Process Simulate Standalone

(eMServer Compatible)
Basic Robotic Simulation
Activity Guide
May 2020
MT45115 –version15.1.2

1 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Course Description
Process Simulate Standalone

eMS Compatible Standalone Basic Robotic Simulation

Course Code:TR45115
Software/Version:Process Simulate Standalone 15.1.2
Language:English
User Level:Beginner
List Price:
Training Center Duration:5 Days

The Process Simulate (eMS Compatible) Standalone Basic Robotic Simulation course
provides step-by-step instruction on how to create basic robotic simulations and reach
studies.
WHO SHOULD ATTEND
Individuals who wish to become knowledgeable on the creation of basic robotic simulations
and reach studies using Process Simulate.
PREREQUISITES
Previous experience with a 3D system is recommended.
A basic knowledge of robotics is suggested.
PROVIDED COURSE MATERIALS
Student Guide
PRIMARY COURSE TOPICS
Basic Environment
Study creation
Creating sequences of simulative operations
Collision detection
Section cutting
Video and picture output
Defining kinematic devices
Defining and simulating robotic spot welding
Pneumatic and servo gun definition and usage
Pedestal welding and Gun on robot path development
Defining and simulating robotic continuous applications
Painting, arc welding, and grinding path development
Defining and simulating robotic material handling
Gripper definition and usage
Pick and place path development
And More
Multi-robot simulation (i.e. interference zones)
Swept volumes, 7th axis, etc.

2 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Course agenda
Day 1 Morning
Introduction
Course overview
Lesson 1 Basic concepts
Afternoon
Lesson 2 Process Simulate environment

Day 2 Morning
Lesson 3 Placement commands
Lesson 4 Introduction to kinematics
Afternoon
Lesson 5 Process Simulate analysis tools and study data
Lesson 6 Other selected topics

Day 3 Morning
Lesson 7 Modeling and kinematics overview
Lesson 8 Modeling basics
Lesson 9 Kinematics basics
Afternoon
Lesson 9 Kinematics basics (continued)
Lesson 10 Other selected modeling & kinematics topics
Lesson 11 General robotics

Day 4 Morning/Afternoon
Lesson 12 Spot-welding applications
Lesson 13 Material handling applications
Lesson 14 Arc-welding applications
Lesson 15 Other continuous applications

Day 5 Morning
Lesson 16 Final steps for robotic path development
Afternoon
Lesson 17 Final steps for robotic path development (continued)
Appendix (optional
Optionally, discuss topics from the appendix
topics)

3 plmx.com.br
suporte@plmx.com.br
11 3565 3808
How to navigate this course
Estimated time to complete: 24–48 hours
The student guide for this course is available as a PowerPoint presentation and as a printable PDF. For
each lesson, it contains background information for your instructor's lecture and demonstrations. The
instructor may also demonstrate the activities for the lesson. During this portion of the course, students
should watch and listen to the instructor.

The activities for this course are available in an HTML format and separated into numbered lessons
which patch the lesson numbers found in the student guide. After the instructor completes the lesson
lecture and demos, he assigns the related activities from the activities guide. This is the opportunity for
the students to follow the steps in the activity guide hands-on using the provided data.

Preparing to use the activities

Before beginning the HTML activities, the students and instructor must fill out the variable text in the
Settings dialog box to match your environment. This personalizes the steps in the activities.

1. Double-click the index.html file referenced by your instructor to open the HMTL activity
guide.
2. On the header of the web page, click Settings, enter values for the variable text to match your
environment, and click OK.

Note:

Doing this personalizes the steps in the activities to match your environment.

o User ID — An ID is assigned to each student and instructor in class such as user1,

user2, Scott, Bob, etc. There is no default for this.
o User number — A user associated number is assigned to each student and instructor.
This number may be applied when performing the activities in class. There is no default
for this, just as long as each student and instructor are using a different number. This is
helpful if there are multiple users placing their training data in a shared folder.
o Student files location — This is the root where the training data is located on the
student’s computer. The default location is D:\users\student\student_files.

Navigate the activity guide table of contents

4 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Use the following to help navigate the activity guide table of contents.

• Select the lesson you want from the list.

• Use the Expand and Collapse buttons to expand or collapse a lesson in the table of
contents.

• The Go To navigation options on the upper right corner of the course let
you navigate one page forward or back at a time or list the course pages.

Note:

5 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 When you resize the window, the Go To buttons relocate to the bottom of the window.

Perform an activity in the activity guide

Activities are displayed in the table of contents with a running man symbol. Selecting an activity
from the table of contents displays the activity page.

• The activity page provides a short description of what you do in the activity with numbered
sub-pages that separate logical actions that are performed by the user.
• Collapse the table of contents while performing the activity using Show Hide Table of

Contents . The table of contents automatically hides when you decrease the width of the
web browser window beyond a certain point.
• Use the navigation buttons, at the top and bottom of the window to navigate through the
activity, or expand each sub-page manually. Each individual sub-page has a name indicating
what happens on that page.
• You can resize your window to allow for viewing of the activity instructions and access to
which ever application is required. For example, you may want the application to take up 70%
of the screen and the activity page to take up 30% of the screen. Alternately, you may want to
display the activity page on a different monitor, if available.
• Use the Expand and Collapse buttons to expand or collapse a page in an activity.

6 plmx.com.br
suporte@plmx.com.br
11 3565 3808
7 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Sumário

Lição Página

1. Basic concepts 10

2. Process Simulate environment 29

3. Placement commands 79

4. Quick introduction to kinematics 97

5. Analysis tools and study data 117

6. Other Selected basic topics 177

7. Modeling basics 199

8. Kinematics basics 271

9. Other selected modeling and kinematics topics 384

10. General robotics 425

11. Spot welding applications 429

12. Drill and rivet applications 490

13. Material handling applications 507

8 plmx.com.br
suporte@plmx.com.br
11 3565 3808
14. Arc-weld applications 525

15. Paint applications 563

16. Other continuous feature applications 587

17. Finalize path development 606

A. Basic robotics optional topics 729

9 plmx.com.br
suporte@plmx.com.br
11 3565 3808
1. Basic concepts

10 plmx.com.br
suporte@plmx.com.br
11 3565 3808
1.1. Training introduction
No activities for this lesson

1.2. Basic methodology and purpose

No activities for this lesson

1.3. Start Process Simulate Standalone

Start and exit Process Simulate Standalone

Estimated time to complete: 2–4 minutes

The objective of this activity is to start Process Simulate Standalone.

Project folder used in this activity: .\\Projects\Airplane Project\LineUSERNUMBER_UNDEFINED

Study opened in this activity: Workcenter 50 study.psz

1: Start and Exit Process Simulate Standalone

1. Before you start Process Simulate Standalone, verify that your Space Mouse is connected (if
you have one) to the computer and that the driver is loaded, if you intend on using this optional
device during your Process Simulate Standalone session.

Note:

If the driver is loaded, a blue ring glows around the Space Mouse manipulator.

11 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. Double-click on the Process Simulate Standalone desktop icon.

3. In the Welcome dialog box, click Open in Standard Mode .

4. In the Open dialog box, browse to the .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED folder.
5. Select the Workcenter 50 study.psz file.
6. Click Open.

12 plmx.com.br
suporte@plmx.com.br
11 3565 3808
1.4. Basic options setup

Set and view basic options

Estimated time to complete: 6–12 minutes

The objective of this activity is to set basic Graphics Viewer settings and the Process Simulate System
Root.

Note:

The path to all library objects is relative to the System Root. To enhance data management efficiency,
studies from several projects can reference the same objects under the same System Root.

Project folder used in this activity: .\\Projects\Airplane Project\LineUSERNUMBER_UNDEFINED

Study opened in this activity: Workcenter 50 study.psz

1: Set the background color to black

1. From the Process Simulate ribbon, choose File→Options .

2. In the Options dialog box, click the Appearance tab

13 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. From the drop down list in the lower left corner that currently shows Vertical, select Solid.
4. Change the Background color to black.

Note:

If Corners is selected instead of Vertical, you could select four different colors to be used at
once, instead of just one color. It is your choice.

5. Click OK.

14 plmx.com.br
suporte@plmx.com.br
11 3565 3808
1.5. Examine object types

Examine the object types that are available

Estimated time to complete: 2–4 minutes

The objective of this activity is to see some of the various object types.

Project folder used in this activity: .\\Projects\Airplane Project\LineUSERNUMBER_UNDEFINED

1: Look at the object types

1. Look through the Object Tree and Operation Tree viewers.

2. Try to find as many different node types as possible. Use the chart described earlier for help on
identifying them.

1.6. The prototype and instance relationship

No activities for this lesson

15 plmx.com.br
suporte@plmx.com.br
11 3565 3808
1.7. Create a study

Create a study
Estimated time to complete: 16–32 minutes

The objective of this activity is to create an empty study.

Demo video

Copy and paste this video link into a new web browser to watch the demo video:

file:///.\\sysroot\training_videos\new_sa_study1.mp4

Activity data

Project folder used in this activity: .\\Projects\Airplane Project\Line

USERNUMBER_UNDEFINED

Study created in this activity: Station10.psz

1: Create a new study in a project folder

1. Process Simulate Standalone should be open.

Note:

However, it does not matter if a study is currently open, since opening a new study closes the current
study.

2. From the ribbon, choose File→Disconnected Study →New Study .

Note:

The New Study dialog box opens. The default template is shown.

16 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. Leave the Template set to the default and leave the Study type a RobcadStudy.

4. Click Create.

Note:

Process Simulate Disconnected creates the new study which you can now add data such as parts and
resources.

2: Insert a human into the study

1. From the ribbon, choose Modeling tab→Components group→Insert Component From File .

2. In the Insert Component dialog box, browse into the \Libraries\HUMAN_MODELS folder

Note:

Your administrator must use the Define Component Type command from the Modeling tab of
the ribbon to setup .COJTs so they can be inserted into a study that is based on the default template.
This action has already been performed on the training data.

3. Select the jack_sa.cojt and click Open.

17 plmx.com.br
suporte@plmx.com.br
11 3565 3808
3: Create a compound operation and an operation

1. Look on the Operation Tree and notice it is empty. except for the built in Operations root.

2. From the ribbon, choose Operation tab→Create Operation group→New Operation →New

Compound Operation .

3. In the New Compound Operation dialog box for the Name type MySequence.

4. For the Scope, select Operation Root from the list and click OK.

The compound operation is added to the Operation Tree.

5. From the ribbon, choose Operation tab→Create Operation group→New Operation →New Non-

Sim Operation .

6. In the New Non-Sim Operation dialog box for the Name type MyOp.

7. For the Scope, select My Sequence from the list Operation Tree, and click OK.

The operation is added to the Operation Tree under My Sequence.

4: Save the study

1. From the Quick access toolbar choose Save .

2. In the Save As dialog box, browse into the your Line USERNUMBER_UNDEFINED
folder.
3. For the File name, enter Station10.psz and click Save.
4. Click OK.

Note:

18 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 For this activity, you have 3D data for the human and robot resource (but not for the product
data. You use much more complex data later in class that includes 3D data for both product and
resources.

Note:

By default a cell preview image is captured when you save the study. To no do this, deselect
the Capture cell preview upon Save psz checkbox on the General tab of the Options dialog
box.

19 plmx.com.br
suporte@plmx.com.br
11 3565 3808
1.8. Process Simulate introduction
No activities for this lesson

1.9. Process Simulate viewer overview

Browsing the Process Simulate study

Estimated time to complete: 6–12 minutes

The objective of this activity is to browse the loaded Process Simulate Study.

Demo video

Copy and paste this video link into a new web browser to watch the demo video:

file:///.\\sysroot\training_videos\ps_viewer_overview.mp4

Activity data

Project used in this activity: .\\Projects\Airplane Project\Line USERNUMBER_UNDEFINED

Study opened in this activity: Station10.psz

1: Expand the trees to see the data

1. Return to the Object Tree viewer.

2. In the Object Tree viewer, right-click the Resources folder and choose Expand→2 Levels.
3. Locate the Operation Tree viewer.
4. There is nothing in this viewer yet.

20 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Look at the relationships viewer

1. In the Operation Tree, right-click MyOp and choose Operation Properties.

2. In the Properties dialog box, click the Resources tab.
3. Select the jack human from either the Graphic Viewer or the Object Tree.
4. Click OK.
5. If the Relations Viewer is not shown: From ribbon, choose View tab→Screen Layout
group→Relations Viewer .

6. From the Resources folder of the Object Tree, select the jack human.

The Relations Viewer shows the relationship to the MyOp operation.

7. From the Operation Tree, select the MyOp operation.

The Relations Viewer shows the relationship to the jack resource.

3: Look at the Object Tree relationships

1. In the Object Tree, begin displaying additional columns by clicking Customize Columns .
2. In the Customize Columns dialog box for Available Fields, expand into General, and select
Attach to and 3D File.
3. Click Add .

Note:

Attach to shows other objects attached to the object, while 3D File shows the prototype
associated to a instance. Both are different types of relationships to the object.

4. Click OK.
5. In the Object Tree, resize the columns to show the Name, 3D File, and Operation, columns at
the same time.
6. Expand into the Resources folder.
7. Make the Object Tree viewer wider by dragging the right edge.

21 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 8. In the 3D File column, look at the path to the prototype (.COJT 3D data file) associated to the
object.

22 plmx.com.br
suporte@plmx.com.br
11 3565 3808
1.10. Customize the user configuration
No activities for this lesson

1.11. Window layout management

Dock and float viewers

Estimated time to complete: 10–20 minutes

The objective of this activity is to change viewer docking.

Project used in this activity: .\\Projects\Airplane Project\Line USERNUMBER_UNDEFINED

Study opened in this activity: Station10.psz

1: Locate the desired viewers

1. Continue working in Process Simulate.

2. Locate and select the following open viewers in Process Simulate:
o Object Tree
o Operation Tree
o Sequence Editor
o Path Editor
o Collision Viewer
o Relations Viewer

2: Undock and dock a viewer

1. Undock a viewer: In the Operation Tree upper right corner of the title area, click Window
Position and choose Floating.
2. Dock it back to the same place: Double-click the title area of the Operation Tree.

23 plmx.com.br
suporte@plmx.com.br
11 3565 3808
3: Dock it to another position

1. In the Operation Tree upper right corner of the title area, click Window Position and
choose Floating.
2. Begin dragging the floating or docked Operation Tree viewer using the title area of the viewer.
3. A four-way arrow indicator appears in the center of the docked viewer you are dragging across.

4. Drag the floating viewer to one of the arrows of the four-way arrow indicator.
5. It docks the viewer along that edge of the viewer you are dragging across.

4: Dock it to a tab group

1. In the Operation Tree upper right corner of the title area, click Window Position and
choose Floating.
2. Begin dragging the floating or docked Operation Tree viewer using the title area of the viewer.
3. A four-way arrow indicator appears in the center of the docked viewer you are dragging across.

4. Drag it over the Object Tree.

5. Drag the floating viewer to the icon in the center of the four-way arrow indicator.
6. It docks the Operation Tree viewer as a tab within a tab group that also contains the Object
Tree.

5: On demand viewers

24 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 1. In the Operation Tree upper right corner of the title area, click Window Position and
choose Auto Hide.

Note:

Or click the Pin .

2. Mouse over a viewer on the left side of the Process Simulate window.
3. In the Operation Tree upper right corner of the title area, click Window Position and
choose Auto Hide.

Note:

Or click the Pin .

25 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Save a window layout
Estimated time to complete: 4–8 minutes

The objective of this activity is to save a couple of window layouts.

Project used in this activity: .\\Projects\Airplane Project\Line USERNUMBER_UNDEFINED

Study opened in this activity: Station10.psz

1: Save a new layout

1. Open, position, and size all viewers for this layout.

2. From the Process Simulate ribbon, choose View tab→Screen Layout group→Layout
Manager .

3. From the Layout List dialog box, click New.

4. In the New Layout dialog box, click Use Current for both options.

26 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 5. Click OK.

Note:

The list of layouts on your computer may be different.

6. In the Layout List dialog box, type a new name for the layout: If you are , type Layout1_.

Note:

If the name of the new layout is not highlighted in blue, select it, press F2, and type the new
name.

7. Click Close.

2: Create second window layout

1. Change the window layout a little, by moving some viewers around.

2. Create second window layout in the same way, named Layout1_.

27 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Use a window layout
Estimated time to complete: 2–4 minutes

The objective of this activity is to switch between a couple of window layouts.

Project used in this activity: .\\Projects\Airplane Project\Line USERNUMBER_UNDEFINED

Study opened in this activity: Station10.psz

1: Apply various window layouts

Note:

The previous activity needs to be completed before doing this one.

1. Apply your Layouts: From the Process Simulate ribbon, choose View tab. In the Screen
Layout group select the layout drop-down and select Layout1_.

2. The layout is applied to all open and successively opened viewers.

3. Now apply your Layout2_.
4. Select the Standard window layout and click Apply.

28 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2. Process Simulate environment

29 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2.1. Work with viewers

Automotive — Get an overview of the objects in

the Object Tree
Estimated time to complete: 7–14 minutes

In this activity, you explore the nodes and structure of the Operation Tree, Logical Collections Tree
and Object Tree viewers. These viewers are very useful in getting an overview of a complex product or
resource structure with many levels of related entities.

Project used in this activity: .\\Projects\Robotics Example\LineUSERNUMBER_UNDEFINED

Study opened in this activity: Robotics_Example.psz

30 plmx.com.br
suporte@plmx.com.br
11 3565 3808
1: Automotive data: Open the study

1. From the Quick access toolbar choose Open in Standard Mode .

2. Browse into the .\\Projects\Robotics Example\LineUSERNUMBER_UNDEFINED study

folder.
3. Select the Robotics Example.psz and click Open.
4. Wait for a couple seconds for the data to load.

2: Automotive data: Expand the product tree

Note:

Expand it to see what came across, if you did not already.

1. Return to the Object Tree.

2. In the Object Tree viewer, right-click the Parts folder and choose Expand→2 Levels. The
associated parts, if any, are shown.

3: Automotive data: Expand the resource tree

Note:

Expand it to see what came across, if you didn’t already.

1. In the Object Tree viewer, right-click the Resources folder and choose Expand→1 Level.
The associated resource structure is shown.

4: Automotive data: Expand the operation tree

Note:

Expand it to see what came across, if you didn’t already.

1. Select the Operation Tree viewer.

2. Click the + next to the OP10 compound operation to expand it.

31 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Airplane — Get an overview of the objects in the
Object Tree
Estimated time to complete: 7–14 minutes

In this activity, you explore the nodes and structure of the Operation Tree, Logical Collections Tree
and Object Tree viewers. These viewers are very useful in getting an overview of a complex product or
resource structure with many levels of related entities.

Project used in this activity: .\\Projects\Airplane Project\LineUSERNUMBER_UNDEFINED

Study opened in this activity: Workcenter 50 Study.psz

32 plmx.com.br
suporte@plmx.com.br
11 3565 3808
1: Airplane data: Open the study
1. From the Quick access toolbar choose Open Study (Open in Standard Mode).

2. Browse to .\\Projects\Airplane Project\LineUSERNUMBER_UNDEFINED.

3. Select Workcenter 50 Study.psz and click Open.
4. Wait for a couple seconds for the data to load.

2: Airplane data: Expand the product tree

Note:

Expand it to see what came across, if you didn’t already.

1. Return to the Object Tree.

2. In the Object Tree viewer, right-click the Parts folder and choose Expand→2 Levels. The
associated parts, if any, are shown.

3: Airplane data: resource tree

Note:

Expand it to see what came across, if you didn’t already.

1. In the Object Tree viewer, right-click the Resources folder and choose Expand→2 Levels.
The associated resource structure is shown.

4: Airplane data: Expand the operation tree

Note:

Expand it to see what came across, if you didn’t already.

