here.

Inst.

Moving using Teach Command - Procedure


Moves can be made and set by using the Teach command.


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y g

1 Select the Teach a Deviceicon from the Robot Management toolbar.

2

3

Select the Robot to teach from the PPR tree. The Teach

dialog box appears.

The robot can be moved using the Compass that attaches

to the end of the robot.

Example




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Choose between Table and

Compact Format

Select the Different Tasks associated

with the robot

Select between the

Operations inside of the Task

Selected

Step size can be set here

Highlighting this will allow you to see a line

representing the path the robot moves from point

to point

This button opens the Jog

Panel

Process and VIA points can be

inserted using this feature

This button lets to modify a

point.

Allows you to Delete

Points

Shows the name of the Tag

Group selected

Sets the robot to Jump or

No Jump



Move one stepSkip to last

Operation


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A simulation can be ran

from the path created

Operations can be stepped

through using these buttons

Pause Simulate from

beginning

Run to next

operation

Run Complete

Simulation.

Skip to Operation 1

Move one step backMove one step

forwardOperation

Choose between Process and VIA

points

Choose insertion points before or after

the operation the user is in

Tag, Cartesian, and Joint are the

options to define the points origin

Inst.

Adding Tags using Teach Command - Procedure

2Move a Robot


Tags can be added to the path using the Teach command


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Tags can be added to the path using the Teach command.

1

2

Click on Teach a Deviceicon on the Robot Management toolbar, and then

click on the robot.

You will see Teach dialog box.

Select Tablefrom the drop menu for Format field.

You will see Teach dialog box in a table format.

Inst.3 Select the operation at the desired insertion point.

Adding Tags using Teach Command - Procedure

2Move a Robot



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3

Using the previous pages as a reference make selections as needed. (i.e.

Tag, Cartesian, Joint, Before, After, etc).

The tag is created and can be modified or reordered as needed using

the Teach command.

Inst.

Check the Jog check box in the teach dialog box and jog the robot to move to the desired position.

Use the pull down menu under Tag Group/Tag Name to select the tag group in which you wantthe new tag to appear

4

5

Click the Insert button and click OK.6


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Move a RobotExercise

ExerciseMove a Robot

40 min.


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Scope: Teach and Jog are two separate dialog boxes with similar functions, both can be used forrobot motion. However the Teach Pendant can be used to add tags, modify points, and set the movementtype of the motion.



Move using Jog Panel

Move using Teach Command

Add Tags using Teach Command

40 min.



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Move using Jog Panel

Click on Jog a Device from the Robot Management toolbar1


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Click on Jog a Devicefrom the Robot Management toolbar.1.

Select the Robot (IRB_6400_24_150)from the PPR tree.2.

Using the Compass move the robot to different positions, it is helpful to

refer to the multiple methods learned from the procedural section of the

manual as well.

3.

Click Close.4.

Inst.


Move using Teach Command

1 Click the Teach a Device icon from the Robot Management


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1. Click the Teach a Deviceicon from the Robot Management

toolbar.2. Select the Robot (IRB_6400_24_150)from the PPR tree.

3. Using the Compass move the robot to the different Operations, it ispossible to Edit, Modify, and Insert tags using the Teach Pendant.

Inst.

When selecting the operations from the Teach Pendant,

an Output Window appears.

The window states that the point is unreachable.

Using the Compass manipulate the tag orientationso the point is reachable.

NOTE: The next page has some examples of how this is done.

Move using Teach Pendant


The tag can be modified by using the compass to find a reachable point.


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Reachable

As seen in the picture below the point is reachable when the robot is the normal orange color. When the

robot turnspurple it is an unreachable position.

Unreachable

Inst.

Adding Tags using Teach Command


1. Click Teach a Deviceicon and then on (IRB_6400_24_150)from


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the PPR tree.

2. Select Tablefor Format field and choose Operation.1

Depending on the selections from the teach pendant, the tagcan be inserted before or after the operation.

For this project, tag needs to be inserted before the first

operation.

3. Check the Jogcheck box and using the Jog dialog box move the robot to the

required position.

4. Click on Insert and then onOK.



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DRun a Robot

Process

Saving Initial StateUsing Task Simulation

About Running a Robot Process

Run a RobotProcess2 Tags and Robot Tasks


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A single robot process can be created and ran in a matter of minutes, which depends on number of

activities the robot is about to do. The most important thing to remember is to save the initial state when asimulation is going to run. Finally using process simulation the task can be seen by selecting this single

command.

Device Task

Definition

More about running a robot process can be found in the on-line documentation.


Saving Initial State - Procedure

2 Run a RobotProcessTags and Robot Tasks

The state in which a process begins is called the initial state.

1 To save a process in this state, click the Save Initial State

icon from the Simulation toolbar


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icon from the Simulation toolbar.

You can set up the Environment in the proper

positions and using this icon the positions will

all be saved.

2

The default selections are acceptable.

After Initial State has been set, it can be restored at any

time by using the Restore Initial Stateicon from the

Simulation toolbar.

The default selections are acceptable.

Inst.

The Restore Initial Condition dialog box appears.

The Save Initial Condition dialog box appears.

Using Task Simulation - Procedure

2 Run a RobotProcessTags and Robot Tasks

To run the tasks created, select the Robot Task to run from the

TaskList of the PPR tree.1


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2

Click on the Robot Task Simulation

icon from the Simulation toolbar.

3 Click the playbutton and watch the task run.

4 Click the Red Xto close the toolbar after the task has finished running.

The Simulation Controls Tools and Process Simulation toolbars appears.


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Run a Robot ProcessExercise

ExerciseRun a Robot Process

40 min.


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Scope: Running a Robot Process is not usually done in industry, but for the purpose of this class it is easier to showthe capabilities of this software in a easy to create environment.



Save the Initial State

Use Robot Task Simulation

40 min.



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Save the Initial State

1. Click the Save the Initial Stateicon from the Simulation toolbar.

2 The Save Initial Condition dialog box appears The default selections


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2. The Save Initial Condition dialog box appears. The default selectionsare acceptable, click OKand the Current State will be saved.

Once the Initial State has been saved, it can be restored using theRestore Initial State icon.

The initial state needs to be restored before running a

process be attempted. In order to keep the positions of

everything intact.


Using Robot Task Simulation

1. Click the Robot Task Simulationicon from the Simulation toolbar

in order to run the process


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in order to run the process.2. Select Robot Task.1 as the task to be simulated.

The Simulation Controls and Process Simulation toolbarsappear.

3. Select the playicon from the Process Simulation toolbar.

The Simulation will play through the whole path that was created.

Be sure to restore the Initial Position before and after running the simulation.

NOTE: If the robot is spinning between tags it is OK, the turn numbers will be set later in the project.


Tags and Robot Tasks Module Summary

Summary

2


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This module introduced you to the procedure of creating tags and robot tasks. These are essential to give the robot apath to follow to perform its job. Later adding tags using Teach pendant, using Jog panel and running single tasksimulation was discussed.

Coming Up Next:

Act iv i t ies and Assignm ent

6 hours


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Build the

Layout

Tags and

Robot Tasks

1

2

3

4


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Module 3

Activities and

Assignments

Activities and

Assignments

Optimizing the

Simulation

4

Advanced

Topics

5

Activities and Assignments

Overview

3

Activities and assignments can be made to a project after the initial planning phase is over


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Objectives

Create Ac tivi t ies

Ass ign Fasteners

Assign Products

Assign Resources

Add Weld Gun Act ions

Activities and assignments can be made to a project after the initial planning phase is over.

In order to compile a project into a realistic representation of an actual workcell, it is

necessary to create activities and then assign them to the appropriate products andresources.