1. Select the Operation Tree viewer.

2. Click the + next to the Workcenter 50 Process compound operation to expand it.

33 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Structure — Get an overview of the objects in the
Object Tree
Estimated time to complete: 7–14 minutes

In this activity, you explore the nodes and structure of the Operation Tree, Logical Collections Tree
and Object Tree viewers. These viewers are very useful in getting an overview of a complex product or
resource structure with many levels of related entities.

Project used in this activity: .\\Projects\Structure Project\LineUSERNUMBER_UNDEFINED

Study opened in this activity: Structure.psz

1: Structural data: Open the study

1. From the Quick access toolbar choose Open Study (Open in Standard Mode).

2. Browse to .\\Projects\Structure Project\LineUSERNUMBER_UNDEFINED.

3. Select Structure.psz and click Open.
4. Wait for a couple seconds for the data to load.

34 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Structural data: Expand the product tree
Note:

Expand it to see what came across, if you didn’t already.

1. Return to the Object Tree.

2. In the Object Tree viewer, right-click the Parts folder and choose Expand→2 Levels. The
associated parts, if any, are shown.

3: Structural data: Expand the resource tree

Note:

Expand it to see what came across, if you didn’t already.

1. In the Object Tree viewer, right-click the Resources folder and choose Expand→2 Levels.
The associated resource structure is shown.

4: Structural data: Expand the operation tree

Note:

Expand it to see what came across, if you didn’t already.

1. Look at the Operation Tree viewer.

2. Click the + next to the .

35 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Object Tree basics and groups
Estimated time to complete: 6–12 minutes

The objective of this activity is to learn more about the tree structure and its hierarchy.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Browse the Object Tree

1. Successively clicking the display status squares (Blank and Display ) next to the nodes on
the Object Tree viewer causes the displaying or blanking of entities in the Graphic Viewer.

Note:

When you click the box next to a node, it switches between a filled box and an empty box.
When the box is fully filled, the object is completely displayed in the tree. When it is partially
filled, the object is only partially displayed in the Graphic Viewer. When you see an X in the
box, no 3D data is available.

2. As mentioned previously, clicking the + or - icons next to a node expands or hides the next
level, respectively. It is useful to expand the tree fully to display all levels, since some entities
are nested within subcomponents. It is important to learn to identify the entity icons.

Note:

Expanding Trees:

One level of a tree can be expanded by clicking the + icon next to a node in a tree. The [*] key
from the Number Pad area of the keyboard (which is [Fn]→P on an American laptop keyboard

36 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 layout) can be used to expand all levels of the tree. you also learn how to do this using the
right-click menu in the next topic.

Collapsing Trees:

One level of a tree can be collapsed by clicking the - icon next to a node in a tree. you also
learn how to do this using the right-click menu in the next topic

2: Creating and working with groups

Individual parts/resources or compound parts/compound resources can be grouped to establish

additional hierarchy levels in the tree. If a group is selected and then shifted or rotated, the objects in
the Graphic Viewer that are in the group are also be moved. Each object can also be shifted or rotated
independently of the group.

1. From ribbon, choose View tab→Screen Layout group→Viewers , and then select
Logical Collections Tree

2. In the right-click the Groups folder and choose Create Group .

3. From the Graphic Viewer or Object Tree viewer , select some parts or resources.

Note:

A group can contain any combination of other groups, resources, compound resources, parts, or
compound parts.

4. In the Create Group dialog box, type a Name for the group such as My Group, and click OK.
5. In the Logical Collections Tree viewer right-click the My Group group and look at the options
on the right-click menu. .

Note:

Notice the Create Group , Flatten Hierarchy , Replace Compounds with Groups ,
and Export Groups to Excel options.

Note:

37 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 This group is stored only in the study and do not affect the original resource structure after
Save is clicked.

Note:

You can add both parts and resources to the same group.

Note:

Use groups in various Process Simulate tools to blank/display, create flow operations, create
collision pairs, export to Excel, etc. Groups enable assembly feasibility studies in early stages,
even before process is defined.

38 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Using the right-click popup menu
Estimated time to complete: 6–12 minutes

The objective of this activity is to use the right-click menu in the Graphic Viewer and Object Tree
viewers. When using the various options on the menu, make sure to observe their effects in the
Graphic Viewer.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Change the color of an object from the Object Tree

1. Right-click a human in the Object Tree viewer.

2. From the right-click menu, choose the menu to the right of Modify Color .
3. Select a color from the displayed dialog box.
4. Select on nothing in the Graphic Viewer to deselect the object and see its new color.
5. Undo the color change: From the Quick access toolbar Undo .

2: Blank the object from the Object Tree

1. Right-click the human again and choose Blank .

2. Undo the blanking: From the quick access toolbar Undo .

39 plmx.com.br
suporte@plmx.com.br
11 3565 3808
3: Display all the objects from the object tree

1. Right-click in the Object Tree viewer, but not on an object.

2. Choose Display All .

40 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2.2. Graphic Viewer setup and control

Graphic Viewer controls

Estimated time to complete: 10–20 minutes

In this activity, you learn some of the view commands

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Change the background color

1. In Process Simulate, choose File→Options .

2. From the Options dialog box, click the Appearance tab.
3. Select Background color.

41 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. Select Corners from the drop down.
5. Select a color for each corner.
6. Click Preview.
7. Click OK.

2: 3D space mouse movement options

• Optionally, use your Space Mouse to manipulate the Graphic Viewer contents.

Note:

42 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 The device needs to be attached to your computer and the driver loaded before your Process
Simulate session is started.

• Pan Right/Left - nudge left and right

• Pan Up/Down - push down or pull up

• Zoom - nudge toward or away from you

• Tilt - rotate front/back

• Spin - spin around

• Roll - rotate left/right

3: Regular mouse movement options

1. Slide the mouse wheel in and out to zoom in or out of the Graphic Viewer.
2. Moving the mouse wheel affects the direction of the zoom. To zoom out, move the mouse
wheel toward you; to zoom in, move the mouse wheel away from you. (Also see the Setting the
Mouse Movement Mode section which follows).
3. Depress the middle and right buttons for panning in the Graphic Viewer.
4. Moving the mouse in any direction affects the direction panned, when continuous viewing is
set.
5. Depress the middle button (depress the wheel) to rotate the object's viewpoint in the Graphic
Viewer.
6. Moving the mouse in any direction changes the viewpoint. The distance the mouse moves
across the screen affects the amount of rotation, when continuous viewing is set.
7. To zoom to a specific area, hold down the Alt key and draw a box around a small area of
interest with the Left mouse button.

Note:

The behavior of the regular mouse movement options can be modified by choosing

File→Options , and select an option on the Graphics Viewer tab. Or you can customize

43 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 the mouse controls by clicking Customize quick access toolbar from the Quick access
toolbar.

4: Trying different mouse controls

1. On the Quick Access Toolbar, click Customize Quick Access Toolbar and select More
Commands.

2. On the left edge of the window, select Customize Mouse.

3. Select the configuration you want from the Choose a mouse configuration list:

• Default — Mouse controls are similar to NX. This configuration is read only.
• Legacy — Mouse controls are similar to Robcad and Process Simulate before version 13. This
configuration is read only.
• Custom — Select your own values for the controls.

44 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. Click OK.

45 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5: Using multiple graphic viewers

1. Create a second Graphic Viewer: From the ribbon choose View tab→Screen Layout

group→New Window .

2.Create a third Graphic Viewer: From the ribbon choose View tab→Screen Layout group→New

Window .

3. Create a fourth Graphic Viewer: From the ribbon choose View tab→Screen Layout

group→New Window .

4. From the ribbon choose View tab→Screen Layout group→Arrange Windows →Tiled

5. Pan, zoom, and rotate in one or two of the Graphic Viewers.

6. From the Graphic Viewer toolbar, select a view point. such as FRONT .

7. For two of the Graphic Viewers, click Close .

46 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 8. From the ribbon choose View tab→Screen Layout group→Arrange Windows

→Horizontal .

6: Creating, orienting, and using a camera

1. Select somewhere in the Graphic Viewer.

2. From the ribbon choose View tab→Camera group→Create Camera .

3. Select the camera just created.

4. From the ribbon choose View tab→Camera group→Open Camera Viewer .

The view point of the camera is shown in the new Graphic Viewer. The camera can be positioned just
like any object in the Graphic Viewer, which changes the point displayed in the Graphic Viewer. You
can also orient a camera to have the same view point as a the current Graphic Viewer.

5. Select the camera.

6. From the ribbon choose View tab→Camera group→Align Camera With Current View .

7. Close all Graphic Viewers except one.

8. In the remaining Graphic Viewer, click Maximize .

47 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2.3. Entity selection

Selecting objects in the Graphic Viewer

Estimated time to complete: 12–24 minutes
The objective of this activity is to learn how to select objects and manipulate them in the Graphic
Viewer .

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Picking entities

1. From the Graphic Viewer toolbar, choose the Entity Pick Level. (Most likely it is set to
Component right now).

Note:

A short cut key to toggle between the Pick Levels is the F12 key.

2. Select a non-kinematic object (for example the platform). Notice the whole thing is still
highlighted.
3. Select a kinematic object (for example a robot or the desk). Notice that only part of it is
highlighted.
4. Select a non-kinematic object (for example the platform)
5. From the ribbon, choose Modeling tab→PMI group→Load Entity Level .

48 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. Notice that you can now expand into the object and select its entities.
7. Select it again.
8. From the ribbon, choose Modeling tab→PMI group→Unload Entity Level .

2: Change the color of a whole object in the Graphic Viewer

1. Set the Pick Level to Component .

2. Right-click the human in the Graphic Viewer and choose Modify Color .
3. Select a color from the displayed dialog box.

Note:

The list offers a palette of 60 default predefined colors. The palette is customizable and can be
replaced by company defined palettes. It also allows users to select their 20 most recently used
colors at any time.

4. Select on nothing in the Graphic Viewer to deselect the object and see its new color of the
whole human.
5. From the Quick access toolbar, choose Undo .

3: Change the color of part of an object in the Graphic Viewer

1. Set the Pick Level to Entity using the Graphic Viewer toolbar.
2. Right-click the human in the Graphic Viewer and choose the menu to the right of Modify
Color .
3. Select a color from the displayed dialog box.

49 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. Select on nothing in the Graphic Viewer to deselect the object and see its new color of the
human's body part.
5. From the Quick access toolbar, choose Undo .

4: Blank and display the object from the Graphic Viewer

1. Right-click the human again and choose Blank .

2. Right-click in the Graphic Viewer but not on an object.
3. Choose Display All .

5: Viewing and selecting PMI

1. In the Object Tree, browse into the Resources folder.
2. In the Object Tree, expand into the CompoundResource .
3. In the Object Tree, expand into the toolcrib CompoundResource.
4. Right-click on pmi_notes_15 and choose Zoom to Selection .
5. From the ribbon, choose Modeling tab→PMI group→Load PMI .

6. Select out in space in the Graphic Viewer to deselect it.

50 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 7. Look at the PMI on the part in the Graphic Viewer.
8. In the Object Tree, expand into pmi_notes_15.

9. In the Object Tree or Graphic Viewer, select one of the PMI objects.
10. Select pmi_notes_15 again.
11. From the ribbon, choose Modeling tab→PMI group→Unload PMI .

12. Select out in space in the Graphic Viewer to deselect it.

51 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Additional methods of multiple entity selection
Estimated time to complete: 8–16 minutes
The objective of this activity is to learn additional methods of Selecting multiple items.

Note:
An object can be selected in the Graphic Viewer by clicking the left mouse button and drawing a box
around the desired object(s). If any part of the object(s) is in the window, it is selected. Objects can
also be selected by clicking them on the Object Tree viewer.

All selected objects can be deselected by clicking in the empty space around them in the Graphic
Viewer . A selected object can be individually deselected by clicking it, either in the Graphic Viewer
or in the Object Tree viewer, while pressing the Ctrl key.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Object Tree object selection

1. Any node can be selected by clicking it; previously selected nodes are then deselected. To
select several separate nodes simultaneously, hold down the Ctrl key and click the additional
nodes, as required. To select a range of nodes together, select the first node you want, hold
down the Shift key and click the last node you want.

Note:

The Shift Key:

The Shift key enables you to select more than one entity in a consecutive list. Select the first
entity, then hold down the Shift key and select the last entity in the list. This key works in the
Tree viewer only. selected entities are highlighted in green in the Graphic Viewer.

52 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 The Ctrl Key:

The Ctrl key enables you to select more than one non-consecutive entity. Hold down the Ctrl
key and select each desired object. This key works in the Tree viewer and the Graphic Viewer.
selected entities are highlighted in green in the Graphic Viewer.

2. Objects can also be selected from the Graphic Viewer. To select whole objects, make sure the
Pick Level is set to Component . To select parts of an object, make sure the Pick Level is
set to Entity .

Note:

Pick Level:

There are two main Pick Levels in Process Simulate, Entity and Component . These
levels determine what is selected when you click an object. If the Pick Level is set to
Component and you click one entity of an object, the entire object becomes selected. If the
Pick Level is set to Entity , then only that entity (that is, part of the whole object) is
selected.

2: Multi-selecting and deselecting objects in the Graphic Viewer

1. Press the left mouse button and draw a box around several objects in the Graphic Viewer. Note
which objects turn green.
2. Deselect the entities by selecting the empty space around them in the Graphic Viewer.

3: Multi-selection using the Ctrl key or Shift key

1. Select an object in a tree.
2. Hold down the Ctrl key and select an object.
3. Continue holding down the Ctrl key and select another object.
4. Release the Ctrl key.
5. Select an object in a tree.
6. Hold down the Shift key and select another object.
7. Release the Shift key.

53 plmx.com.br
suporte@plmx.com.br
11 3565 3808
4: Using the Graphic Viewer toolbar
1. Select multiple objects using the left mouse button and the Ctrl key

2. From the Graphic Viewer toolbar, choose Blank . Note how the selected objects change in
the Graphic Viewer, depending on your selection.

Note:

You can also access these options by right-clicking an object in the Graphic Viewer

54 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Using Toggle Display
Estimated time to complete: 2–4 minutes
The objective of this activity is to learn how to toggle between the blanked and displayed objects in the
Graphic Viewer.

Note:
Using the Toggle Display command toggles between the blank objects and the displayed objects,
that is, all displayed objects become blanked and all blanked objects become displayed.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Toggle the display of blanked and displayed objects

1. Blank several objects in the Graphic Viewer, using one of the methods described
previously in this chapter.
2. From the Graphic Viewer toolbar, choose Toggle Display .

3. You should now see only those objects that you just blanked (and maybe a few locations or
paths).

4. Blank some of the objects in this view, and then Toggle Display back again.
5. The objects you just blanked are now displayed.

55 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2.4. Introduction to selection filters (optional)
No activities for this lesson

2.5. Introduction to Display By Type

Blanking objects using Display By Type

Estimated time to complete: 4–8 minutes
The objective of this activity is to learn how to use Display By Type to hide entities by type and
blank objects by color.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Blank all the frames by type

1. From the Graphic Viewer toolbar, choose Display all .

All the objects, including frames, are displayed.

56 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2.From the Graphic Viewer toolbar, choose Display By Type .

3.From the Display By Type dialog box, select Frames from the list.

4.From the Display By Type dialog box, choose Hide Selected Types .
All frames are blanked.

2: Blank by color

1. From the Display By Type dialog box, select the Filter by Color check box.

2. Select the down arrow for the filter color.

3. In the popup dialog box, choose Other.

4. In the Colors dialog box, click Select (eye dropper), pick a color you want to blank, and
click OK.

5. From the Display By Type dialog box for Match, select Partial to blank objects that contain
more than the selected color.

6. From the Display By Type dialog box, click Hide All.

Objects that contain the selected color are blanked.

7. Close the Display By Type dialog box.

57 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2.6. Measurement and units

Relationship between measuring and units

Estimated time to complete: 8–16 minutes
The objective of this activity is to learn about units and measuring within .

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Measure the distance from the one object to another

1. From the Graphic Viewer toolbar, choose Minimal Distance .

2. Select the two objects in the Graphic Viewer. The distance between the two is displayed. (Your
numbers and objects may differ from those shown below).

58 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. Remember the approximate distance and the selected objects.
4. Close the Minimal Distance dialog box.

2: Change the units

1. Choose File→Options .
2. In the Options dialog box, click the Units tab.

59 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. Change the current Linear unit type to inch.
4. Click OK.

3: Measure the same distance again

1. Bring up the Minimal Distance dialog box and select approximately same two points to
measure. Notice the units are now converted to inches. (Your numbers and objects may differ
from those shown below).

60 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. Close the Minimal Distance dialog box.

3. Choose File→Options .
4. In the Options dialog box, click the Units tab.
5. Change the current Linear unit type to mm.
6. Click OK.

4: Measure the distance from the bottom of one object to the top of another
Note:
For example, if you wanted to put the second object on top of the first object.

1. From the Graphic Viewer toolbar, choose Point to Point Distance .

2. From the Graphic Viewer toolbar, set the Pick Intent to Snap .
3. From the Graphic Viewer toolbar, set the Pick Level to Component
4. For the First Object, click the bottom of the first object.

61 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 5. For the Second Object, click the top of the second object.
6. The distance between the two selected points is displayed in the Graphic Viewer and in the
Point To Point Distance dialog box.
7. In the Point To Point Distance dialog box, check Show dX, dY, dZ lines in the Graphic
Viewer to view these distances in the Graphic Viewer as well.
8. Close the Point To Point Distance dialog box.

62 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2.7. Graphical visualization and performance

Changing visualization performance

Estimated time to complete: 8–16 minutes
In this activity, you learn more about how to change the performance settings.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Experiment with level of details

1. Center the currently displayed objects in the Graphic Viewer by clicking Zoom To Fit from
the Graphic Viewer toolbar.

2. Choose File→Options .
3. From the Options dialog box, click the Performance tab.

63 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. Move the slider in the Level of Details area towards Speed.
5. Click OK.
6. The display of the objects in the cell change.
7. Zoom in and out using the middle mouse button.
8. Note the difference between this level of detail and the one used earlier.

2: Change the level of details to a more typical setting

1. Choose File→Options .
2. From the Options dialog box, click the Performance tab.
3. Move the slider in the Level of Details very close to Quality.

Note:

Two right arrow clicks from Quality, is the most optimal setting (for good quality and good
performance).

4. For the OpenGL acceleration level, choose Display lists or Buffer objects, depending on
your hardware.

Note:

64 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 If you are working in a virtual machine, you should select V1.1 (Highest supported).

5. Click OK.
6. The display of the objects in the cell change.
7. Zoom in and out using the middle mouse button.
8. Note the difference between this level of detail and the one used earlier.

3: Experiment with culling

1. Reopen the Options dialog box, if it was closed, and click the Performance tab.

2. Check Cull parts with less than.

3. Type 0.05.
4. Click OK.
5. See how this affects graphics visualization.

Note:

This option cannot be used when it is desirable to see small objects, such as (since they would
not be shown). Smaller culling values, such as 0.01%, may be helpful in other use cases (for
example general or final assembly).

4: Change the culling to a more typical setting

1. Reopen the Options dialog box, if it was closed, and click the Performance tab.
2. Deselect Cull parts with less than.

65 plmx.com.br
suporte@plmx.com.br
11 3565 3808
66 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Changing graphical visualization
Estimated time to complete: 6–12 minutes
In this activity, you modify the visualization of Graphic Viewer objects.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Toggling all objects’ visualization

1. On the Object Tree, browse into the Resource folder.
2. Right-click desk_contents and choose Display Only .

3. Choose File→Options .
4. In the Options dialog box, click the Graphic Viewer tab.

5. Check Show Silhouette in Wireframe Mode.

6. Click OK.

7. From the Graphic Viewer toolbar, choose Feature Lines .

8. The feature lines mode is shown. Notice the effect in the Graphic Viewer.

67 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

Your data may look different than what is shown in the picture.

9. From the Graphic Viewer toolbar, choose Wireframe Mode . Notice the effect.
10. The wireframe mode is shown. Notice the effect in the Graphic Viewer.