Workbenches


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Toolbars

Activities and Assignments3

A i

Create

ActivitiesA


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B

CD

Assigning Methods

Defining Assignment Type

Assigning Resources to Activity

Un-assigning Resources

Creating Robot Task

Setting Active Task

6 hours

Importing Fasteners

Assigning Fasteners

AssignFasteners

Assign

ProductsAssignResources

Creating Station ActivitiesCreating Activities for Station

Removing Activity

E

Creating Weld Gun Actions

Jogging to Weld Point

Add Weld GunActions


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A CreateActivities

Creating Station Activity

Creating Activities in Station

Removing Activities

About Creating Activities

3 Create Activities

Activities can be created for anything from a simple one robot process to a complete multiple work-

cell shop project. An activity can be as a storage area for step in the process. For example, a loading

ti it b t d t t th t it t k t l t th t ti it (P Pi k P



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activity can be created to store the steps it takes to complete that activity (Pounce, Pick, Pounce,

and Place). More complex tasks can be stored inside activities as well, such as a spot gluing or arc

welding path.

Fastening

Process

Planner

Complete information about creating activities can be found in the on-line documentation.

Factory Layout and Robotics / Fastening Process Planner

3

In order to create a Station Activity, open the Fastening Process

Planner Workbench.

Creating Station Activity - Procedure

1

Create ActivitiesActivities and Assignments


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2 Select the Create Station Activity icon from the Activities toolbar.

3Click on the Process node of the PPR tree.

The Create Activity dialog box appears.

4 Click OKand the Station will be created in the PPRtree under the Process node.

3

Creating Activities in Station - Procedure

After creating the station, activities can now be inserted to it.



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Click on the Activity to be inserted, such as loading, or spot

gluing activity from the Activities toolbar.

The Create Activity dialog box appears.

1

2

3

Give a name or accept the default name in the dialog box.

Click OKand the activity will be placed in the PPR tree under

the station it was chosen.

Activities can be added in the order that is needed to create a process for the workcell.

Example Process Flow: Load, Clamp, Spot Gluing.1, Spot Gluing.2, Unclamp, and Unload.

3

Insert

U L di

Insert Stud

WeldingInsert Adhesive

Activities Toolbar (Options)



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Insert

UnClamping

Activity

UnLoading

Activity

Insert Station

Activity

Activity

Insert ClinchingActivity

Insert Adhesive

Application

Activity

Insert

Grouping

Activity

InsertLoading

Activity

Insert

Clamping

Activity

Insert Spot Welding

Activity

Insert Spot Gluing Activity

Insert Arc

Welding Activity

Insert Sealant

ApplicationActivity

3

Removing Activities - Procedure

Activities can be removed just as easily as they were inserted.



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The Activity will be removed automatically

after selections have been made.

1

2

Right-click on the Activity to be removed.

Scroll down in the text window and click

Delete.

An Activity that was inserted incorrectly can be removed by using the above Procedure.


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Create ActivitiesExercise

ExerciseCreate Activities

R.H. Body Side Assembly

This set of exercises will take you through the construction of a more complex Robotic Work-cell Process using

the R.H. Body Side Assembly.


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Design Process: R.H. Body Side Assembly

1 2


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Create Activities Assign

Fasteners

Assign Products

3Assign

Resources

4

Add Weld Gun

Actions

5

ExerciseCreate Activities

10 min.


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Scope: Creation of activities is done in order to store the resources and products necessary to complete a task oractivity. Products along with their appropriate resources make up a finished assembly if you will.

Conditions:V5 and DPM Fastening Process Planner workbench must be open.


Create Station Activity

Create Activities for the Station



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Inst.



Create a Station Activity - Exercise

The Fastening Process Planner Workbench must be opened in order to create activities.

1. Click Insert Station Activityicon from the Activities toolbar.


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2. Click the Process node of the PPR tree in order to place

the Station.

y

3. You can choose a name or the default name can be used

Create Activity dialog box.

Click OK to complete the creation of the new Station

Activity.4.


Create Activities for the Station

Using the Activities toolbar create the following activities in the station that was just created.

A. Loading ActivityF D C


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1.

A. Loading Activity

B. Clamping ActivityC. Spot Welding.1 Activity

D. Spot Welding.2 Activity

E. Unclamping Activity

F. Unloading Activity

Make sure to select the previous activity when inserting the next.

EBA

Click Load icon from the Activities toolbar.