68 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 11. From the Graphic Viewer toolbar, choose Shaded Mode .
12. The shaded mode is shown. Notice the effect in the Graphic Viewer.

Note:

Your data may look different than what is shown in the picture.

69 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 13. From the Graphic Viewer toolbar, choose Features Lines Over Solid .
14. The features lines over solid mode is shown. Notice the effect in the Graphic Viewer.

70 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 15. Slowly, press the F10 key several times successively. Notice the effect in the Graphic Viewer.
16. Return to Shaded Mode .

2: Changing a single object’s visualization

1. Select an object (such as a human).
2. From the ribbon, choose View tab→Visibility group→Transparent .

3. Select off of the object.

4. Rotate the view around and notice how you can see through the object now.

71 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

Transparency enables users to select a complicated assembly and view its inner objects.

5. Select the transparent object.

6. From the ribbon, choose View tab→Visibility group→Shaded .

7. Select off of the object.

72 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 8. Notice the effect.

3: Using dynamic clipping

1. Select a point of interest in the Graphic Viewer.

2. Choose View Center from the Graphic Viewer toolbar to set the desired point of interest
at the center of the Graphic Viewer display.
3. From the ribbon, choose View tab→Section group→Dynamic Clipping to start the
clipping mode.

73 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. From the ribbon, choose View tab→Section group→Dynamic Clipping Plane Settings .

5. In Dynamic Clipping Plane Settings dialog box, move the Clipping Plane slider a little bit
away from Camera.
6. Hold down the middle mouse button and move the mouse toward the right to zoom in to the
view centered point. Notice now the geometry in the way is clipped so better show the desired
geometry.
7. In Dynamic Clipping Plane Settings dialog box, click Close.

Note:

From the ribbon, choose View tab→Section group→Dynamic Clipping to exit clipping
mode

74 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2.8. Add a fancy graphics background

Use texture maps

Estimated time to complete: 4–8 minutes
In this activity, you use a texture mapped object.

Project used in this activity: .\\Projects\Airplane Project\LineUSERNUMBER_UNDEFINED

Study opened in this activity: Workcenter 50 Study.psz

1: View a texture mapped component

1. In the Object Tree, browse into the Parts folder.

2. Right-click LandingGear_textured object and choose Zoom to Selection .
3. Pan, zoom, and rotate around the object and notice how it look metallic and shiny because of the
texture map on it.

2: Insert and position the texture mapped components

1. From the ribbon, choose Modeling tab→Components group→Insert Component .

2. In the Insert Component dialog box, browse to the \Libraries\RESOURCES2\FACILITIES

folder.
3. Select the floor.cojt and the wall_l.cojt.
4. Click Open.
5. Select the texture mapped floor and the wall components.
6. From the Graphic Viewer toolbar, choose Placement Manipulator .

75 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 7. In the Placement Manipulator dialog box, click Rx, type 90, and press Enter.
8. Click Close.
9. Select the texture mapped wall component.

10. From the Graphic Viewer toolbar, choose Placement Manipulator .

11. In the Placement Manipulator dialog box, click Y, type 4300, and press Enter.
12. Click Close.

76 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Use point clouds
Estimated time to complete: 4–8 minutes
In this activity, you use a point cloud.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Setup where to find point clouds

1. Choose File →Options .

2. Click Point Cloud on the General tab of the Options dialog box.

3. In the Point Cloud Options dialog box, click Browse, and navigate to the .\\sysroot\Sample
point cloud folder

4. Click OK.

5. Click OK.

2: Insert a point cloud

1. From the Process Simulate ribbon, choose Modeling tab→Components group→Point Cloud
→Insert Point Cloud to select the .pod file you want.

77 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. For Point Cloud file , click Browse, navigate into the .\sysroot\Sample point cloud folder, and
select the MyFactory.pod.

4. Click Open.
The point cloud data is shown in the Graphic Viewer and Object Tree.

5. Rotate, pan, and zoom to get a better look at the point cloud.

78 plmx.com.br
suporte@plmx.com.br
11 3565 3808
3. Placement commands

79 plmx.com.br
suporte@plmx.com.br
11 3565 3808
3.1. Introduction to placement
There are no activities for this lesson.

3.2. Introduction to Fast Placement and

Restore Object Initial Position

Using Fast Placement

Estimated time to complete: 6–12 minutes
The objective of this activity is to learn how to use the Fast Placement command.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Two methods to undo positional changes

1. Undo the positional changes (method 1): From the Quick access toolbar, choose Undo to
undo the object placement.

2. Repeat as necessary to undo all the fast placement.

80 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. From the ribbon, choose Modeling tab→Layout group→Fast Placement , and then select
and drag a single object and drag it to 3 different positions.

4. When you have finished, click Fast Placement again to return to normal mode.
5. Undo positional changes (method 2): Select the object you just moved in the Graphic Viewer.

Note:

Multiple objects could also be selected by holding down the Ctrl key and selecting them.

6. From the ribbon, choose Modeling tab→Layout tab→Layout groupRestore Object Initial
Position .
7. The object returns to original position with one click (instead of 3 clicks with the undo).

81 plmx.com.br
suporte@plmx.com.br
11 3565 3808
3.3. Change selection behavior and create
frames

Creating a frame
Estimated time to complete: 10–20 minutes
The objective of this activity is to learn how to create a frame.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Create a frame by 6 values

!. Choose Modeling tab→Layout group→Frame by 6 values .

2. Select a point in the Graphic Viewer

You can keep clicking positions in the Graphic Viewer to change the placement of the frame.

3. When the frame is placed the way you want, click OK in the Create Frame By 6 Values dialog
box.

82 plmx.com.br
suporte@plmx.com.br
11 3565 3808
The frame is displayed in the Graphic Viewer.

4. Expand the Frames folder in the Object Tree.

The frame is also displayed in the Frames folder of Object Tree. By default it is named fr1, unless
there is already a frame named fr1.

5. Rename the fr1 frame, by slowly selecting it twice and typing My frame.

6. In the Object Tree, right-click the Frames folder and choose Create Folder .
A folder named New folder is created.

7. Rename New folder , by slowly selecting it twice and typing My folder.

8. Drag My frame onto My folder .

My frame is moved into My folder .

9. Create another frame and rename it A frame.

10. Drag A frame onto My folder .

The A frame is the last object in the list in My folder .

11. Right-click My folder and choose Sort Nodes.

The A frame is the first object in the list in My folder .

2: Create a frame by 3 points

1. From the ribbon choose Modeling tab→Layout group→Frame By 3 Points .

2. Select a point in the Graphic Viewer to set the origin of the frame
3. Select a point in the Graphic Viewer to set the direction of the X-axis of the frame
4. Select a point in the Graphic Viewer to define the XY-plane of the frame

Note:

83 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Right-hand rule, determined by the three selection points, is used to determine which way the
Z-axis points away from this plane. Click Flip Frame if it is on the wrong side.

5. Click OK.

3: Create a frame between 2 points

1. From the ribbon choose Modeling tab→Layout group→Frame Between 2 Points .

2. Select a point in the Graphic Viewer to define the first point.

3. Select a point in the Graphic Viewer to define the second point.
4. By default the frame creates in the middle (at 50%) of the line between the two points. Use the
slider to move the frame between the two points to the desired position.

Note:

Click Flip Frame if it is on the wrong side.

5. Click OK.

4: Create a frame by circle center

1. From the ribbon choose Modeling tab→Layout group→Frame By Circle Center .

2. Select a point in the Graphic Viewer to define the first point of the circle.
3. Select a point in the Graphic Viewer to define the second point of the circle.
4. Select a point in the Graphic Viewer to define the third point of the circle.

84 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

The frame is created at the center of the circle formed by the three selected points. Right-hand
rule, determined by the three selection points, is used to determine which way Z points away
from this plane. Click Flip Frame if it is on the wrong side.

Note:

(1) Selecting the center of a hole: If selecting on geometry on a geometric circle or cylinder

shape, set the Pick Intent to Snap and select on or near the circle or shape to snap to the
center.

(2) Selecting the center of a cylinder: In this case, you should use Create Frame By 6 Values

instead of this option.

(3) Another method to select the center of a hole or cylinder: select Create Frame by Circle

Center and select three points around the parameter of the circle. This option is best, for
geometric circles or cylinders that are so imperfect that Process Simulate does not recognize
them as such (for example a hexagon).

5. Click OK.

5: Look at the frame’s name

1. Mouse over one of the created frames in the Graphic Viewer and notice the frame’s name is
displayed.
2. Look in the Frames folder in the Object Tree.

85 plmx.com.br
suporte@plmx.com.br
11 3565 3808
3.4. Introduction to Placement Manipulator

Shifting and rotating instances on-screen

Estimated time to complete: 6–12 minutes
The objective of this activity is to learn one way to position instances within a session. selected
object(s) can be shifted by typing values in the X, Y, or Z boxes, or by clicking the up and down arrow
keys in the Translate area of the Placement Manipulator dialog box.

Note:
Objects can be selected for placement in several ways:

• Select them (from the Object Tree or Graphic Viewer) and choose Placement Manipulator
from the Graphic Viewer toolbar.

• Draw a selection window around them and choose Placement Manipulator from the
Graphic Viewer toolbar.
• Right-click them and choose Placement Manipulator .

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

86 plmx.com.br
suporte@plmx.com.br
11 3565 3808
1: Open the Placement Manipulator dialog box

1. (Check the Graphic Viewer toolbar to make sure your Pick Level is set to Component ).

2. Select an object.
3. Choose Placement Manipulator from the Graphic Viewer toolbar.

A large frame with arcs appears at the center of the selected object. This is called the
Manipulator Frame.

2: Use the Manipulator Frame to move the object

1. In the Graphic Viewer, select and drag the red X-axis of the Manipulator Frame.
2. The relative coordinates (that is, the distance moved on the currently selected axis since the
object was selected) are displayed in the box in the Translate area, at the top of the Placement
Manipulator dialog box, as shown below:
3. In the Graphic Viewer, select and drag the green Y-axis of the Manipulator Frame to move it
on the Y-axis.
4. In the Graphic Viewer, select and drag the Manipulator Frame plane with the green and red
edges to move it on the XY-plane.

5. Notice in the Placement Manipulator dialog box that the Frame of Reference is set to
Geometric Center.
6. In the Graphic Viewer, select and drag the green arc of the Manipulator Frame to rotate the
object around the Y-axis of the geometric center.

Note:

Notice how it moves.

7. In the Placement Manipulator dialog box, change the Frame of Reference to Working
Frame.

87 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 8. Again in the Graphic Viewer, select and drag the green arc of the Manipulator Frame to
rotate the object around the Y-axis of the Working Frame.

Note:

Notice how it moves differently than before.

3: View the coordinates of the object relative to a specific frame of reference

1. Click Expand Dialog in the Placement Manipulator dialog box to expand the dialog box,
as shown below:
2. Make sure that Working frame appears in both the Frame of Reference and Location
relative to boxes. If it does not, select it from the drop down list.

Note:

Notice that the current absolute coordinates of the object being manipulated are displayed in
the table at the bottom of the dialog box. It is NOT suggested to type new coordinates using
this bottom part of the placement manipulator. Instead, use this area as a print out of where
your object is currently sitting in reference to the selected frame.

3. In the Placement Manipulator dialog box, click Reset to return to the place where it was when
this dialog box was opened.

Note:

If you would like to reset the position of the object after closing the Placement Manipulator
dialog box, select the object and choose Modeling tab→Layout group→Restore Object
Initial Position

4. In the Placement Manipulator dialog box, click Close.

88 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Relationship between Placement Manipulator
measuring and units
Estimated time to complete: 10–20 minutes
The objective of this activity is to learn another way to position instances within a session. You use the
session from the previous activity.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Open the Placement Manipulator dialog box

1. Select an object.
2. Choose Placement Manipulator from the Graphic Viewer toolbar.

3. In the Placement Manipulator dialog box, set Working frame as the Frame of Reference.
4. Do not close the Placement Manipulator dialog box yet.

2: Measure the distance from the bottom of one object to the top of another

Note:
For example, if you wanted to put the second object on top of the first object.

1. From the Graphic Viewer toolbar, choose Point to Point Distance .

89 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. From the Graphic Viewer toolbar, set the Pick Intent to Snap .
3. From the Graphic Viewer toolbar, set the Pick Level to Component
4. For the First Object, click the bottom of the first object.
5. For the Second Object, click the top of the second object.
6. The distance between the two selected points is displayed in the Graphic Viewer and in the
Point To Point Distance dialog box.
7. In the Point To Point Distance dialog box, check Show dX, dY, dZ lines in the Graphic
Viewer to view these distances in the Graphic Viewer as well.
8. Close the Point To Point Distance dialog box.

3: Measure the minimal distance between two objects

1. From the Graphic Viewer toolbar, choose Minimal Distance .

2. For the First Object, click the first object.

3. For the Second Object, click the second object.
4. The distance between the two objects is displayed in the Graphic Viewer and in the Minimal
Distance dialog box.
5. Do not close the Minimal Distance dialog box.

4: Move the object

1. In the Placement Manipulator dialog box, notice the current step size units are mm.
2. Choose the Step size link, in the translate part of the Placement Manipulator dialog box, type
100, and select OK.
3. Click Z and click the black right arrow twice.
4. In the Graphic Viewer, drag the object around using the Manipulator Frame.
5. To undo all the placements on this object, click Reset.
6. Close the Minimal Distance dialog box.
7. Close the Placement Manipulator.

90 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5: Change the units and see the affect
1. Choose File→Options .
2. From the Options dialog box, click the Units tab.
3. Change the number of decimal places for Linear to 3.
4. Change the current unit type to inch.

5. Click OK.
6. Bring up the Placement Manipulator dialog box for an object again. Notice the units are now
converted to inches.
7. Bring up the Minimal Distance dialog box and measure the same two objects. Notice the units
are now converted to inches.

91 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Incremental shifting of objects from a reference
frame
Estimated time to complete: 4–8 minutes
The objective of this activity is to learn how to use linear and rotational step sizes. selected objects can
be moved by step size along a selected linear or rotational axis. This step size can be changed and
stored until the next time the command is used.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Rotate an object about its geometric center

1. Select an object.
2. From the Graphic Viewer toolbar, choose Placement Manipulator .

3. Choose the rotation Step size link in the Placement Manipulator dialog box.
4. In the Step Size dialog box, change the rotation step size to 45 degrees by typing 45 in the
Rotation step (deg) box and clicking OK.
5. Click Rx in the Placement Manipulator dialog box
6. Rotate an object in 45 degrees increments around the X-axis by clicking the Move Negative
and Move Positive arrows.

Warning:

92 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Do not click the Move Negative To Collision or Move Positive To Collision arrows.
The rotation continues until a collision occurs. If none occurs (or if collision detection is not
configured), it comes back with a warning saying “No collisions have been detected”.

2: Rotate an object about the Working Frame

Note:
The Placement Manipulator dialog box is still open.

1. Select Working frame from the Frame of Reference pull-down lists.

2. Rotate an object again either by using the Move Negative and Move Positive arrows,
or by grabbing an arc shaped axis of the Manipulator Frame and dragging it in the Graphic
Viewer.

Note:

If Snap by step size is checked in the Placement Manipulator dialog box, dragging the
Manipulator Frame jumps the object according to the specified Step Size.

3. In the Placement Manipulator dialog box, click Reset.

4. Click Close .

93 plmx.com.br
suporte@plmx.com.br
11 3565 3808
3.5. Introduction to Relocate

Relocating an object relative to two new frames

Estimated time to complete: 2–4 minutes
The objective of this activity is to learn how to use the Relocate command to relocate an object relative
to two new frames.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Relocate by using a “from” frame and a “to” frame

1. On the Graphic Viewer toolbar, set the Pick Intent to Snap .

2. On the Graphic Viewer toolbar, set the Pick Level to Component .

3. Select an object.

4. On the Graphic Viewer toolbar, choose Relocate .

5. In the Relocate dialog box, click in the From frame box.
6. Click in the Graphic Viewer at any convenient location.
7. In the Relocate dialog box, click in the To frame box.
8. Click in the Graphic Viewer at another convenient location.

94 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 9. Click Apply. The object travels the distance and direction defined by the two frames (selection
points).
10. Do not close the Relocate dialog box.

95 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Relocating an object relative to two existing
frames
Estimated time to complete: 2–4 minutes
The objective of this activity is to learn how to use the Relocate command to relocate an object relative
to two already existing frames. An existing frame may be the self-origin, the world frame, any frame in
the Graphic Viewer , or any entity in the session.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Relocate an object another way

1. In the Relocate dialog box, select the corner of an object for the From frame.
2. Select the corner of another object for the To frame.
3. Select the Maintain orientation check box.
4. Click Apply.
5. The corner of an object is now shifted the X, Y and Z distance between the From Frame and
the To Frame, while the object's orientation is maintained.

96 plmx.com.br
suporte@plmx.com.br
11 3565 3808
4. Quick introduction to kinematics

97 plmx.com.br
suporte@plmx.com.br
11 3565 3808
4.1. Fundamentals of kinematics

Jogging the joints of a simple object

Estimated time to complete: 8–16 minutes
The objective of this activity is to open the study called Door Kinematics and jog its joints.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: model_kin_demos.psz

1: Open the desired data

1. From the Quick access toolbar choose Open in Standard Mode .

Note:

By opening a new .psz file, the previously opened study is closed. You do not need to save the
previous study at this time.

2. In the Open dialog box, browse to the \Projects\Project_209S\Line

USERNUMBER_UNDEFINED StudyFolder\model kinematics folder.
3. Select the model_kin_demos.psz file.
4. Click Open.
5. Wait a moment for Process Simulate to open and load your data.
6. In the Process Simulate Object Tree, select the top folder named Resources .
7. Right-click on nothing in the Object Tree and choose Find.
8. In the Find dialog box for the Find what, type room_door* and click Find Next and Cancel.

Note:

The * on the end is important.

9. Switch to the Process Simulate Object Tree viewer and browse into the Resources folder.
10. Right-click the room_door_demo object and choose Display Only .

11. From the Graphic Viewer toolbar, choose Zoom to Fit .

98 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 12. In the Graphic Viewer, select out in space to deselect the door.

2: Open the Joint Jog dialog box

1. From the Graphic Viewer toolbar, set the Pick Level to Component .

2. Select the door.

3. From the ribbon, choose Robot tab→Tool and Device group→Joint Jog .

99 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Tip:

You may want to show the Kinematics toolbar.

3: Method 1 to jog the joints

1. In the Joint Jog dialog box, click the mouse on j1 gear and do not release the mouse button.
2. Move the mouse left and right across the whole the Graphic Viewer to see the selected joint
move. (Notice you are not limited to moving the joint inside the Joint Jog dialog box).
3. Release the mouse button.
4. Repeat these steps for the j2 gear.

Note:

When approaching the limits of a joint, the slider and Value turn light purple to signify that
you are no longer in the defined working limits. After reaching the limits, they turn dark

purple. To change the Working Limits choose File→Options and click the Motion
tab.

100 plmx.com.br
suporte@plmx.com.br
11 3565 3808
4: Method 2 to jog the joints

1. In the Joint Jog dialog box, click Options

2. In the Joint Jog Settings dialog box, type 10 for the Prismatic joints step size.
3. In the Joint Jog Settings dialog box, type 15 for the Rotational joints step size.
4. Click OK.
5. For j1, repeatedly click these buttons to jog a joint.

101 plmx.com.br
suporte@plmx.com.br
11 3565 3808
4.2. Create device operations

Defining kinematic poses

Estimated time to complete: 10–20 minutes
The objective of this activity is to define kinematic poses for an existing kinematic door device.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: model_kin_demos.psz

1: Set the units

1. Continue using the same study loaded in the previous topic.

2. Right-click in the Graphic Viewer on nothing and selecting Options from the displayed
popup menu.
3. From the Options dialog box, click the Units tab in the displayed Options dialog box.
4. Select mm from the Linear pull down list.
5. Select Deg from the Angular pull down list.

6. Click OK.

102 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Create a new pose

1. In the Graphic Viewer toolbar, make sure that the Pick Level is set to Component .

2. In the Graphic Viewer, right-click the room_door_demo and choose Home to return it to
the position it was in where the kinematics were defined (that is, j1=0, j2=0).

Note:

This is called the HOME pose.

3. In the Graphic Viewer, right-click the room_door_demo and choose Pose Editor .
4. in the Pose Editor, click New.
5. Leave the joint values at j1=0 and j2=0. This is the same as the HOME pose in step 2.
6. For the Pose Name, type CLOSED.

103 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 7. Click OK.

3: Jog the joints and create another pose

1. In the Pose Editor, click New.
2. From the New Pose dialog box, select and hold the j1 gear, and move the mouse left and right
across the Graphic Viewer to jog the door to an open position.

Note:

Exact joint values can be entered, or the up or down arrows on the box can be used to set the
value (the step size for the up or down arrows can be set in Joint Properties.

3. Repeat the process for the j2 gear.

4. For the Pose Name, type OPEN.
5. Click OK.

4: Move the door between the defined poses

1. In the Pose Editor dialog box, select the CLOSED pose, and click Jump.
2. Select the OPEN pose, and then click Jump again.
3. This jumps the door from the CLOSED pose to the OPEN pose.
4. In the Pose Editor dialog box, click Reset to reset the mechanism back to the HOME pose.

104 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5: Save your study

1. From the Quick access toolbar, choose Save .

105 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Creating a simulative operation from poses
Estimated time to complete: 4–8 minutes
The objective of this activity is to create a compound sequence from a mechanical operation.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: model_kin_demos.psz

1: Create a simulation to move the door between poses

1. Select the Operation Tree viewer.

2. From the ribbon choose Operation tab→Create Operation group→New Operation

→New Compound Operation .

3. In the New Compound Operation dialog box, type MyOperations for the Name.
4. In the New Compound Operation dialog box, for Scope, select Operation Root from the
dropdown.
5. Click OK.
6. In the Operation Tree, select the MyOperations CompoundOperation.
7. Hold down the Ctrl key.
8. Select the room_door_demo from the Graphic Viewer.
9. Release the Ctrl key.

10. From the ribbon choose Operation tab→Create Operation group→New Operation

→New Device Operation .

106 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

In the New Device Operation dialog box, the Name and Device boxes are already filled in.

11. In the New Device Operation dialog box, select CLOSED from the From pose pull down list.

12. Select OPEN from the To pose pull down list.

13. Click OK.

2: Deep reset, play, and reset the simulation

Note:
If the Sequence Editor is not shown, from he ribbon choose View tab→Screen Layout
group→Sequence Editor.

107 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 1. From the Sequence Editor, click Jump Simulation to End .
2. From the Sequence Editor, click Jump Simulation to Start .
3. From the Sequence Editor, click Play Simulation Forward .

Note:

The speed of simulation can be adjusted in several ways: either (method 1) change the time of
the operation, (method 2) change the defined joint speeds, (method 3) move the Simulation
Speed Slider, or (method 4) change the Simulation Time Interval. There are very different
reasons to use these techniques. You learn more about this throughout this training.

4. Watch the simulation.

5. From the Sequence Editor, click Jump Simulation to Start .

108 plmx.com.br
suporte@plmx.com.br
11 3565 3808
4.3. Inverse kinematics review
There are no activities for this lesson.

4.4. Use inverse kinematics

Examining the kinematic tree of a robot

Estimated time to complete: 4–8 minutes
The objective of this activity is to look at the kinematic definition of a robot.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: model_kin_demos.psz

1: Open the desired data

1. From the Graphic Viewer toolbar, verify that the Pick Level is set to Component .

2. In the Process Simulate Object Tree select the top folder named .
3. In the Object Tree, right-click on nothing and choose Find.
4. In the Find dialog box for the Name, type *robot* and click Find Next and Cancel.

Note:

The * on the beginning and ending are important.

5. From the Process Simulate Object Tree, right-click the real_robot object in the Resources
folder, and choose Display Only .
6. From the Graphic Viewer toolbar, choose Zoom to Fit .

109 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Look at the kinematics in the Kinematics Editor
1. Select the robot.

2. From the ribbon choose Modeling tab→Kinematic Device group→Kinematics Editor .

110 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. The links of the robot in the Graphic Viewer are temporarily colored according to the colors of
the links in the Kinematics Editor dialog box.

111 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. Close the Kinematic Editor dialog box.

Note:

The creation of kinematics is described later in this course.

112 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Making the robot move
Estimated time to complete: 10–20 minutes
The objective of this activity is to see how to move a robot.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: model_kin_demos.psz

1: Jog the robot’s joints

1. Select the robot.

2. From ribbon choose Robot tab→Tool and Device group→Joint Jog .

3. Using the Joint Jog dialog box, jog the joints using the sliders and observe how they move.

2: Use Robot Jog to move the robot

Note:
Notice how this type of movement is different from Joint Jog.

1. Select the robot.

2. From ribbon choose Robot tab→Reach group→Robot Jog .

113 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. While the Robot Jog dialog box is open, grab the Manipulator Frame in the Graphic Viewer
and pull the robot around.

Note:

The Robot Jog dialog box is only available for robot objects (for example objects with a TCPF
frame at the end of its kinematic tree).

Note:

If the robot is not moving when you pull the Manipulator Frame, verify that Snap by Step
Size is not checked. this option is located under the Coordinate Reference expander area of
the Robot Jog dialog box. Having this box checked, with a step size that is too big for the robot,
causes the robot to not move when the Manipulator Frame is dragged.

4. If the gripper is not found in the Object Tree, the ribbon choose Modeling tab→Components

group.Insert Component from File , browse to model_kinematics/grippers, select

box_gripper_demo.cojt, and click Open.

5. Right-click the robot and choose Mount Tool .

6. Select the box_gripper_demo or box_gripper for the Tool.
7. For the Frame, select mnt
8. Click Apply and Close. The gripper is placed at the end of the robot's arm.

3: Create new robotic operation for the robot

1. Select the CompoundOperation in the Operation Tree viewer.

2. From the ribbon choose Operation tab→Create Operation group→New Operation

→New Compound Operation .

114 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. In the New Compound Operation dialog box, type Operation2 for the Name and click OK.
4. From the Graphic Viewer toolbar for Pick Level, choose Component .

5. In the Operation Tree, select the Operation2 CompoundOperation.

6. Hold down the Ctrl key.
7. Select the real_robot
8. Release the Ctrl key.

9. From the ribbon choose Operation tab→Create Operation group→New Operation

→New Generic Robotic Operation .

10. Name it generic_robot_Op.

11. Take the defaults for the rest of the boxes and click OK.

Note:

The creation and validation of proper robotic processes is described in detail later in this
course. The information provided in this topic should not be considered enough to begin
processing welds in the Process Simulate environment.

4: Create the first three locations for the robot

1. On the Operation Tree viewer, select the new bolded generic_robot_Op robotic operation.

2. From the ribbon choose Operation tab→Add Location group→Add Current Location .

115 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

The path editing buttons can also be found on the Path toolbar which is turned off by default.

3. On the Operation Tree viewer, select the via location in the generic_robot_Op robotic
operation.

4. From the ribbon choose Operation tab→Add Location groupAdd Location After .

5. Use the Manipulator Frame in the Graphic Viewer to move the robot's wrist to another
location.
6. Close the Robot Jog dialog box.
7. Repeat steps 3 through 7 to create a third location in the robot operation (robot path).

5: Play the simple simulation

1. On the Operation Tree, right-click generic_robot_Op and choose Set Current Operation .
2. From the Sequence Editor, click Jump Simulation to End .
3. From the Sequence Editor, click Jump Simulation to Start .
4. From the Sequence Editor, click Play Simulation Forward .
5. From the Sequence Editor, click Jump Simulation to Start .

116 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5. Analysis tools and study data

117 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5.1. Study data
There are no activities for this lesson.

5.2. Multi part appearances

Working with multi part appearances

Estimated time to complete: 5–10 minutes
The objective of this activity is to demonstrate the creation of multi part appearances.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Reload the data and create an appearance

Warning:
You must do at least the first step on this page.

1. Reload the data that you used earlier in this course, if it is not already loaded.
o Airplane: study (.\\Projects\Airplane Project\Line 1\Workcenter 50 study.psz)
o Robotics: study (.\\Projectss\Robotics Example\Line1\Robotics Example.psz)
o Structure: study (.\\Projects\Structure Project\Line1\Structure.psz)

118 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. From the Object Tree or Graphic Viewer, select the LandingGear_textured part.

3. From the ribbon, choose Process tab→Planning group→Multi Part Appearance .

4. From the Multiple Part Appearance dialog box, choose Create new appearance from the
selected objects.
5. Select the new line for the appearance in the Multiple Part Appearance dialog box.
6. Choose Assign operation to selected appearance and choose a valid operation from the
Operation Tree. For example, select a compound operation and click the check mark button to
accept.
7. Click Apply and Close.

Note:

See the note at the beginning of this lesson for more information on appearances.

2: Move the Part Instance Appearances

1. From the Object Tree, browse into the Appearances folder.
2. Select an appearance (of a part) and choose Placement Manipulator from the Graphic
Viewer toolbar.

3. In the Placement Manipulator dialog box for Frame of Reference, select Working Frame.
4. In the Graphic Viewer, use the Placement Manipulator frame to drag the appearance along
the X-axis (along the line).
5. Close the Placement Manipulator dialog box.
6. (Repeat this process for another appearance.)

3: Listing, Blanking, and Displaying Part Instance Appearances

119 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 1. Select product that has appearances in the Parts folder of the Object Tree viewer.

2. From the ribbon choose Process tab→Planning group→Multi Part Appearance

3. A list of part instances is shown including the operation it is relative to.

4. Close the Multi Part Appearances dialog box,
5. From the Object Tree, deselect the display status square for one of the appearances to blank or
display it.

120 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5.3. Create and use snapshots

Creating snapshots
Estimated time to complete: 6–12 minutes
The objective of this activity is to create some snapshots.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Create a Flow Operation

Note:
At this point in the course you should have at least one basic simulative operation created. If not, then
create one (for example object flow, device, or robotic) using the follow steps.

Warning:
You cannot create a object flow path of an appearance.

1. Select an object in the Graphic Viewer.

2. Hold down the Ctrl key.
3. Select a compound operation in the Operation Tree.

4. From the ribbon, choose Operation tab→Create Operation group→New Operation

→New Object Flow Operations .

121 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 The Start Point is already defined (as the self origin of the selected object)

5. In the New Object Flow Operation dialog box, select the End Point box.
6. In the Graphic Viewer, select a point on the floor for the end point of the path.
7. Click OK.

Note:

More attention is paid to creating flow operations in the course.

2: Create a couple snapshots

1. from the ribbon, choose View tab→Screen Layout group→Viewers→Snapshot Editor.

2. Make sure the Snapshot Editor viewer is wide enough to see all the icons on its toolbar.

3. From the Snapshot Editor toolbar, click New Snapshot .

4. A new snapshot of the graphic information currently displayed in the Graphic Viewer is created
with the default name Snapshot# and the snapshot is displayed in the upper part of the
Snapshot Editor.
5. Rename the snapshot to Zoomed View by Selecting the snapshot name just created and
pressing the F2 key or selecting the Edit Snapshot icon.
6. Change the display in the Graphic Viewer in some way, such as by rotating, panning, or
zooming.
7. Create another snapshot the same way and name it to Another View.

122 plmx.com.br
suporte@plmx.com.br
11 3565 3808
3: Use the snapshots
1. Double-click on the Zoomed View snapshot.
2. Look in the Graphic Viewer.
3. Double-click on the Another View snapshot.
4. Look in the Graphic Viewer.

Note:

By default, only the point of view is applied but you can apply the location and visibility of
objects, too. Click the Apply Snapshot drop-down arrow and select one or more from the
following: Point of View, Objects Visibility, Objects Location, Device Poses and Objects
Attachments.

5. Sort the snapshots: In the Snapshot Editor, right-click nothing in the upper pane.
6. From the right-click menu choose Sort Snapshots .

123 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5.4. Use the Markup Editor

Creating markups
Estimated time to complete: 4–8 minutes
The objective of this activity is to learn how to use the markup editor.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Open the Markup Editor

1. From the ribbon choose Operation tab→Documentation group→Markup Editor ..

Note:

The markup editor can also be opened by following this procedure: Open the Snapshot Editor,
select a snapshot, and click Add Markup from the Snapshot toolbar. Using this technique,
the markups can be reused later (even after the snapshot image is refreshed).

124 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. From the Markup Editor toolbar click Add Note .
3. Select somewhere on the picture.
4. In the Edit Text dialog box for Font Size, select 36.
5. In the Edit Text dialog box, type the desired text such as Look at this exciting note.
6. Click OK
7. On the picture drag the note bigger so that you can see the text (drag the handle bars to the
right).
8. From the Markup Editor toolbar click New Text .
9. Select somewhere on the picture.
10. Type This is so fun.
11. On the picture drag the text bigger to make the text the desired size.
12. From the Markup Editor toolbar click New Scribble Polygon .
13. Circle something in the picture.

2: Save a picture of the operation from the Markup Editor dialog box
Note:
Markups can be printed or saved as a graphics file. Any markups added to the view are saved back to
the view for later use.

1. From the Markup Editor dialog box, choose Save as File .

2. In the Save As dialog box, type a name for the filename or take the default.
3. Append your user name to the end of the markup filename (for example _user1).
4. Browse to the C:\Temp folder.
5. Click Save.
6. In the Markup Editor dialog box, click Close.

125 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5.5. Add text in the Graphic Viewer

Setting the note options

Estimated time to complete: 4–8 minutes
The objective of this activity is to setup the note flags.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Change the Graphic Viewer background color

1. Choose File→Options .
2. Click the Appearance tab.

126 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. Select Background from the top list.
4. Select Solid (instead of Vertical) on the lower list.
5. Change the background color to light brown.
6. Click Preview, but do not close the Options dialog box yet.

2: Change the note color options

1. From the Options dialog box, click the Appearance tab, if it is not already selected.
2. Browse into New Objects in the list.

127 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. Select Note Background from the top list.
4. Change the color.
5. Select Note Border from the top list.
6. Change the color.
7. Select Note Text from the top list.
8. Change the color.

Note:

Changes to the note colors affects new notes that are created, but not existing ones.

9. Click OK.

128 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Creating notes in the Graphic Viewer
Estimated time to complete: 12–24 minutes
The objective of this activity is to learn how to create notes in the Graphic Viewer.

Note:
When using Attach File to create pictures or markups of a view containing notes, the font size of
the notes, as well as the image size, can be set when the picture is created. To use this command you
must first customize the Quick access toolbar and add it there using Customize Quick Access
Toolbar .

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Create a note for everything in the Graphic Viewer

1. In the Graphic Viewer, draw a selection window around everything.

2. From the ribbon, choose Modeling tab→Note group→Notes →Object Notes .

3. In the Graphic Viewer, drag the notes to the position want.

4. If the Object Tree viewer is not shown: From the ribbon, choose View tab→Screen Layout
group→Object Tree.
5. In the Notes folder of the Object Tree, you can blank, display, or delete notes.

129 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

Notes are considered study data—just like dimensions, frames, labels, and notes. They are not
stored in the psz file.

2: Create a text note another way

1. Select somewhere in the Graphic Viewer where you would like to add a note.

2. From the ribbon, choose Modeling tab→Note group→Notes →Create Note .

3. In the Note Editor dialog box, type some text in the Text area to replace any default text.
4. In the Note Editor dialog box, select the Keep size while changing zoom check box.
5. Click OK.

Note:

The note can be edited, deleted, or toggled between displaying the text or the flag. You can also
change its color or blank it, as required. To perform any of these actions, you need to right-
click the note and then choose one of these buttons: Blank , Modify Color , Edit Note
, Toggle Note Visibility , or Delete .

3: Edit the note

1. Select a note.

2. From the ribbon, choose Modeling tab→Note group→Notes →Edit Note .

3. In the Text box, change the text.

130 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. Select in the Object box and select the object in the Graphic Viewer to change the anchor point
for the leader line.
5. Click OK.
6. In the Graphic viewer, zoom in and out. The notes stay the same size as you zoom in and out.
7. Select the note again.

8. From the ribbon, choose Modeling tab→Note group→Notes →Edit Note .

9. Deselect the Leader line and Keep size while changing zoom check boxes.
10. Click OK.
11. In the Graphic viewer, zoom in and out. Compare the behavior of this note to other nodes in the
Graphic Viewer. Now, this note gets bigger and smaller as you zoom in and out.

4: Change its display between a flag and text

1. Select a note or group of notes (if more than one exists) from the Graphic Viewer or Object
Tree.

2. From the ribbon, choose Modeling tab→Note group→Notes →Toggle Note Visibility

3. Notice how the note is shown in the Graphic Viewer (as a flag).

4. From the ribbon, choose Modeling tab→Note group→Notes →Toggle Note Visibility

.
5. Notice how the note is shown in the Graphic Viewer.

131 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5: Change the color of the notes

1. Choose File→Options .
2. Click the Appearance tab.
3. Expand New Objects Colors.

4. Select Note Background.

5. Select a new color.
6. Repeat this process to change the default color settings for Note Border and Note Text.
7. Click OK.
8. Create another note.

Note:

The new note now takes on the new default color settings for Note Background, Note Border
and Note Text.

6: Change a note color and position

1. Right-click a note and choose Modify Color .

2. Select a new color.
3. Drag the notes to the desired position.

7: Create location notes

132 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 1. In the Object Tree, deselect the display status square for the Notes folder to blank all the
notes.
2. Select an object in the Graphic Viewer.

3. From the ribbon, choose Modeling tab→Note group→Notes →Location Note .

133 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Creating dimensions in the Graphic Viewer
Estimated time to complete: 4–8 minutes
The objective of this activity is to learn how to create dimensions in the Graphic Viewer.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Add a Dimension
1.

2. From the ribbon, choose Modeling tab→Note group→Create Dimension →Point to

Point Dimension .

3. Select two points in the Graphic Viewer.

4. Drag the dimension to position it.

Note:

The note flags and measured dimension can be saved as a picture or edited in the markup editor
and then saved as a picture.

134 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Create a markup

1. From the ribbon choose Operation tab→Documentation group→Markup Editor .

2. Create a markup.
3. Notice the notes and dimensions are shown here.
4. Close the Markup Editor dialog box.

135 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5.6. Store pictures of the study

Outputting the Graphic Viewer to a file or

printer
Estimated time to complete: 4–8 minutes
The objective of this activity is to learn how to output the Graphic Viewer to a file or printer.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Set the background color to white

1. Choose File→Options .
2. From the Options dialog box, click the Appearance tab.
3. Select Background color.

136 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. Select Solid from the drop down that currently says Vertical or Corners.
5. Select white for the color
6. Click OK.

2: Output a picture of the Graphic Viewer

1. From the ribbon, choose View tab→True Shading group→True Shading .

True shading mode is active.

137 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. From the ribbon, choose View tab→True Shading group, choose the down arrow next to

True Shading , and choose one of many options from the list:
o Floor Shadows
o Floor Reflections
o Global Texture

3. Choose File→Import / Export→Export Images .

4. In the Export Cell dialog box, select a file type (for example .BMP, .JPG, .png or .TIFF format)
from the Save as type drop-down list (output types may vary).

5. Browse into the C:\temp or your Desktop folder.

6. Type a filename that contains your user id.
7. Click Save to save the graphics file.
8. When you have finished, change the background color back to blue.

138 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5.7. Introduction to collision detection

Collision Viewer and fast collision sets

Estimated time to complete: 8–16 minutes
The objective of this activity is to learn how the Collision Viewer works.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Activate the collision viewer

1. If the Collision Viewer is not shown minimized along the bottom edge of the window: from the
ribbon, choose View tab→Screen Layout group→Collision viewer.