Click the Station from the PPR tree.

You can give a name or accept the default name in the Create Activities dialog box.

Click OK and continue to create the rest of the activities listed.

2.

4.

3.



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Assign

FastenersB

Importing Fasteners

Assigning Fasteners

About Assigning Fasteners

Assign

Fasteners3

This user friendly function makes programming robots less cumbersome, this provides the ability to take


Activities and Assignment


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amount of fasteners assigned prior to selecting this powerful function, it will generate operations the robotswill use in a matter of seconds.

Fastening

Process Planner

More about Fastener Assignment can be found in the on-line documentation.

Factory Layout & Robotics / Fastening Process Planner

Importing Fasteners - Procedure

3

2

In order to Import Fasteners, the Fastening Process Planner workbench must be opened.1

Assign

FastenersActivities and Assignment

Select the Import Fasteners icon from the Fastening Management toolbar


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2

Example

Select the Import Fasteners icon from the Fastening Management toolbar.

The Fasteners will appear automatically on the Product or Products associated with them.

Assigning Fasteners - Procedure

3

In order to assign fasteners from a product to an activity, you will need the Fastening Process Planner

workbench opened.

Assign

FastenersActivities and Assignment


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1

2

3

Select the Assign Fasteners from a Product to an Activity icon from the Fastener Management toolbar.

The Fastener Assignment dialog box appears, make selections as needed to assign all fasteners to

activities.

Select the Activity from the PPR tree to which Fasteners are to be assigned.

Inst.


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Assign FastenersExercise

ExerciseAssign Fasteners

10 min.


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Scope: Fasteners are usually created in a 3D software when the products are created. These Fasteners are sometimesreferred to as Manufacturing Positions. In order for these fasteners to be added to the process they must be imported usingthe Import Fasteners icon from the Fastener Management toolbar.

Conditions:V5 and DPM Fastening Process Planner workbench must be open.


Import Fasteners

Assign Fasteners



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Importing Fasteners - Exercise

Using the Import Fasteners icon from the Fastener Management toolbar, import the fasteners associated

with the R.H. Body Side Assembly.

1 Click the Import Fasteners icon


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1.

The Fasteners will be inserted automatically.

Click the Import Fastenersicon.

Inst.


To assign fastener to a product, fasteners must first be imported. After that step you can complete the product /

fastener assignment.1.

A. Select the Activity the Fastener is to be associated with from the PPR tree. (Spot Weld.1)

B. Click the Assign Fasteners from a Product to an Activityicon from the Fastener Management toolbar.

Assigning Fasteners - Exercise


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C. The Fastener Assignment dialog box appears, select All Productsfrom the List of Products with Fasteners.

D. Select Spot Welding.1for assigning the fasteners, from the List of activities drop down menu on the dialog

box.

E. Select the even welds (2,4,6,8, etc..) while holding the Ctrl button.

F. Using the arrow, move the selections from available to assigned.

Assign the odd welds to the Spot Weld.2

Activity using the method shown above.2.



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CAssign

Products

Assigning Methods


About Assigning Product

Assign

Products3

Products must be assigned to the process to create finished goods. For finished goods to be created, a product

along with its resources must be assigned to the process that will inevitably create the finished goods.



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FasteningProcess Planner

More about Product Assignment can be found in the on-line documentation.


Assigning Methods - Procedure

3

Assigning can be done in different ways. In this section the most common methods

will be discussed.

Assign

ProductsActivities and Assignments

The most common method for assignment is the Drag and Drop Method.


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1

2

The procedure for this method is as follows:

A. Select the Product to be assigned without releasing the mouse button.

B. Drag the mouse pointer to the activity the product is to be assigned.

C. Release the mouse button once the product is over the correct activity.

The two other most common methods are using the Assign a Product/Resource icon

and the Assign an Item icon from the Activity Management toolbar.

The procedure for the Assign an Item method is as follows:

A. Select the Assign an Item icon from the toolbar.

B. Select the Product for assignment.

C. Select the Activity the product is to be associated with.

D. The Product is now assigned to the activity.

3

Defining Assignment Type - Procedure

3Assign


A lesscommon method for assignment, Assign a Product / Resource icon from the Activity

Management toolbar. The procedure for this method is as follows:4


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Inst.