2. If it is not already there, position the Collision Viewer at the bottom of your screen by dragging
and dropping.
3. Expand the Collision Viewer and Pin it, so it stays expanded.
4. In the Collision Viewer, click Show / Hide Collision Sets to display the left pane of this
viewer.

139 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Set up fast collision

1. From the Graphic Viewer toolbar, choose Select with Filter .

2. From the Graphic Viewer toolbar,, choose Selection Type Parts and Selection Type
Resources .

3. From the Graphic Viewer toolbar, choose Selection Type All .

Note:

Notice the geometry in the Graphic Viewer that is selected.

4. From the Collision Viewer toolbar, click Fast Collision .

Note:

The fast_collision_set should be selected in the left pane of the Collision Viewer.

5. Activate the collision checking by clicking Collision Mode On/Off on the Collision
Viewer toolbar.

3: Check that the collision lists are setup correctly

1. Use Fast Placement or the Placement Manipulator to move some of the objects into a
collision with other objects.

Note:

140 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Normally you would use collision detection statically or dynamically (for example in the
context of a simulation). In this case you are just moving the parts into collision to test your
collision setup and understand the mechanisms behind Process Simulate collision detection.

2. Collisions is highlighted in red as they occur.

Note:

When checking collisions during a simulation you can have the simulation stop at the first
collision or just beep and continue. In both cases the colliding objects are highlighted in red.

4: Look at the collision report

1. If there are collisions to report, the Collision Viewer dialog box displays the collisions (red) and
near misses (yellow) that occur.
2. Expand an object in the list. You can see the objects which this piece is colliding with. For
example (depending on your data, this picture may look different):
3. Deactivate the fast_collision_set: In the left panel of the Collision Viewer, deselect the box
next to fast_collision_set.

141 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Defining collision sets (list pairs)
Estimated time to complete: 6–12 minutes
Collision detection is accomplished by searching for a collision between objects in one list and objects
in another list. This means that list pairs must be created before collision detection is possible.

Multiple list pairs can be defined. A default name is automatically given for each list pair, although
another name can be specified.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Create a new pair of lists

1. Click New Collision Set in the Collision Viewer.

2. In the Collision Set Editor dialog box, click in the Check area.
3. In the Graphic Viewer, select objects for the first list.
4. In the Collision Set Editor dialog box, click in the With area.
5. In the Graphic Viewer, select objects for the second list that are not already colliding with
objects in the first list.
6. Click OK.
7. Rename the collision set: In the left panel of the Collision Viewer, select on the
new_collision_set and press the F2 key.
8. Type MyFirstList.

2: Emphasis the objects in the collision set

1. Select the MyFirstList collision set.
2. In the Collision Viewer, click Emphasize Collision Set .
3. Look at the blue and yellow objects in the Graphic Viewer.
4. In the Collision Viewer, click Edit Collision Set .

142 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 5. In the Collision Set Editor dialog box, select in one of the lists.
6. Select another object not already in a list (a gray object). It is colored blue or yellow.
7. Click OK.
8. Click Emphasize Collision Set again.

3: Test Collision detection

1. Use the Placement Manipulator to temporarily move one of the objects from one list into
a collision with an object from the other list.

2. Reset the object placement after you have seen that your collision set is working.

143 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5.8. More on collision detection

Collision setup and Collision Viewer

Estimated time to complete: 8–16 minutes
In this activity, you learn how the Collision Viewer works, including its new features.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

Option 4: Project used in this activity: \\Projects\Robotics Sim Begin\

LineUSERNUMBER_UNDEFINED\StudyFolder\processing

Option 4: Study opened in this activity: station02_demo.psz

1: Start checking for collisions

In this example you use a fast collision.

1. Create a fast collision set between two objects

2. In the left panel of the Collision Viewer, select the check box for fast_collision_set and
deselect the check box next to other collision lists, if there are any.
3. Collision detection should be turned on.

2: Setup the Collision options

144 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 1. Right-click in the Graphic Viewer and choose Options from the displayed shortcut menu.
2. Click the Collision tab.
3. Select the Check for Collision Near-Miss check box.
4. For the Near-Miss Default Value type 50

5. Select the Stop Simulation when a Collision is Detected check box.

6. Select the Play Sound when a Collision is Detected check box.

7. Click OK

3: Check that the collision lists are setup correctly

1. Use Fast Placement or the Placement Manipulator to move some of the objects into a
collision with other objects.
2. Collisions is highlighted in red as they occur.

4: Look at the collision analysis

1. If there are collisions to report, the Collision Viewer dialog box displays the collisions (red) and
near misses (yellow) that occur. For example (your data may look different than the picture
below ):

145 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. Expand an object in the list. You can see the objects which this piece is colliding with. For
example (your data may look different than the picture below ):

146 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. The next steps require you to have a operation set as the current operation, thereby displaying it
in the Sequence Editor.
4. In the Sequence Editor toolbar, click Minimal Distance Report :

The Minimal Distance Report opens - it is currently empty.

5. In the Minimal Distance Report toolbar, click .

6. Click OK to reset the simulation and generate the report (if it is not reset).
7. Double-click lines in the report to jump to that time in the simulation.
8. Close the Minimal Distance Report dialog box.

147 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Filtering collision results
Estimated time to complete: 12–24 minutes
In this activity, you learn more about collision detection and the new features.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Setup the Collision options

1. Click Collision Options from the Collision Viewer.

2. The Collision tab is already selected.
3. Deselect the Stop Simulation when a Collision is Detected check box.
4. Deselect the Play Sound when a Collision is Detected check box.

5. From the Collision Sound File to Play → Browse, select desired .WAV file.
6. Click Open.
7. Click OK.

148 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Color Selected Pair
1. Click a line item in the Collision Viewer.
2. Click the down arrow to the right of Show Colliding Pair .
3. From the drop down list, select Color Selected Pair .
4. Click Show Colliding Pair (It activates).
5. Click another line item in the Collision Viewer.

Note:

In the Graphic Viewer the colliding objects from the selected line item are shown in blue and
red. All other objects are shown white.

6. Click another line item in the Collision Viewer.

7. Look at the results in the Graphic Viewer.

3: Filter — List All Pairs

1. Click the down arrow to the right of Filter Collision Results .

2. From the drop down list, select List All Pairs .
3. Look at the results in the Collision Viewer.

4: Filters — List Colliding Pairs

1. Click the down arrow to the right of Filter Collision Results .

2. From the drop down list, select List Colliding Pairs .
3. Look at the results in the Collision Viewer.

5: Show selected Pair Only

1. Click the down arrow to the right of Show Colliding Pair .

2. From the drop down list, select Show selected Pair Only .
3. Click Show Colliding Pair (It deactivates).
4. Click Show Colliding Pair (It activates).
5. Click a line item in the Collision Viewer.

Note:

In the Graphic Viewer the colliding objects from the selected line item are shown in red. All
other objects are blanked.

149 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. Click another line item in the Collision Viewer.
7. Look at the results in the Graphic Viewer.
8. Click Show Colliding Pair (It deactivates).

6: Highlight the area of collision for a specific line item

1. Click another line item in the Collision Viewer.
2. Click Show/Hide Colliding Contour .
3. See the resulting curve displayed at the area of collision in the Graphic Viewer.
4. Click Show/Hide Contour View .
5. In the Collision Curves pane of Collision Viewer, select a curve.
6. In the Collision Curves pane of Collision Viewer, click Zoom to selected .
7. Pick on another line item and see the results in the Graphic Viewer.
8. Click Freeze Viewer
9. Blank one of the colliding objects. Notice the collision contour left on the other colliding
object.

150 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5.9. Factors that affect collision detection

(Instructor Demo) Factors that affect collision

detection
Estimated time to complete: 14–28 minutes
you discuss some of the factors that affect collision detection.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Change the collision options

1. Right-click in the Graphic Viewer and choose Options from the displayed popup menu.
2. In the Options dialog box, click the Collision tab.
3. Select the Stop Simulation when a Collision is Detected check box.
4. Select the Play Sound when a Collision is Detected check box.

5. Click OK.

151 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

The Stop Simulation when a Collision is Detected check box freezes the simulation when a
collision or near miss is detected.

To hear a sound when a collision occurs, you need to click Sound Browse to locate an
appropriate sound file (.WAV) to be played.

2: Set the colliding objects

1. From the left pane of the Collision Viewer choose New Collision Set .
2. Add an object into the Check column and another object into the With column.

Note:

You can select the objects from the Object Tree viewer or from the Graphic Viewer. By default
the collision detection works at the component level, but it can also work at an entity level, or a
hybrid of both levels.

3. Click OK.
4. Activate the collision detection by clicking Collision Mode On/off .

3: Simulation / Collision Demo

1. The instructor creates a simulation of an object moving quickly through another object.

4: Play and reset the simulation with collision detection active

1. Click Play Simulation Forward on the Sequence Editor toolbar and watch the simulation in
the Graphic Viewer.

Note:

Notice that the simulated object stops (collides) with the static object. The colliding pairs also
be listed in the Collision Viewer, highlighted in red.

2. Look at the results of the simulation.

3. Click Jump Simulation to Start on the Sequence Editor toolbar.

152 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5: Change the simulation speed
Methods to change the simulation speed:

1. In the Sequence Editor, move the Simulation Speed Slider increase or decrease the simulation
speed. Placing the slider in the exact center provides real-time simulation. So, move it to the
right of center to speed up the simulation.

Tip:

You can move the slider at any time, including in the middle of a running simulation.

2. In the Sequence Editor, to the right of the Simulation Speed Slider, in the Simulation Time
Interval box, enter 1.0, and press Enter. This value makes the simulation run faster. This
change can only be made before a simulation is run.

Note:

The simulation time interval determines how often the Graphic Viewer is redrawn. Lower
numbers (that is, shorter time intervals) redraw it more frequently, thereby making simulation
slower. This does not affect the true duration that it takes the task to be done in real-time.

6: Play the simulation again

1. Click Play Simulation Forward on the Sequence Editor toolbar again and watch the
simulation in the Graphic Viewer.

Note:

Notice that the collision does not occur this time. This is because the collisions lists were
processed once per second, and the ball had already moved past the collision point when the
check was performed. This is the quickest possible setting.

2. In the Sequence Editor, to the right of the Simulation Speed Slider, in the Simulation Time
Interval box, enter 0.05, and press Enter.
3. Click Play Simulation Forward on the Sequence Editor toolbar again and watch the
simulation in the Graphic Viewer.

Note:

Notice that the collision does occur this time. This is because the collisions lists were processed
once per 0.05 seconds. This is the slowest possible setting.

153 plmx.com.br
suporte@plmx.com.br
11 3565 3808
7: Return to the default time interval
1. In the Sequence Editor, to the right of the Simulation Speed Slider, in the Simulation Time
Interval box, enter 0.2, and press Enter.

154 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5.10. Cut sections with section planes

Creating and moving a section plane (Optional)

Estimated time to complete: 10–20 minutes
The objective of this activity is to cut sections through the objects in a scene.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Display only the desired objects (parts/resources)

1. Select the first desired objects (parts/resources).
2. Hold down the Ctrl key.
3. Select several other desired objects (parts/resources).
4. Right-click one of the selected objects (parts/resources) and choose Display Only .

2: Create a section through these objects (parts/resources)

1. Optionally, select a point on the objects (parts/resources) for the origin of the cutting plane.

Note:

If nothing is selected, it is created at the Working Frame. It can always be moved or

repositioned later.

155 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. From the ribbon, choose View tab→Section group→New Section →New Section Plane

Note:

The Section Manager dialog box is open and the new section is shown in the Sections folder
of the Object Tree and in the Graphic Viewer.

3. Notice the current section alignment displayed as a an icon in the toolbar of the Section
Manager dialog box such as Align to X .

Note:

This cuts a section on the YZ-plane of the Working Frame at the selected point.

4. In the Section Manager dialog box, click the down arrow to the right of the current section
alignment to select something other than Align to X . In this case choose an alignment that
intersections some geometry.
5. In the Section Manager dialog box, click Activate Section to cut the section.

Note:

This causes the section to the be cut in the main Graphic Viewer.

6. From the ribbon, choose View tab→Section group→ Section →Cut Section .

156 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 A second can be the 3D geometry on the positive or negative side of the section plane. This is
referred to as a clip. Or it can be the 2D geometry that intersects the section plane. This is
referred to as a cut.

7. From the ribbon, choose View tab→Section group→ Section →Save Section Contour as
Component .
8. In the Save Component As dialog box, choose Desktop and click Save.

9. From the ribbon, choose View tab→Section group→ Section →Clip Section .

3: Manipulate the section

1. You can also drag the section around the Graphic Viewer using the manipulator frame handles
to change its position or orientation. For example drag the red X arc of the manipulator frame
to rotate the section around the X-axis.
2. In the Section Manager dialog box, repeatedly click Move Negative or Move Positive
to move the section across the Z-axis of the section plane (that is, perpendicular to the section).
Note how the section moves as you move the slider.

Note:

If the Section Manager dialog box is accidentally closed, right-click the section in either the
Sections folder of the Object Tree and in the Graphic Viewer and choose Section Manager.

157 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. Change the step size by clicking the Step size link and changing the step size in the displayed
dialog box and move it some more.
4. In the Section Manager dialog box, click the down arrow to the right of the current Section
Alignment to select Align to Point and select a point on the part.

Note:

This maintains the same section orientation, but move it to the selected point.

5. In the Section Manager dialog box, click the down arrow to the right of the current Section
Alignment to select Align to Surface and select and point on the part.

Note:

This moves it to the selected point and orient the section tangent to the point.

6. Move the section using the new step size by clicking Rotate Positively .

4: Perform a measurement on the section

1. Right-click the section plane and choose to open the section viewer.
2. From the Graphic Viewer toolbar, change the Pick Intent to Where Picked .

3. Click Point to Point Distance on the Graphic Viewer toolbar.

4. Measure the point to point distance between two entities in the Section Viewer. The cross-
section line is drawn in the Graphic Viewer.

Note:

In another topic, you learn how to create a 3D text using Create Note and Create

Dimension , which help highlight problem areas. This information could be output as a
picture for use in a report.

158 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5: Look at the section in the Object Tree and more
1. Return to the Object Tree.
2. Expand the Sections folder in the Object Tree.
3. In the Object Tree, the section can be blanked, displayed, deleted, and more by right-clicking
on it.

Note:

If the Section Manager dialog box is accidentally closed, right-click the section in either the
Sections folder of the Object Tree or in the Graphic Viewer. Then choose Section Manager.

4. Add section contours to the results in the Graphic Viewer: From the ribbon, choose View

tab→Section group→Section →Show Section Contours .

The white section contours are shown where the 3D geometry intersects the section plane.

5. Add capping and look at the results in the Graphic Viewer: From the ribbon, choose View

tab→Section group→Section →Capping .

6. Add hatching and look at the results in the Graphic Viewer: From the ribbon, choose View

tab→Section group→Section →Hatching .

7. Close the Section Manager dialog box.

159 plmx.com.br
suporte@plmx.com.br
11 3565 3808
More on cutting sections (Optional)
Estimated time to complete: 12–24 minutes
The objective of this activity is to cut some more sections.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Open a Section Viewer and Section Manager for an existing section

1. In the Object Tree viewer, right-click the section and choose New Section Viewer from the
displayed popup menu.
2. A section clip is displayed in a new Section dialog box.

Note:

Now the section is shown in the Section dialog box and the Graphic Viewer.

3. Right-click the section and choose Section Manager from the displayed popup menu, if it
is not already open.
4. In the Section Manager dialog box, click Deactivate Section .

Note:

Now the section is only shown in the Section dialog box.

2: Switch the contents of the Section viewer from a clip to a cut

1. From the ribbon, choose View tab→Section group→Section →Cut section .

160 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

The section cut is now two-dimensional.

2. From the ribbon, choose View tab→Section group→Section →Orient View to Section
Plane .
3. Right-click in the Graphic Viewer and choose Zoom to Fit .
4. Hold down the Alt key and draw a box with the left mouse button to zoom in to an area of
interest in the Section dialog box.
5. In the Graphic Viewer or Object Tree, right-click the section plane and choose Blank from
the displayed popup menu to blank it.
6. In the Object Tree, right-click the section plane and choose Delete from the displayed popup
menu to remove it.

3: Different Ways to Cut a Section

1. Select a point on an object. Cut a section. The section plane is located on the selected object.
2. Select nothing. Cut a section. The section plane is located on the Working Frame. You can
then shift the section plane where you want it.
3. From the Graphic Viewer toolbar, change the Pick Intent to Self Origin .

4. From the Graphic Viewer toolbar, change the Pick Level to Component .
5. Select an objects (parts or resources) to have the section plane originate at the object origin.

4: Opening Additional Graphic Viewers

1. Create a cross section along the XY-plane of the Working Frame.
2. Slide the section to just below all the objects and make the section mode is on cut and not clip.
3. Open a new section viewer (Graphic Viewer ) for the section.

161 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. Set this new Graphic Viewer and the main Graphic Viewer side-by-side.

5: Managing Sections on the Objects Viewer

1. From the Object Tree viewer, rename the section just created to View 2.
2. Close the section’s Graphic Viewer.
3. Use the Object Tree viewer to blank the section located in the Sections folder.
4. Whenever you want a second Graphic Viewer, just open a new section viewer for this section.
5. If you no longer want a section, right-click it and choose Delete .

162 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5.11. Cut sections with section volumes

Creating and moving a section volume

(Optional)
Estimated time to complete: 4–8 minutes
The objective of this activity is to create a section volume.

Option 1: Project used in this activity: .\\Projects\Robotics

Example\LineUSERNUMBER_UNDEFINED

Option 1: Study opened in this activity: Robotics Example.psz

Option 2: Project used in this activity: .\\Projects\Airplane

Project\LineUSERNUMBER_UNDEFINED

Option 2: Study opened in this activity: Workcenter 50 Study.psz

Option 3: Project used in this activity: .\\Projects\Structure

Project\LineUSERNUMBER_UNDEFINED

Option 3: Study opened in this activity: Structure.psz

1: Create and place a basic section volume

1. From the ribbon, choose View tab→Section group→New Section →New Section Volume

2. Using the Section Manager dialog box, position the box as desired
3. In the Section Manager dialog box, click Activate Section .
4. Move the section volume as desired.

163 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 5. From the ribbon, choose View tab→Section group→Section →Clip Inside or Clip
Outside .

2: Scale and shape section volume

1. Using the Section Manager dialog box, check Scaling
2. In the Graphic Viewer with the mouse, drag the yellow manipulators protruding from the
section box to size of a side of the object.
3. Using the Section Manager dialog box, deselect Scaling
4. Using the Section Manager dialog box, check Shape
5. Select an edge of the volume box.

Note:

The edge is highlighted in blue.

6. In the Graphic Viewer with the mouse, drag the blue edge of the section box to change it to
other prismatic shapes.
7. Using the Section Manager dialog box, deselect Shape
8. Close the Section Manager dialog box.

164 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5.12. Use Cables

Creating, editing, and moving cables

Estimated time to complete: 16–32 minutes
In this activity, you create a cable between any two objects. Then you create multiple cables as part of
a robot dress package. Also you edit a cable and simulate a robot moving with cables attached to it

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\other_selected

Study used in this activity: cables_servo.psz

1: Load the cables servo study

1. From the Quick access toolbar choose Open in Standard Mode .

2. Browse to .\\Projects\Robotics Sim Begin (userUSERNUMBER_UNDEFINED)\other-

selected.
3. Select cables_servo.psz and click Open.
4. Right-click in the Graphic Viewer and choose Display All .

2: Get ready to create a cable between any two objects

1. From the ribbon, choose the Modeling tab→Layout group→Create Frame →Frame by 6

values .

2. Select a position on any component to represent the start frame and click OK.

165 plmx.com.br
suporte@plmx.com.br
11 3565 3808
A frame is created to represent the start of a cable segment. The cable flows from this frame along the
Z-axis.

3. From the ribbon, choose the Modeling tab→Layout group→Create Frame →Frame by 6

values .