A. Select the Assign a Product / Resource icon from the toolbar.

B. Select the Product for assignment.

C. Select the Activity the product is to be associated with.

D. The Assignment Type dialog box appears, select the appropriate choice.

E. Click Ok and the Product is assigned, and the assignment type is also completed.

Assignment Type

3Assign


This relationship is an

input process. Select this

h d t i


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This is an output process.

This should be selected

when a product is finished

after this process. The

product may be a

completed part, a

subassembly, or a fully-

assembled part.

This is a disassembly

process. Select this to

remove a product.

This is an input process.

This should be selected

when a product is first

processed by a process.

It may be a raw material

from a parts bin or someother start up product.

when a product isprocessed in a furtherprocess. It may be a

subassembly or a part

that has been processed

and completed in a

previous process. Such

processes are not to be

processed further.

Using the Callouts you can determine what assignment type you will need.


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Assign ProductExercise

Scope Assignments are made to associate products resources and various tasks that make up a process In order to

ExerciseAssign Products

15 min.


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Scope: Assignments are made to associate products, resources, and various tasks that make up a process. In order tostore all this information an assignment is made inside the operation or task in the process section of the PPR tree.

Conditions:V5 and Fastening Process Planner workbench must be open.


Assign Product to a Process

Define Assignment Type



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Product Assignment

For this project it is not necessary to assign the product to the process, since the fasteners are already assigned

to the product, and a task, the product has been inadvertently assigned as well.1.


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2.

3. Review the procedural section and if time permits assign the product the multiple activities created.

However if the product did need to be assigned one could simply use the drag and drop or anothermethod from the procedure section of this manual.


Using the Procedure section the appropriate assignment type can be chosen and applied to the selection.1.

Define Assignment Type - Exercise


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2.

Saving is not necessary at this time for this particular section of the exercise.

For example, this Product is a product before and after the process, but this is not the start point nor the finish point

for the product so the process processes the product.

3. Take some extra time and assign the product to the other activities using the different types of assignment. This

does not need to be saved so the product can be assigned to anything the user wishes this is the time for tryingdifferent methods.


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DAssign

Resources


Un-Assigning Products / Resources

Setting Active Task

About Assigning Resource

Assign

Resources

3

Resources have to be assigned to a process for the simulation to take place. Without resources the product

cannot be altered, since the resources are the tools that create a finished product and from the parts you

can alter to create finished goods. For example, a car starts as thousands of parts and when the parts are

assembled completely, the finished goods are obtained and ready for sale.



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assembled completely, the finished goods are obtained and ready for sale.

More about Resource Assignment can be found in the on-line documentation.


Fastening

Process Planner


3

1

AssignResources


Assigning can be done in different ways. In this section the most common methods

are discussed.

The most common method for assignment is the Drag and Drop Method.

The procedure for this method is as follows:


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2

A. Select the Resource to be assigned without releasing the mouse button.

B. Drag the mouse pointer to the activity the resource is to be assigned.

C. Release the mouse button once the resource is over the correct activity.

The three other most common methods are, using the Assign a Product/Resource

icon, Assign a Resource icon, and the Assign an Item icon from the ActivityManagement toolbar.

The procedure for the Assign an Item, and the Assign a Resource methodis as follows:

A. Select the icon (Assign a Item / Assign a Resource) from the toolbar.

B. Select the Resource for assignment.

C. Select the Activity the resource is to be associated with.

D. The Resource is now assigned to the activity.

A. Select the Assign a Product / Resource icon from the toolbar.

B. Select the Resource for assignment.

Defining Assignment Type - Procedure

3

3

Assign

ResourcesActivities and Assignments

The least most common method for assignment, Assign a Product / Resource icon from the

Activity Management toolbar and procedure is as follows:


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gC. Select the Activity the resource is to be associated with.