4. Select a position on a component to create a frame to represent the end frame. and click OK.
A frame is created to represent the end of a cable segment. The cable flows into this frame along the Z-
axis.

5. Select the start frame and choose Placement Manipulator from the Graphic Viewer
toolbar.

6. Reorient the frames so that their Z-axes point at each other.

3: Create a cable between any two objects

1. From the ribbon, choose the Modeling tab→Cable group→Cable Editor .

2. In the Cable Editor dialog box for Start frame, select the start frame you just created.
3. For End frame, select the end frame you just created.
The minimal distance (cable length) is shown at the bottom of the Cable Editor dialog box. For
example (your length may be different):

166 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. For Length, type a length that is greater than the minimal distance.
This is not an error. It is just for information.

5. For Radius, type 5.

6. Expand into Parameters.
7. Notice the Stiffness is set to 3.
Typically, you leave this value alone. Later if the cable does not behave correctly, you can edit the
cable and enter a value between 0 and 5. Higher values are more stiff.

8. ForFulcrum length, type 2.

A fulcrum is the start, end, and hooks. Basically, this is how far from the ends that the cable remains
straight (before beginning to bend). This should be less than 25% or less of the distance between the
two closest fulcrums.

9. Click Generate.
A cable is created and displayed in the Graphic Viewer and the Cables folder of the Object Tree. If the

cable looks smooth , your length is good. If it looks knotted , your length is too short (Cable
is over stretched).

10. Select the cable to edit it values with the Cable Editor dialog box.
11. From the ribbon, choose the Modeling tab→Cable group→Cable Settings .

12. In the Cable Settings dialog box, look at the settings such as Wrap around objects during
motion and Smooth cable display.
These settings are only used if required, since they may decrease performance.

13. Click OK.

4: Create a cable on a robot

Note:

167 plmx.com.br
suporte@plmx.com.br
11 3565 3808
In this case, you are going to create multiple cable segments to represent the cables of a robot dress
package. The cables are to be created between the brackets and devices attached to the robot. Each of
these brackets and devices already contains frames to be used for the cables.

1. In the Object Tree, right-click robot 3 compound resource and choose Display Only .
2. In the Object Tree, right-click robot 3 compound resource and choose Zoom to Selection
.

3. From the ribbon, choose the Modeling tab→Cable group→Cable Editor .

4. From the Graphic Viewer toolbar change the Pick Level to Entity .

5. In the Cable Editor dialog box for Start frame, select the orange frame (fr1) on the green
eyelet of eps_zt200_j2brkt3.

6. For End frame, select the orange frame (fr1) on the brown eyelet of eps_zt_jt3_2.

7 For Length, type 1100.

168 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 8. For Radius, type 41.25.
9. Click Generate.
A cable is created and displayed in the Graphic Viewer and the

Cables folder of the Object Tree.

Tip:

If the cable looks smooth , your cable is good. If it looks knotted , your cable has exceeded
one of its limits. For example, your cable length is too short (Cable is over stretched).

5: Create more cables on the robot

1. From the ribbon, choose the Modeling tab→Cable group→Cable Editor .

2. In the Cable Editor dialog box for Start frame, select the white frame (fr2) on the brown eyelet
of eps_zt_jt3_2.
3. For End frame, select the cyan frame (fr7) on the brown box of eps_zt_jt3_2.
4. For Length, type 750.
5. For Radius, type 41.25.
6. Click Generate.
A cable is created and displayed in the Graphic Viewer and the Cables folder of the Object Tree.

169 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 7. Use the same process to define these cables:

Name Start Frame End Frame Length Radius

cable3 orange fr9 on gray box white fr4 on right blue eyelet 400 37.5
cable4 purple fr8 on brown box red fr6 on left blue eyelet 550 37.5
cable5 blue fr3 on right blue eyelet blue fr4 on right yellow eyelet 1000 37.5
cable6 orange fr5 on left blue eyelet white fr2 on yellow eyelet 1000 37.5
cable7 red fr3 on yellow eyelet white fr1 on gray box of gun 800 25.4
cable8 orange fr1 on yellow eyelet blue fr3 on gray box of gun 1100 25.4

170 plmx.com.br
suporte@plmx.com.br
11 3565 3808
6: Move the flexible cable

1. From the Graphic Viewer toolbar, set the Pick Level to Component

2. From the Operation Tree, right-click pa3 and choose Set Current Operation .
3. In the Sequence Editor choose Play Simulation Forward .

The cables flex. However the first cable you created on the robot gets over stretched .

4. In the Sequence Editor choose Jump Simulation to Start .

7: Fix the over stretched cable

1. Select the cable1 cable (the first robot cable you created).
2. From the ribbon, choose the Modeling tab→Cable group→.

Cable Editor

3. For Length, type 1300, and click OK.

4. In the Sequence Editor choose Play Simulation Forward .
The cables flex and do not get over stretched.

5. In the Sequence Editor choose Jump Simulation to Start .

8: Replace the first two cables with one cable and hook

1. Select the cable2 cable (the second robot cable you created).

171 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Recall this cable segment is 750 mm long.

2. From the ribbon, choose the Home tab→Edit group→Delete .

The second cable segment is deleted.

3. Select the cable1 cable (the first robot cable you created).
Recall this cable segment is 1300 mm long.

4. From the ribbon, choose the Modeling tab→Cable group→Cable Editor .

5. Verify the Pick Level is set to Entity .

6. In the or Edit Cable dialog box for the End frame, select the cyan frame (fr7) on the brown box
of eps_zt_j3_3.
7. For Length, type 2050.
1300mm + 750mm = 2050mm

8. In the or Edit Cable dialog box, expand the Attachments area.

9. Click Add.
10. In the Add Hook dialog box for Distance from start, enter 1300.
11. For Hook frame, select white frame (fr2) on the brown eyelet of eps_zt_j3_3, and click OK.
12. In the or Cable Editor dialog box, verify the distance entered for the hook is 1300.
If you need to edit the distance entered for the hook, double-click it, enter the new value, and press
Enter.

13. In the or Cable Editor dialog box, click Generate.

172 plmx.com.br
suporte@plmx.com.br
11 3565 3808
A single cable is created that looks similar to the old cable1 and cable2 segments.

9: Save your study

1. From the Quick access toolbar, choose Save .

173 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5.13. Output .AVI and .HTML files

Creating a video and an HTML file

Estimated time to complete: 4–8 minutes
The objective of this activity is to output simulation to a movie file and an 3D HTML file.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\other_selected

Study used in this activity: cables_servo.psz

1: Start recording a video

1. In the Operation Tree, right-click on the process and choose Set Current Operation .
2. From the ribbon choose Operation tab→Documentation group→Movie Recorder .

3. In the Movie Recorder dialog box, click Settings .

4. In the Movie Recorder dialog box for Desitnation, navigate to the Desktop folder.
5. In the Movie Recorder Settings dialog box, expand into Capture area, and choose Graphic
Viewer standard resolution.
6. Expand into Timing and select Real time for Movie time based on.
7. Expand into Overlay and type My video in the big white text box.
8. Expand into Graphic Viewer options and deselect Navigation cube, and Path/Locations.
9. Click OK.
10. Click Record .
11. In the Sequence Editor, click Play Simulation Forward and watch the simulation in the
Graphic Viewer.

Note:

174 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 You have not created a simulation yet, so just use Fast Placement or the Placement
Manipulator to move some of the objects

2: Stop recording the .AVI and Play the video

1. Click Stop Recording (Just above the ribbon).

Move was created successfully. Do you wish to open the containing folder?

2. Click Yes
3. Double-click the new video file.
4. Double-click the new video file on the desktop. The Windows Media Player opens (or
whatever your default video player is), and the video file is played.

3: Create the web (3D HTML) file

1. Blank anything that you do not want exported to the HTML file.

2. From the ribbon choose File→Import/Export →Export to Web

3. For File name, click Browse ..., select the your desktop, and click Save.
4. For Level of details, select Medium.
5. Select Include simulation.
6. For the Operation, select your simulative operation from the Operation Tree (such as a robot
simulation or flow operation)
7. Click OK.

For example:

175 plmx.com.br
suporte@plmx.com.br
11 3565 3808
4: Play the web view

1. In the Process Simulate Web View, use the right mouse button to pan.
2. Use the middle mouse button to zoom.
3. Use the left mouse button to rotate.
4. Click Play to see the simulation in the Process Simulate Web View.

176 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. Other Selected basic topics

177 plmx.com.br
suporte@plmx.com.br
11 3565 3808
6.1. Set TuneCellPath attributes_act
There are no activities for this lesson.

6.2. Use Process Simulate Standalone - eMS

compatible

Working with default templates

Estimated time to complete: 4–8 minutes
In this activity, you use the default PSZT (template) file.

Project used in this activity: (none)

Study used in this activity: (none)

1: Use a template
To create a new study in Process Simulate Disconnected (Standalone) based on a project from
eMServer:

1. Double-click the Process Simulate Standalone - eMS Compatible icon on the

desktop, if it is not already started.

2. From the ribbon, choose File→Disconnected Study New Study from the toolbar.

Note:
The New Study dialog box opens. The default template is shown.

3. Leave the Study type a RobcadStudy

4. Click Create.

178 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Note:
Process Simulate Standalone creates the new study which you can now add data.

5. To create the study’s .psz file: From the Quick access toolbar choose Save .
Note:
The Save as dialog box opens.

6. In the Save As dialog box, browse to the C:\temp\disconnected folder.

7. For Save as type, choose Study (*.psz) .
Note:
You can change the default file name if you wish, and select the file type from the drop-down list.
These options allow you to save the .psz file with or without components.

8. For the File name, enter Station1.psz.

9. Choose Save.
10. From the Quick access toolbar choose Save to save the study with the new component in it.

Note:
Saving this study has no affect on the component just imported. The master for the component was
already stored to the sysroot at the end of the import process.

2: Setup your own system root

1. Begin setting the disconnected library root: Choose File→Options .
2. In the Options dialog box, click the Disconnected tab.
3. Click Browse and create the C:\temp\disconnected\disconnected_sysroot folder.
4. Select the disconnected_sysroot folder and click OK.
5. Click OK in the Options dialog box.

179 plmx.com.br
suporte@plmx.com.br
11 3565 3808
3: Convert and insert CAD into the new study

1. In Process Simulate Standalone - eMS compatible, choose: File→Import/Export →

Convert and Insert CAD Files .

2. In the Convert and Insert CAD Files dialog box, click Add.
3. In the Open dialog box, browse to the .\sysroot\cad_files\jt_parts folder.
4. Select the conrod.jt and click Open
The File Import Settings dialog box opens.

5. In the File Import Settings dialog box for Path click Browse .
The Browse for Folder dialog box opens.

6. In the Browse for Folder dialog box, browse into the

C:\temp\disconnected\disconnected_sysroot folder, click Make New Folder, and enter Libraries.
7. Repeat this process to create the
C:\temp\disconnected\disconnected_sysroot\Libraries\Product folder.
8. Select the browse to the Product folder and click OK.
9. Verify that the Base class is set to Part and the Prototype class is set to PmPartPrototype.
10. Select the Insert component check box and click OK.
11. In the Convert and Insert CAD Files dialog box, click Import.
12. Click Close twice after the import process completes.
13.From the Graphic Viewer toolbar, click Zoom to Fit.

180 plmx.com.br
suporte@plmx.com.br
11 3565 3808
181 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Go to the page 199, Cap. 7.

Working with custom templates

Estimated time to complete: 4–8 minutes
In this activity, you create and use PSZT (template) files.

Project used in this activity: (none)

Study used in this activity: (none)

1: Create a new template in Process Simulate (connected)

1. If it is not already started. double-click the Process Simulate (on eMS) icon on the
desktop.
2. Log in.
3. In the Welcome dialog box, click Cancel. Otherwise if you have already opened a project you

must close it: Choose File→Project →Close Project .

4. With no project open, choose Save from the Quick access toolbar.
The Save As Study Template dialog box opens.

5. In the Save As Study Template dialog box for Template, browse to the C:\temp\disconnected
folder.
Another Save As Study Template dialog box opens.

6. In the new Save As Study Template dialog box, click New folder, name it templates, and
browse into it.
Note:
You now have a folder to store your Process Simulate Standalone templates.

7. In the Save As dialog box, browse to the C:\temp\disconnected\templates folder.

8. For Save as type, choose Study Template (*.pszt). The default.
9. For the File name, enter template1.pszt.
10. Click Save to save the template.

182 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Use a template
To create a new study in Process Simulate Disconnected (Standalone) based on a project from
eMServer:

1. Double-click the Process Simulate Standalone - eMS compatible icon on the desktop,
if it is not already started.

2. From the ribbon, choose File→Disconnected Study New Study from the toolbar.
Note:
The New Study dialog box opens. The default template is shown.

3. In the New Study dialog box for Template, click Browse and browse to the
C:\temp\disconnected\templates folder.
4. In the Open dialog box, select the template1.pszt files, and click Open.
5. For the Template, select a project from the Choose Project list.
6. Leave the Study type as RobcadStudy.
7. Click Create.

Note:
Process Simulate Standalone creates the new study which you can now add data.

183 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 8. To create the study’s .psz file: From the Quick access toolbar choose Save .

Note:
The Save as dialog box opens.

9. In the Save As dialog box, browse to the C:\temp\disconnected folder.

10. For Save as type, choose Study (*.psz) .

Note:
You can change the default file name if you wish, and select the file type from the drop-down list.
These options allow you to save the .psz file with or without components.

11. For the File name, enter Station10.psz.

12. Choose Save.

184 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Starting and exiting Process Simulate
Standalone
Estimated time to complete: 6–12 minutes
In this activity, you learn about the relationship between Process Simulate on eMS and Process
Simulate Standalone (eMServer compatible).

Option 1: eMS Project used in this activity: Robotics Example

Option 1: eMS Study folder used in this activity: Studies\LineUSERNUMBER_UNDEFINED

Option 1: eMS Study used in this activity: Robotics Example

Option 2: eMS Project used in this activity: Airplane Project

Option 2: eMS Study folder used in this activity: Studies\LineUSERNUMBER_UNDEFINED

Option 2: eMS Study used in this activity: Workcenter 50 Study

Option 3: eMS Project used in this activity: Structure Project

Option 3: eMS Study folder used in this activity: Studies\LineUSERNUMBER_UNDEFINED

Option 3: eMS Study used in this activity: Structure

Standalone Project used in this activity: C:\temp\disconnected

Standalone Study used in this activity: Verify.psz

1: Save a .PSZ file from Process Simulate on eMS

1. From Process Simulate (on eMS), open a project that you used earlier in this course (for
example Airplane, Robotics, Structure data, etc.), if it is not already loaded.

Note:

At this point in the course you should have at least one basic simulative operation created. If
not, then create one (for example object flow, device, or robotic).

2. Important: Write down the name of the project you are in for later reference. It is also shown
on the launch page of this activity.
3. Browse into a study folder and located the desire study.
4. If the desired study is not loaded, right-click it and choose Load in Standard Mode .

185 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 5. From the ribbon, choose File→Disconnected Study →Save .
6. In the Save As dialog box, browse to the C:\temp folder.
7. In the Save As dialog box, click New folder, name it disconnected, and browse into it.
8. For Save as type, select Study Files (*.psz) and Library Components.

Note:

In this case you are not referring to a different system root as (connected) Process Simulate,
which is a local system root.

9. For the File name, type Verify.psz.

10. Click Save to save the Verify.psz file.

Note:

186 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 You are creating a .PSZ file that can be opened using Process Simulate Standalone
(eMServer compatible). You can use the same system root or a local system root.

11. Click Save again to save the Verify-LibraryComponents.zip file.

12. Click OK.

13. Exit from the connected Process Simulate by choosing File→Exit and clicking No.

14. Open a Windows Explorer dialog box.

15. From the Windows Explorer dialog box, browse into the C:\temp\disconnected folder and
right-click the Verify-LibraryComponents.zip file and choose Extract All.
16. Uncompress the .zip file so that its contents go into a new folder named
C:\temp\disconnected\disconnected_sysroot

Note:

This step is specific to your company or training room install. It might be done using Extract
all, unzip, pkzip, winzip, 7zip, or other 3rd party tool.

187 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Start Process Simulate Standalone

1. If the Process Simulate Standalone - eMS compatible icon is present on your

desktop, double-click it to launch the application.

Note:

If not, start the Process Simulate Standalone application from the Windows Start menu, as
follows: Choose Start→Programs→Tecnomatix→Engineering Applications→Process
Simulate Standalone - eMS compatible .

2. From the Welcome dialog box Choose File→Options .

3. In the Options dialog box, click the Disconnected tab.
4. If it is not already set, click Browse and select
C:\temp\disconnected\disconnected_sysroot.
5. Click OK twice.
6. From the Process Simulate Disconnected Welcome dialog box, click Open in Standard Mode

.
7. Browse and select the Verify.psz located in the C:\temp\disconnected folder.

188 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 8. Click Open.

3: Make some changes and save the .PSZ File

1. Rename one of the objects in the Resource folder of the Object Tree.
2. Move one of the objects 500 mm using the placement commands.
3. From the Quick access toolbar choose Save .

4. In Process Simulate Disconnected, choose File→Exit .

189 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Updating standalone from the database
Estimated time to complete: 8–16 minutes
In this activity, you learn how to selectively update a PSZ file.

Option 1: eMS Project used in this activity: Robotics Example

Option 1: eMS Study folder used in this activity: Studies\LineUSERNUMBER_UNDEFINED

Option 1: eMS Study used in this activity: Robotics Example

Option 2: eMS Project used in this activity: Airplane Project

Option 2: eMS Study folder used in this activity: Studies\LineUSERNUMBER_UNDEFINED

Option 2: eMS Study used in this activity: Workcenter 50 Study

Option 3: eMS Project used in this activity: Structure Project

Option 3: eMS Study folder used in this activity: Studies\LineUSERNUMBER_UNDEFINED

Option 3: eMS Study used in this activity: Structure

Standalone Project used in this activity: C:\temp\disconnected

Standalone Study used in this activity: Verify.psz

1: Add update .PSZ file to the toolbar

1. Continue where the last activity left off: both Process Simulate Disconnected and Process
Simulate (connected) are not open.
2. Start and login to Process Simulate (connected).

3. For Login type your eMS database user ID ()

190 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. Click OK.
5. Open the same project again.

6. From Process Simulate (connected), choose File→Disconnected Study →Open in

Standard Mode .
7. Browse and select the Verify.PSZ located in the C:\temp\disconnected folder.

8. Click Open.
9. From the Quick access toolbar choose eMServer Selective Update .

191 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 10. Click OK.

2: Optionally, update the .PSZ file

Note:
In Process Simulate Disconnected, you can either use Save to create a new PSZ file, or you can use
Update PSZ File to modify an existing PSZ file.

1. Use Customize Quick Access Toolbar to customize the Quick access toolbar and add
Update PSZ File to it.

2. Make a change in the study such as changing the name of a different object in the Resources
folder.
3. Click Update PSZ File on the Quick access toolbar.

192 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. Click Yes.
5. For Parts and resources to update, select the specific parts and resources (that have changed)
that you would like to update in the PSZ file.
6. Click the first Browse button and select the original PSZ file.
7. Click the second Browse button and type a new name (or take the default).
8. Check Save library components. Click the third browse button and select the
C:\temp\disconnected folder and type a file name for the zip file such as sysroot_update.zip.

9. Click OK

193 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 10. Click Yes.

11. Exit from Process Simulate (connected).

3: Update your disconnected system root

Note:
This step assumes that your Disconnected System Root is different than your (connected) System
Root. For example, it is only on your laptop.

1. Open a Windows Explorer dialog box.

2. From the Windows Explorer dialog box, browse into the C:\temp\disconnected folder and
right-click the update_sysroot.zip file and choose Extract All.
3. For the Extracted to Folder, enter C:\temp\disconnected\disconnected_sysroot.
4. Click Extract.
5. Choose to over write all files and folders, as prompted.