D. The Assignment Type dialog box appears, select the appropriate choice.

E. Click OK and the Resource is assigned, and the assignment type is also completed.


3Assign


This relationship is used

for Labor, Tools, Fixtures,

and any auxiliary

Resource used / shared

during Processing. ItDefines the auxiliary


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g gDefines the auxiliaryResources used in the

main resource, while doing

this process.This relation

indicates that the resource

is of labor type or sub

resources in Quest.

This relationship is used

for main resources such

as stations and machines.

It defines the main

resource on which the

process happens. Since

the Quest and DELMIA

are of the same PPR datathe Process is added to

the Resource.

This relation is used inQuest software

This relation is used inQuest software

Un-Assigning Resources and Items - Procedure

3

Assign

Resources


Un-Assigning can be done different ways. In this section, the most common methods

are discussed.

The three most common methods are using the Un-Assign all Products/Resources

icon, Un-Assign a Resource icon, and Un-Assign an Item icon from the Activity

Management toolbar.


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1 The procedure for the Un-Assign an Item, and the Un-Assign a Resource methodis as follows:

A. Click the (Un-Assign an Item / Un-Assign an Resource) iconfrom the toolbar.

B. Select the Activity the Item is assigned to.

C. Select the Item for un-assignment from the dialog box that appears. (Item / Resource)

D. The Resource is now un-assigned from the activity.

This method can be used for either the Un-Assign an Item or the Un-Assign a Resource icon.

Un-Assigning Resources and Items - Procedure

3Assign


A. Click the Un-Assign all Products / Resourcesicon from the toolbar.

B. Select the Activity the products / resources are to be deleted from.C. The Delete Assignments dialog box appears, select as needed.

4 The least most common method for assignment, Un-Assign all Products / Resources icon

from the Activity Management toolbar is as follows:


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g g pp ,

D. ClickOKand the Products/ Resources are un-assigned.

Delete only the Product

assignments.

Delete only the Resource

Assignments.

Delete all Resource and

Product Assignments.

Create a Robot Task - Procedure

3Assign

Resources


In order to run the simulation of the activities with their assignments, a robot task must be created. When using

this method with assignments, the robot task created actually creates the relationship between the resource and

the process activity.

1 The method for creating a robot task is as follows:


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A. Click on Create a Robot Taskicon from the Sequence toolbar.

B. Select the Activity (Spot Gluing.1) where the robot task is to be created from the PPR tree.

C. The Robot Task is automatically created in the Program section of the Robot PPR List.

Inst.

Example

Setting Active Task - Procedure

3

Assign

Resources


In order to simulate a work-cell, the task have to be activated. This is done by setting an active

task.

In order to set an Active task, the Workcell Sequencing workbench must be opened. (Start /

Resource Detailing / Workcell Sequencing)


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1

A. Click on Set an Active Taskicon from the Resource Program toolbar.

B. Select the Activity or the task to be set.

C. The task is set to active automatically.

D. There is no way to see if the task has actually been set except to run the simulation.

Using the procedure shown below, an active task can be set:

Inst.


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Assign ResourcesExercise

Scope: Assignments are made up to associate the products, resources, and various tasks that make up a process. In

order to store all this information an Assignment is made inside of the operation or task in the process section of the PPRtree

Exercise Assign Resources

20 min.


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tree.

Conditions:V5 and DPM Fastening Process Planner, Device Task Definition, and Workcell Sequencing workbenches willbe used in the exercises that follow.


Assign Resources

Create a Robot Task

Set an Active Task



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Assign Resources

Using the Drag and Drop method from the procedural section assign the Robot to the Spot Welding Activities.

1.

2.

Select the IRB_6400_24_159.Iusing the Left mouse button and while holding it drag the mouse pointer to theactivity then release the button.

Making sure to keep the mouse button selected, drag the resource to SpotWelding.1 activity.


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3.

Inst.

g p , g p g y

Release the button once the pointer is over the activity for

assignment.

The Resources have now been assigned for this project.

By viewing the PPR tree it is possible to see that the attachments

and all the features have also been assigned as well.


In order to create robot tasks, Device Task Definition Workbench mustbe opened.