4: Look at the results

1. Start Process Simulate Disconnected by double-clicking the desktop icon.

2. In the Process Simulate Disconnected, choose File→Options.

3. In the Options dialog box, click the Disconnected tab.
4. Verify that the same disconnected system root folder is specified as your Disconnected System
Root.

194 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

This step assumes that your Disconnected System Root is different than your (connected)
System Root. For example, it is only on your laptop.

5. Click OK.
6. From the Quick access toolbar choose Open in Standard Mode .

7. Browse into the C:\temp\disconnected folder and select the new .PSZ file: for
example:verify_20110712_084803.psz.

Note:

Recall that in earlier in this activity, you specified a source and target PSZ file. Select the target
PSZ previously specified.

8. Click Open.
9. Look at the updated data.

195 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Update the database from standalone
Estimated time to complete: 4–8 minutes
In this activity, you learn how to update the eMS database from Process Simulate Standalone (eMS
compatible).

Option 1: eMS Project used in this activity: Robotics Example

Option 1: eMS Study folder used in this activity: Studies\LineUSERNUMBER_UNDEFINED

Option 1: eMS Study used in this activity: Robotics Example

Option 2: eMS Project used in this activity: Airplane Project

Option 2: eMS Study folder used in this activity: Studies\LineUSERNUMBER_UNDEFINED

Option 2: eMS Study used in this activity: Workcenter 50 Study

Option 3: eMS Project used in this activity: Structure Project

Option 3: eMS Study folder used in this activity: Studies\LineUSERNUMBER_UNDEFINED

Option 3: eMS Study used in this activity: Structure

Standalone Project used in this activity: C:\temp\disconnected

Standalone Study used in this activity: Verify.psz

Launch the

1: View the change in Process Simulate

1. Continue where the last Activity left off: with a study opened with Process Simulate
Disconnected.

2. In Process Simulate Disconnected, choose File→Exit .

3. Start Process Simulate (connected).
4. For Login type your eMS database user ID ()
5. Open the same project again.

6. Choose File→Disconnected Study →Open in Standard Mode .

7. Browse and select the latest .PSZ file; such as verify_20110712_084803.psz.

196 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Save your study

1. From the Quick access toolbar, choose Save .

197 plmx.com.br
suporte@plmx.com.br
11 3565 3808
6.3. OEM - Supplier collaboration
There are no activities for this lesson.

198 plmx.com.br
suporte@plmx.com.br
11 3565 3808
7. Modeling basics

199 plmx.com.br
suporte@plmx.com.br
11 3565 3808
7.1. Overview of basics

Switching to the Project_209S study

The objective of this activity is to switch to the project_209S study.

Project used in this activity: .\\Projects\Project_209S\LineUSERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: model kin demos.psz

1: Switching to a Project_209S study

1. From the Quick access toolbar choose Open .

Note:

By opening a new .psz file, the previously opened cell is closed. You do not need to save the
previous cell at this time.

2. In the Open dialog box, browse to the .\\Projects\Project_209S\Line

USERNUMBER_UNDEFINED\model kinematics folder.
3. Select the mod_kin_demos.psz file.
4. Click Open.

200 plmx.com.br
suporte@plmx.com.br
11 3565 3808
7.2. Process Simulate basic modeling tools
There are no activities for this lesson.

7.3. Model concepts

There are no activities for this lesson.

7.4. Solid create with primitives

Modeling a table
Estimated time to complete: 14–28 minutes
In this activity, you learn the basic functions of modeling.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Create new study

1. Choose File→Disconnected Study →New Study .
2. In the New Study dialog box, click Create.
3. In the Object Tree, select New RobcadStudy, press F2, and type temp.

201 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Open it and Start Modeling

1. From the ribbon, choose Modeling tab→Components group→New Resource

2. In the New Resource dialog box, select Work_Table.

3. Click OK.

4. Select the new object name and press the F2 key.

5. Name it mytable_userUSERNUMBER_UNDEFINED.

3: Set the units and the pick level

1. Choose File→Options .
2. In the Options dialog box, click the Units tab.
3. For Linear, select mm.

202 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. Click OK.

Note:

All data in Process Simulate are stored in mm. This setting only changes the display units.
Display units can be changed at any time.

5. From the Graphic Viewer toolbar, set the Pick Level to Entity .

4: Create the table geometry

1. In the Object Tree, select the mytable_userUSERNUMBER_UNDEFINED object.

2. From the ribbon, choose Modeling tab→Geometry group→Solids →Box Creation

→Create a box .

3. In the Create Box dialog box, enter: 1000 for the Length.
4. Press the Tab key to go to the next box.
5. For Width, type 1000.

203 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. Press the Tab key to go to the next box.
7. For Height, type 1000.
8. Click Expand Dialog .
9. For Locate at, select Working Frame.

10. Click OK.

11. From the Graphic Viewer toolbar, choose Zoom to Fit .

12. From the ribbon, choose Modeling tab→Geometry group→Solids →Box Creation
→Create a box .

204 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 13. In the Create Box dialog box for Length, enter: 2000.

Note:

You can press the [Tab] key to move between the boxes such as Length and Width.

14. For Width, enter: 800.

15. For Height, enter: 800.
16. For Locate at, select Working Frame.
17. Click OK.

18. From the ribbon, choose Modeling tab→Geometry group→Solids →Box Creation
→Create a box .

19. In the Create Box dialog box for Length, enter: 800.
20. For Width, enter: 2000.
21. For Height, enter: 800.
22. For Locate at, select Working Frame.
23. Click OK.

205 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5: Make the solids into a table

1. From the Graphic Viewer toolbar, change the Pick Level to Entity .

2. Hold down the Ctrl key

3. Select the two rectangular boxes.
4. Release the Ctrl key.

5. From the ribbon, choose Modeling tab→Geometry group→Solids →Subtract .

Note:

In the Subtract dialog box the Subtract entities box is automatically populated with the two
long boxes you selected in the previous steps.

6. In the Subtract dialog box, select in the From entity box.

7. Select the 1000 mm cube.

206 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 8. In the Subtract dialog box, select the Delete original entities check box.

9. Click OK.

207 plmx.com.br
suporte@plmx.com.br
11 3565 3808
6: Save your work
1. From the Object Tree, select your mytable_userUSERNUMBER_UNDEFINED.

2. From the ribbon, choose Modeling tab→Scope group→End Modeling .

3. In the Save Component As dialog box, browse into the desired folder under the system root,
such as \Libraries\modeling_kinematics\toolprototype folder.
4. Click Save.

7: Model the Table Again and Add More Geometry

1. From the Resources folder of the Object Tree, select the
mytable_userUSERNUMBER_UNDEFINED object.

2. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

208 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. In the Set Modeling Scope dialog box, click Yes, if prompted.

4. From the ribbon, choose Modeling tab→Geometry group→Solids →Box

Creation→Create a box .

5. In the Create Box dialog box for Length, enter: 20.

6. For Width, enter: 20.
7. For Height, enter: 3000.
8. For Locate at, select Working Frame.
9. Click OK.

8: Cancel the Modeling Session

1. From the Resources folder of the Object Tree, select the
mytable_userUSERNUMBER_UNDEFINED object.
2. From the ribbon, choose Modeling tab→Scope group→Reload Component .

3. Throw away changes to the object

Note:

209 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 The modeling icon is removed from the object and it is returned to the way it looked the last

time you saved (aka clicked End Modeling ).

9: Extra credit modeling

1. Select the mytable_userUSERNUMBER_UNDEFINED object.

2. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

3. Click Yes.
4. Model and place a donut or bagel onto your table: 1
5. Model and place a drinking glass for your table: 1(outside of cup) , 2 (inside of cup) ,3
(orange juice in cup)
6. Make the glass translucent: Right-click on the glass and choose Object
Viewing→Transparent .
7. Model a coffee mug: 1 (outside of cup) , 2 (handle) ,3 , 4 (inside of cup) ,5 ,6
(coffee in cup)
8. Model two chairs for your table (model the bottom of the chair just like the table): 1, 2, 3, 4, 5
(then add back rest)
9. Put a sun umbrella over your table on a pole: 1 , 2
10. From the Object Tree, select your mytable_userUSERNUMBER_UNDEFINED.
11. From the ribbon, choose Modeling tab→Scope group→End Modeling .

210 plmx.com.br
suporte@plmx.com.br
11 3565 3808
211 plmx.com.br
suporte@plmx.com.br
11 3565 3808
7.5. Use wireframe to create solids (optional)

(Optional) Revolving 2D entities to make a solid

Estimated time to complete: 18–36 minutes
The objective of this activity is to learn some of the 2D and editing commands.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Start modeling your fun1 object

1. Choose File→Disconnected Study →New Study .

2. Click Create in the New Study dialog box.
3. From the ribbon, choose Modeling tab→Components group→New Resource

4. In the New Resource dialog box, select ToolPrototype .

5. Click OK.
6. Select the new object name and press the F2 key.
7. Name it fun1_userUSERNUMBER_UNDEFINED.
8. Optionally, From the ribbon, choose View tab→Screen Layout group→Display Floor .

Note:

212 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2D sketching is performed on the XY-plane of the Working Frame (unless you sketch on the
side of an existing object). When sketching on the XY-plane of the Working Frame, it doesn’t
matter if the floor is displayed.

2: Create a straight line along the X-axis of the working frame

1. From the ribbon, choose Modeling tab→Geometry group→Curves →Create Polyline

.

2. Select anywhere in the Graphic Viewer.

A second row is added the Create Polyline dialog box. The values for the first point are filled
in. However, you overwrite these values in the next steps.

Note:

This is a requirement of the Create Polyline dialog box.

3. In the Create Polyline dialog box for X of the first point, type 0.
4. Press the Right Arrow key.
5. For Y, type 200.
6. Press the Right Arrow key.
7. For Z, type 0.
8. Press the Right Arrow key.
9. You are now entering coordinates for the second point. If not, press the Right Arrow key again.
10. In the Create Polyline dialog box for X of the second point, type 1000.
11. Press the Right Arrow key.
12. For Y, type 200.
13. Press the Right Arrow key.
14. For Z, type 0.
15. Press the Right Arrow key.
16. You are now entering coordinates for the third point. If not, press the Right Arrow key again.
17. Click OK to create the first polyline.
18. Right-click in the Graphic Viewer and choose Zoom to Fit .

213 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 19. From the ribbon, choose Modeling tab→Geometry group→Curves →Create Polyline
.

20. Create the first point of the second line at (0,0,0).

21. Create the second point of the second line at (1000,0,0).
22. Click OK to create the second polyline.

3: Create a wavy curve

Caution:
Create a wavy curve that only crosses the first polyline (the line NOT along the x-axis) at the curve’s
ends. Also the line should not cross the Working Frame’s X-axis

1. Turn off the display of the floor: If the floor is displayed, from the ribbon, choose View
tab→Screen Layout group→Display Floor .

2. From the Graphic Viewer toolbar, set the Pick Intent to Where Picked .

214 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. From the ribbon, choose Modeling tab→Geometry group→Curves →Create Curve .

4. Select several points on the XY-plane of the Working Frame defining a curve, but do not
cross the Working Frame’s X-axis (this is your revolution axis). The curve should be on the
opposite side of the line as the Working Frame. Also only cross the line you created at the end
points (not the middle). You are going to trim off the part of your wavy line that is between the
straight line and the X-axis in the next step. See the picture at the end of this step.
5. Click OK.

4: Trim the ends of the curve

Note:
Trim the ends of the curve so that it intersects the first polyline (the one NOT along the x-axis),
perfectly.

1. From the ribbon, choose Modeling tab→Geometry group→Curves →Split Curve on

Intersection .

215 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. In the Split Curve on Intersection dialog box for Curve, select Curve1.
3. Select in the Intersecting entity box.
4. Choose Polyline1.
5. Click OK.

Note:

You only trim the wavy curve and does not trim the polyline. When you later use Process
Simulate to revolve the wavy curve into a solid, it closes it for you automatically.

5: Delete the two small curves extending beyond the line

1. From the Object Tree, Blank the whole object.
2. Slowly Display the entities to find the two that should be deleted.

3. From the Graphic Viewer toolbar, make sure that the Pick Level is set to Entity .

4. Delete the polyline and the two small trimmed parts of the curve (most likely named
Curve1_1 and Curve1_3).
5. Display the whole object (which is just one wavy curve), if it is not already.

6: Create a surface of revolution

1. Select the wavy curve just created.

2. From the ribbon, choose Modeling tab→Geometry group→Solids →Revolute

(revolve).

216 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. For Start select one end of polyline2 (the line along the x-axis).
4. For End select the other end of polyline2 (the line along the x-axis).
5. For Rotation From enter: 0.
6. For Rotation To enter: 270.
7. Check Preview.
8. Click OK.

7: End the modeling session for your fun1 object

1. From the Object Tree, select your fun1_userUSERNUMBER_UNDEFINED.

Note:

End Modeling is only active when a modeled object is selected. Selecting an entity of a

modeled object do not make End Modeling active.

2. From the ribbon, choose Modeling tab→Scope group→End Modeling .

217 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. Save it into the \Libraries\modeling_kinematics\toolprototypes folder.

218 plmx.com.br
suporte@plmx.com.br
11 3565 3808
(Optional) Extruding 2D entities to make a solid
Estimated time to complete: 14–28 minutes
The objective of this activity is to create a solid from 2D geometry.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Start modeling your fun2 object

1. From the ribbon, choose Modeling tab→Components group→New Resource

2. In the New Resource dialog box, select ToolPrototype.

3. Click OK.
4. Select the new object name and press the F2 key.
5. Name it fun2_userUSERNUMBER_UNDEFINED.

2: Create three lines

Caution:
Create three lines that form a triangle where the corners do not touch.

1. From the ribbon, choose Modeling tab→Geometry group→Curves →Create Polyline

.

219 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. Select two points.
3. Click OK.
4. Follow this process to make the other two lines.

3: Measure the length of the shortest side

1. From the Graphic Viewer toolbar, choose PTP Distance .

2. From the Graphic Viewer toolbar, set the Pick Intent to Snap .
3. Select one corner and then another.

Note:

If your lines cross each other, the system must decide which side of the intersection to put the
fillet on (many times it is wrong). In this case, you should trim (using the split command) one
or both of the curves using the other one.

4. Close the Point to Point Distance dialog box.

220 plmx.com.br
suporte@plmx.com.br
11 3565 3808
4: Create the fillet
Caution:
Create the fillet whose radius is about one tenth the distance you measured in the previous step.

1. From the ribbon, choose Modeling tab→Geometry group→Curves →Fillet .

2. Click two tangent sides of the polyline (for example polyline1 and polyline2).
3. In the Fillet dialog box for the Radius, type one tenth the distance you measured in the
previous step.
4. Check Delete original entities.

Note:

If OK and Preview are gray after entering the radius, select another box or press [Tab].

5. Click Preview.
6. Click OK.

7. Put the same radius fillets at the next corner of the triangle.

Note:

If OK and Preview are gray after entering the radius, select another box or press [Tab].

221 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

You must have two different (non-parallel) lines to create a fillet between. However, you only
have one curve now. So, you split the curve, as shown below, in order to have a different curve
on either side of the open end of the shape.

8. Create a polyline across the two edges shown here (on the side of the last fillet to be created).

9. From the ribbon, choose Modeling tab→Geometry group→Curves →Split Curve on

Intersection .

10. For Curve, select the triangle shape.

222 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 11. For Intersecting entity, select the polyline just created.
12. Check Delete original entities.
13. Click OK. the triangle shaped curve is cut at one of the places where the line crosses it.

14. From the ribbon, choose Modeling tab→Geometry group→Curves →Split Curve on
Intersection , again.

15. Split where the line crosses the curve on the side of the last fillet to be created. These leaves
two straight lines where you want to create the last fillet.
16. Click OK.

17. From the ribbon, choose Modeling tab→Geometry group→Curves →Fillet .

18. Click two tangent sides of the polyline (for example polyline1 and polyline2).
19. In the Fillet dialog box for the Radius, type one tenth the distance you measured in the
previous step.
20. Check Delete original entities .
21. Click Preview.
22. Click OK.
23. Delete the temporary polyline by right-clicking it and Selecting Delete .

223 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5: Merge the entities together
1. Draw a selection box around the entities.
2. Choose Modeling→Create 2D→Merge Curves .
3. Check Delete original entities.
4. Click OK.

6: Extrude them into a solid

1. Select the curve.

2. From the ribbon, choose Modeling tab→Geometry group→Solids →Extrude .

3. In the Extrude dialog box, type 200 for the Positive value.
4. A preview of the solid is shown.

5. Stretch it a little bigger by selecting and dragging the manipulators on the top or bottom of the
preview solid in the Graphic Viewer.
6. Click OK.

224 plmx.com.br
suporte@plmx.com.br
11 3565 3808
7: End the modeling session for your fun2
1. From the Object Tree, select your fun2_userUSERNUMBER_UNDEFINED.

Note:

End Modeling is only active when a modeled object is selected. Selecting an entity of a
modeled object do not make End Modeling active.

2. From the ribbon, choose Modeling tab→Scope group→End Modeling .

3. Save it into the \Libraries\modeling_kinematics\toolprototypes folder.

225 plmx.com.br
suporte@plmx.com.br
11 3565 3808
7.6. Model gun shanks (optional)

(Optional) Sweeping 2D Entities to Make a Solid

Estimated time to complete: 22–44 minutes
The objective of this activity is to create a solid from 2D geometry.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Start modeling the gun shank object

1. From the ribbon, choose Modeling tab→Components group→New Resource

2. In the New Resource dialog box, select Gun.

3. Click OK.
4. Select the new object name and press the F2 key.
5. Name it shank1_userUSERNUMBER_UNDEFINED.

2: Create an arc

1. From the ribbon, choose Modeling tab→Geometry group→Curves →Create Arc .

226 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. In the Create Arc dialog box for the Center Point, type 0 (for X).
3. Press the Tab key.
4. Enter 0 (for Y).
5. Press the Tab key.
6. Enter 0 (for Z).
7. Press the Tab key.
8. Follow the same process to type 30,0,0 for Start Point
9. Follow the same process to type 0,30,0 for End Point

10. Click OK.

11. Right-click in the Graphic Viewer and choose Zoom to Fit .

3: Sweep
1. Select the arc just created.

2. From the ribbon, choose Modeling tab→Geometry group→Solids →Sweep→Sweep by

Circle .

3. In the Sweep by Circle dialog box, type 17 for the Start Diameter.
4. Enter 20 for the End Diameter.
5. Click Preview.
6. Click OK.

227 plmx.com.br
suporte@plmx.com.br
11 3565 3808
4: Create a cylinder
Tip:
Create a cylinder at the small end of the swept solid

1. From the ribbon, choose Modeling tab→Geometry group→Solids →Create a cylinder

.

2. In the Create Cylinder dialog box for Radius, enter: 6.

3. For Height enter: 5.
4. Click Expand .
5. Deselect Maintain Orientation.
6. For the selection type for the Locate at box, choose Frame by Circle Center .
7. Select three points around the edge of the small end of the sweep.
8. In the Frame by 3 Point Circle Center dialog box, click Flip Frame to get the Z-axis
pointing out of the solid.
9. In the Frame by 3 Point Circle Center dialog box, click OK.

228 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 10. Click OK.

5: Create the second cylinder

Tip:
Create the second cylinder on the end of the first cylinder.

1. From the ribbon, choose Modeling tab→Geometry group→Solids →Cylinder Creation

→Create a cylinder .

2. In the Create Cylinder dialog box for Radius, enter: 7.5.

3. For Height enter: 11.
4. Click Expand , if it is not already expanded.
5. Deselect Maintain Orientation, if it is not already deselected.
6. For the Locate at box, select the middle of the end of the last created cylinder.
7. Click OK.

229 plmx.com.br
suporte@plmx.com.br
11 3565 3808
6: Finish the gun tip

1. From the ribbon, choose Modeling tab→Geometry group→Solids →Cone Creation

→Create a cone .