Create a Robot Task

1. Click the Create a Robot Taskicon from the Sequence toolbar.


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2. Select the SpotWelding.1activity from the PPR tree, the tasks will be

creates automatically.

Repeat the procedure for SpotWelding.2.3.


Using the Procedure section as a guide, open the Workcell Sequencing workbench.

Setting an Active Task - Exercise

1.

2.

Click the Set an Active Taskicon from the Resource Program toolbar.

Select Spot Welding.1as the activity to set an active task on.


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3. The Active Task dialog box appears, using the arrow on the

dialog box scroll down and select robot task.1then click OK.

4. Repeat these steps for Spot Welding.2.

Save As: R17 Robotics / R17-Robotics Project Data / Process / RoboticsExercise9.CATProcess


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EAdd Weld Gun

Actions

Creating Weld Gun Actions

Jogging to Weld Points

About Adding Weld Gun Actions

Add Weld Gun

Actions3

Weld gun actions are created to simulate the action a real welder gun would make. This is done to ensure

there are no clashes between the products and the resources (parts / fixtures and robots). The main reasonfor creating weld gun actions is to create a more realistic simulation to better analyze the process being

recreated. This is done so any adjustments that need to be made to the process can be made now beforethe process is implemented.



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p p

Device Task

Definition

More about Adding Weld gun Actions can be found in the on-line documentation.


3

1

In order to Create Weld Gun Actions, a toolbar must be inserted into the Workbench.

Creating Weld Gun Actions - Procedure

Add Weld Gun

Actions

The path is as follows: Tools / Options / Resource Detailing / Action Libraries Tab.



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3

2

3


Add Weld Gun

Actions

Click the Add button on the Action Libraries page.

The File Selection dialog box appears, navigate to the appropriate file as shown.

The path is as follows:

D:\\ Program Files \ Dassault Systemes \ B16D27 \ intel_a \ startup \ DNBIgpSpotActionLib.act



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4 Once the file has been found, click

Open from the File Selection dialog box

and the toolbar is inserted

automatically.

To create a retract action for the weld gun, select Retract Action icon from the SpotWeld Action toolbar, and select the Robot Motion under the task it is to be inserted.

The Option dialog box appears, select where it is to be inserted (before or after)

and click OK.

5

6

3

Creating Weld Gun Actions Cont. - Procedure

Add Weld Gun

ActionsActivities and Assignment


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The Actions Configuration dialog box appears. Notice that when the

predefined states (Home Positions) are selected, the weld gun moves to

that position. Select the appropriate home position and click OK.

To create a weld gun action, click on the Weld Action icon, and select the robot motion to place the

weld gun action. The Option dialog box appears, select an option from the dialog box and click OK.

7

8

The Actions Configuration dialog box appears. Under the Close Gun tab, select

the appropriate position.

The position in which the Weld Gun can

perform the task correctly.

For Example: If Home position 3 wereclose then that would be the correct

choice for a weld action

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3


Add Weld Gun



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Under the Weld Time tab, set the time for the

weld to be completed.

Under the Open Gun tab, select the appropriate home

position and click OK.

This sets the gun movements for closing, welding, and semi-open.

choice for a weld action.

10

11

3

In the Tools / Options / DPM Fastening Process Planner / Fastener Visualization turn on the Show Fastener

(Manuf) tag. This will make the tags and their coordinates visible.1

Jogging to Weld Points - Procedure

Add Weld Gun



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The tag color can

be changed for

ease of viewing.

This step has already been completed this is a reference to show why and when it happens.

3

Using the Robot Management toolbar, click the Jog a Deviceicon, and select the robot to jog to the weld

point.2

Jogging to Weld Points Cont. - Procedure

Add Weld Gun

Actions

The Jog dialog box appears.

Notice the orientation of the compass on the weld gun. This will be compared to the orientation of eachweld.



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Using the Compass it is possible to grab the red box of the compass and place it on a tag point or

fastener position in the 3D view.

This is the time to check tags and fasteners to make sure the orientation is correct.

3

This is the Red

box on the

Com

r17 robotics

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