2. In the Create Cone dialog box for Lower Radius, type 7.5.
3. For Upper Radius, type 3.
4. For Height, type 11.
5. Click Expand .
6. Deselect Maintain Orientation.
7. For the Locate at box, select the middle of the end of the last created cylinder.
8. Click OK.

230 plmx.com.br
suporte@plmx.com.br
11 3565 3808
7: Duplicate the cap geometry
1. Select the last created solid.
2. Hold down the Ctrl key.
3. Select the last two created cylinders (in other words, selecting everything except the swept
solid).
4. From the ribbon, choose Modeling tab→Layout group→Duplicate Objects .

5. In the Duplicate dialog box for Number along X, type 2.

6. For X Spacing type 30.
7. Select the Preview check box.

231 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 8. Click OK

8: Place it at the end of the other cap

1. Draw a selection window around the duplicate cap geometry to select it.
2. Right-click the selected geometry and choose Relocate .
3. In the Relocate dialog box for the From Frame, select the center of the end of the duplicate
cap.
4. Select in the To frame box.
5. For the To frame, select the center of the end of the original cap.
6. Click one of the Frame by 6 values buttons.
7. In the Location dialog box, click Flip Frame .
8. Click OK.

232 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

Maintain orientation and Translate only on should be deselected.

9. Click Apply and Close.

233 plmx.com.br
suporte@plmx.com.br
11 3565 3808
9: Finish this gun shank

1. From the ribbon, choose Modeling tab→Geometry group→Solids →Cone Creation

→Create a cone .

2. In the Create Cone dialog box for Lower Radius, type 8.5.
3. For Upper Radius, type 11.
4. For Height, type 30.
5. Click Expand , if it is not already expanded.
6. Deselect Maintain Orientation, if it is not already deselected.
7. For the Locate at box, select the middle of the end of the last created cylinder.

8. Click OK.

9. From the ribbon, choose Modeling tab→Geometry group→Solids →Cylinder Creation

→Create a cylinder .

234 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 10. In the Create Cylinder dialog box for Radius, enter: 11.
11. For Height enter: 100.
12. Click Expand , if it is not already expanded.
13. Deselect Maintain Orientation, if it is not already deselected.
14. For the Locate at box, select the middle of the end of the last created cone.

15. Click OK.

10: Finish the other gun shank

1. From the ribbon, choose Modeling tab→Geometry group→Solids →Cone Creation

→Create a cone .

235 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. In the Create Cone dialog box for Lower Radius, type 10.
3. For Upper Radius, type 12.5.
4. For Height, type 66.
5. Click Expand , if it is not already expanded.
6. Deselect Maintain Orientation, if it is not already deselected.
7. For the selection type for the Locate at box, choose Frame by Circle Center .
8. Select three points around the edge of the large end of the sweep.
9. Click Flip Frame to get the Z-axis pointing out of the solid.
10. Click OK.

11. Click OK.

12. From the ribbon, choose Modeling tab→Geometry group→Solids →Cylinder Creation
Create a cylinder .

236 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 13. In the Create Cylinder dialog box for Radius, enter: 12.5.
14. For Height enter: 24.
15. Click Expand , if it is not already expanded.
16. Deselect Maintain Orientation, if it is not already deselected.
17. For the Locate at box, select the middle of the end of the last created cone.

18. Click OK.

11: End the modeling session

1. From the Object Tree, select your shank1_userUSERNUMBER_UNDEFINED.

Note:

End Modeling is only active when a modeled object is selected. Selecting an entity of a

modeled object do not make End Modeling active.

237 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. From the Quick access toolbar choose End Modeling .

3. Save it into the \Libraries\modeling_kinematics\toolprototypes folder.

238 plmx.com.br
suporte@plmx.com.br
11 3565 3808
7.7. Model a more complex object (optional)

(Optional) Modeling a simple robot for

kinematics
Estimated time to complete: 26–52 minutes
The objective of this activity is to create a simple robot for kinematics and learn modeling commands

Tip:
A drawing of the final robot exists at the end of the activity. Use it to check your work performed in
the activity. Or if you are confident in your Process Simulate modeling skills, model the robot only
using the drawing. Most students should instead follow the activity closely.

Caution:
All the solids for a robot in Process Simulate should be placed in one object.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Start modeling the my robot object

1. From the ribbon, choose Modeling tab→Layout group→New Resource

2. In the New Resource dialog box, select Robot.

3. Click OK.
4. Select the new object name and press the F2 key.
5. Name it myrobot_userUSERNUMBER_UNDEFINED.

239 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Perform basic setup

1. From the ribbon choose File→Options .

2. In the Options dialog box, click the Units tab.

3. For Linear, select mm.

4. Click OK.

Note:

All data in Process Simulate are started in mm. This setting only changes the display units.
Display units can be changed at any time.

5. From the Graphic Viewer toolbar, set the Pick Level to Entity .

3: Create the BASE link

Note:
Create the geometry for the BASE kinematic link (no kinematics yet):

240 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 1. From the ribbon, choose Modeling tab→Geometry group→Solids →Box Creation
→Create a box .

2. In the Create Box dialog box, type a Length of 400.

3. Enter a Width of 420.
4. Enter a Height of 120.
5. Click OK.

6. From the ribbon, choose Modeling tab→Geometry group→Solids →Cylinder Creation

→Create a cylinder .

7. In the Create Cylinder dialog box for Radius, enter: 170.

8. For Height enter: 40.
9. Click Expand .
10. Select the Locate at box.
11. Select the top of the box.
12. Check Maintain Orientation.
13. Click OK.

241 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 14. From the ribbon, choose Modeling tab→Geometry group→Solids →Cylinder Creation
→Create a cylinder .

15. For Locate at, select the top of the previously created cylinder.
16. For Radius enter: 110.
17. For Height enter: 110.
18. Click OK.

4: Save (End modeling) the my robot

Note:
If you are a paranoid person (it is good to be paranoid with computers), save your work now.

1. From the Object Tree, select your myrobot_userUSERNUMBER_UNDEFINED.

2. From the ribbon, choose Modeling tab→Scope group→End Modeling .

5: Create LINK1
Note:
Create the geometry for the LINK1 kinematic link(no kinematics yet):

242 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 1. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

2. Click Yes.

3. From the ribbon, choose Modeling tab→Geometry group→Solids →Box Creation

→Create a box .

243 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. Locate it on top of the previously created cylinder.
5. Enter a Length of 260.
6. Enter a Width of 260.
7. Enter a Height of 260.
8. Click OK.

9. Create one bracket:

10. From the ribbon, choose Modeling tab→Geometry group→Solids →Box Creation
→Create a box .

244 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 11. For Locate at, select (snap) to the middle of the top positive Y edge of the last created box.
12. Enter a Length of 160.
13. Enter a Width of 30.
14. Enter a Height of 150.
15. Click OK.
16. Right-click on the newly created box and choose Placement Manipulator .
17. Set the translate Step Size to 15.
18. Click Y.
19. Click Move in the negative direction once.
20. Click OK.
21. Create second bracket: From the ribbon, choose Modeling tab→Layout
group→Modeling→Duplicate Objects .

22. In the Duplicate dialog box for Number along Y, type 2.

23. Press the [Tab] key.
24. Enter -230 for the Y Spacing.

245 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 25. Press the [Tab] key again.
26. Notice the preview in the Graphic Viewer.
27. Click OK.

6: Create LINK2
Tip:
Move the Working Frame to center of the broad face of one of the ears of Link1:

1. From the ribbon, choose Modeling tab→Scope group→Set Working Frame .

246 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. Select the center of the broad face of one of the “ears” of what is to become come kinematic
Link1.

3. Click OK.

4. From the ribbon, choose Modeling tab→Geometry group→Solids →Cylinder Creation

→Create a cylinder .

5. For Locate at, select Working Frame from the drop down menu.
6. For Radius enter: 65.
7. For Height enter: 200.
8. Click OK.

247 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 9. From the ribbon, choose Modeling tab→Geometry group→Solids →Box Creation
→Create a box .

10. For Locate at, select Working Frame from the drop down menu.
11. Enter a Length of 130.
12. Enter a Width of 540.
13. Enter a Height of 200.
14. Click OK.
15. Use the Placement Manipulator to move the newly created box 270 in the Y.

248 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 16. From the ribbon, choose Modeling tab→Geometry group→Solids →Unite .

17. Select the box and cylinder just created.

18. In the Unite dialog box, select the Delete original entities check box.
19. Click OK.
20. Create the pivot cylinder: Right-click on the newly united box and cylinder that is part of
LINK2 and choose Blank .

249 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 21. From the ribbon, choose Modeling tab→Geometry group→Solids →Cylinder Creation
→Create a cylinder .

22. In the Create Cylinder dialog box for Locate at, select Working Frame from the drop down
menu.
23. For Radius enter: 40.
24. For Height enter: 530.
25. Right-click the newly created cylinder and choose Relocate .
26. For the From Frame select (snap) near the middle of the height of the newly created cylinder.

Note:

Anywhere on the exterior of the cylinder is acceptable, as long as it is a snap point half way
between the top and bottom of the cylinder.

27. For the To frame, select near the middle of the edge of the LINK1 box’s Y edge.
28. Select the Maintain orientation check box.
29. Select the Translate only on check box.
30. Click Z.
31. Click OK.
32. From the Object Tree, select the display status square for the blanked box and cylinder solid
that is part of LINK2.

Tip:

This is the Z-axis of the Working Frame, which is currently sitting at a different orientation
than the default.

33. Create a cutter to cut a slot from the top of the last box:

Tip:

Move the Working Frame to center of the top of the box and rotate 180 about X.

34. From the ribbon, choose Modeling tab→Scope group→Set Working Frame .

250 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 35. Select the top middle of the last created box of what is to become kinematic Link2.
36. Click OK.

37. From the ribbon, choose Modeling tab→Geometry group→Solids →Box Creation
→Create a box .

38. For Locate at, select Working Frame from the drop down menu.
39. Enter a Length of 300.
40. Enter a Width of 140.
41. Enter a Height of 210.
42. Deselect Maintain Orientation.
43. Click Frame by 6 Values to the right of the Locate at box.
44. In the Location dialog box, click Flip Frame.
45. Click OK.

251 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 46. Click OK.

47. From the ribbon, choose Modeling tab→Geometry group→Solids →Subtract .

48. For Subtract entities, select the newly created (box4) box.
49. In the Subtract dialog box, select in the From entity box.
50. Select Link2 (named bool1) just created.
51. In the Subtract dialog box, select the Delete original entities check box.
52. Click OK.

7: Create LINK3
Tip:
Create LINK3 through LINK5 vertically, then position:

1. From the ribbon, choose Modeling tab→Geometry group→Solids →Cylinder Creation

→Create a cylinder .

252 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. For Radius enter: 30.
3. For Height enter: 225.
4. Deselect Maintain Orientation.
5. For Reference on object, select Geometric center from the drop down list.
6. For Locate at, select Working Frame from the drop down list.
7. Click Frame by 6 Values to the right of the Locate at box.
8. In the Location dialog box for Rx, type 90.
9. Click OK.

10. From the ribbon, choose Modeling tab→Geometry group→Solids →Cylinder

Creation→Create a cylinder .

11. For Radius enter: 67.5.

12. For Height enter: 800.
13. For Locate at, select Working Frame from the drop down list.
14. Click Frame by 6 Values to the right of the Locate at box.
15. In the Location dialog box for Ry, type 90.
16. In the Location dialog box for X, type -320.

Note:

This places the small cylinder 320 mm from end of pipe.

17. Click OK.

18. Click OK.
19. Select the last two created cylinders.
20. Right-click the highlighted objects and choose Relocate .
21. For the From Frame select (snap) near the middle of the end of the small newly created
cylinder.
22. For the To frame, select near the middle of the inside edge of the forks of the Link3.

253 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 23. Select the Maintain orientation check box.
24. Select the Translate only on check box.
25. Click Z.
26. Click OK.

8: Create LINK4

Note:
Create LINK4:

254 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 1. From the ribbon, choose Modeling tab→Geometry group→Solids →Cylinder Creation
→Create a cylinder .

2. For Radius enter: 64

3. For Height enter: 30.
4. Deselect Maintain Orientation.
5. For Locate at, select the middle of the end of the long side of the big Link3 cylinder.

6. Click OK.

Note:

The next chunk of the robot could be made in at least two different ways (option 6a or option
6b). This activity use option 6b, however here is the information for option 6a (do NOT do
both): Choose Create a Box . Deselect Maintain Orientation. For Locate at, select the

255 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 middle of the end of the last created cylinder. Type a Length of 130, a Width of 130, and a
Height of 195.

7. Option 6b: From the ribbon, choose Modeling tab→Geometry group→Solids →Box
Creation →Create a box .

8. Deselect Maintain Orientation.

9. For Locate at, select the middle of the end of the last created cylinder.
10. Enter a Length of 130.
11. Enter a Width of 130.
12. Enter a Height of 130.

13. From the ribbon, choose Modeling tab→Geometry group→Solids →Cylinder Creation
→Create a cylinder .

14. For Reference on object, select Geometric center from the drop down.
15. Deselect the Maintain Orientation check box.
16. For Locate at, select the middle of the end of the last created box.
17. For Radius enter: 65.
18. For Height enter: 130.
19. Click Frame by 6 Values to the right of the Locate at box.
20. In the Location dialog box for Rx, type 90.
21. Click OK.

22. From the ribbon, choose Modeling tab→Geometry group→Solids →Unite .

256 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 23. Select the last created box and cylinder.
24. Click OK.

25. Create a cutter: Right-click on the last created Boolean solid and choose Display Only .

26. From the ribbon, choose Modeling tab→Geometry group→Solids →Box Creation
→Create a box .

27. Enter a Length of 200.

28. Enter a Width of 40.
29. Enter a Height of 200.
30. For the Locate at box, select the square back face of the Boolean solid.
31. Click Frame by 6 Values to the right of the Locate at box.
32. In the Location dialog box, click Flip Frame .
33. In the Location dialog box for Ry, type 90.
34. In the Location dialog box add 60 to the X value, (for example 510+60= 570).
35. Make sure the Y value is 0.

257 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 36. Click OK.
37. Click OK.

38. From the ribbon, choose Modeling tab→Geometry group→Solids →Subtract .

39. For the Subtract entities , select the last created box.
40. For the From entity, select the last created Boolean solid.
41. Click OK.

9: Create LINK5
Note:
Create LINK5:

258 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 1. From the ribbon, choose Modeling tab→Geometry group→Solids →Cylinder Creation
→Create a cylinder .

2. For Locate at, select the center of the inside of the radius of the last created Boolean.

259 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. For Radius enter: 65.
4. For Height enter: 40.

260 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 5. Click OK.
6. Right-click the last created solid and choose Blank .

7. From the ribbon, choose Modeling tab→Geometry group→Solids →Box Creation

→Create a box .

8. Enter: 40x40x135.
9. For Locate at, select the center of the inside of the radius of the last created Boolean.
10. Click Frame by 6 Values to the right of the Locate at box.
11. In the Location dialog box add 65 to the X value, (for example 640+65= 705).
12. Click OK.
13. Click OK.
14. Right-click on nothing in the Graphic Viewer and choose Display All .

10: Create LINK6

Note:
Create LINK6. DO NOT FORGET ABOUT THIS ONE:

1. From the Modeling toolbar, choose Create a Cylinder .

2. For Radius enter: 25
3. For Height enter: 15
4. For Locate at, select the center of the end of the last created box.

261 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 5. Click OK.

262 plmx.com.br
suporte@plmx.com.br
11 3565 3808
11: Save and end modeling changes
1. From the Object Tree, select your myrobot_userUSERNUMBER_UNDEFINED.
2. Choose Modeling→End Modeling .
3. Click Yes.

263 plmx.com.br
suporte@plmx.com.br
11 3565 3808
12: Drawing for the robot modeling activity
Robot Base

Robot Link1

264 plmx.com.br
suporte@plmx.com.br
11 3565 3808
265 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Robot Link2

266 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Note:
In the training class you make the width 200 instead of 190.

Robot Link3

267 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Robot Link4

268 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Note:
In the training class you make the large cylinder 30, instead of 830.

Robot Link5

269 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Note:
In the training, you make the extension 40x40x135

Robot Link6

Note:
Diameter 50

15 Thick

270 plmx.com.br
suporte@plmx.com.br
11 3565 3808
8. Kinematics basics

271 plmx.com.br
suporte@plmx.com.br
11 3565 3808
8.1. Kinematics background

(Optional) instructor demo: Simple kinematics

Estimated time to complete: 6–9 minutes
The objective of this activity is to remember how to define simple kinematics.

Project used in this activity: .\\Projects\Project_209S\LineUSERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: two blocks demo.psz

1: Begin modeling the two blocks demo object

Note:
The instructor should load the two blocks demo.

1. From the Quick Access toolbar, choose Open :

2. Browse to .\\Projects\Project 209s\LineUSERNUMBER_UNDEFINED StudyFolder .

3. Select the two blocks demo.psz and click Open.
4. From the Process Simulate Object Tree, right-click the two blocks demo object in the
Resources folder, and choose Display Only .

5. From the Graphic Viewer toolbar, choose Zoom to Fit .

272 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Open the Kinematics Editor for two_blocks_done
1. Select the two_blocks_done from the Resources folder of the Object Tree.
2. From the ribbon, choose Modeling tab→Kinematic Device group→Kinematics Editor .

3. Talk about what is shown.

4. Close the Kinematics Editor dialog box.

3: Jog the kinematics

1. Select the two_blocks done object.

2. From the ribbon, choose Robot tab→Tool and Device group→Joint Jog .

3. Jog the joints and demo how it moves.

4. Close the Joint Jog dialog box.

273 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Simple kinematics (part 1)
Estimated time to complete: 12–24 minutes
The objective of this activity is to define simple kinematics.

Project used in this activity: .\\Projects\Project_209S\LineUSERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: two blocks.psz

1: Begin modeling the two blocks object

1. From the Quick access toolbar, choose Open .

2. Choose two blocks.psz and click Open.

3. From the Process Simulate Object Tree, right-click the two blocks object in the Resources
folder, and choose Display Only .

4. From the Graphic Viewer toolbar, choose Zoom to Fit .

2: Open your two_blocks object for modeling

1. From the Resources folder of the Object Tree, select the

two_blocks_userUSERNUMBER_UNDEFINED object.

2. From the ribbon, choose Modeling tab→Scope group→ Set Modeling Scope .

274 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. Click OK, to the message about unsupported geometry.

Note:

A Modeling overlay is now shown on top of the icon for the modeled object.

4. Choose Yes, if prompted.

3: Open the Kinematics Editor for your two_blocks

1. Select the two_blocks_userUSERNUMBER_UNDEFINED object.

2. From the ribbon, choose Modeling tab→Kinematic Device group→Kinematics Editor .

4: Define each box as its own link

1. In the Kinematics Editor dialog box, choose Create Link .

2. In the Graphic Viewer, select the bottom box.
3. In the Link Properties dialog box, click OK.
4. In the Kinematics Editor dialog box, choose Create Link .
5. In the Graphic Viewer, select the top box.
6. In the Link Properties dialog box, click OK.

275 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5: Create the joint
1. In the Kinematics Editor dialog box, select the LNK1 link (for example the bottom box for the
parent link).
2. Hold down the Ctrl key and select the LNK2 link (for example top box for the child link
3. Release the Ctrl key.

Note:

A joint can also be created by dragging a line from the parent link to the child link.

4. In the Kinematics Editor, choose Create Joint .

Note:

You use the default axis definition from (0,0,0 to 0,0,100) and Joint type of Revolute

5. Joint Properties dialog box, click OK.

Note:

Next you test your kinematics using the Joint Jog dialog box. The Joint Jog command can
be accessed in several places: from the Robot tab of the ribbon, by right-clicking a kinematic
object, or from the Kinematic Editor dialog box.

6. Close the Kinematics Editor dialog box.

6: Jog the kinematics

1. From the Graphic Viewer toolbar, verify the Pick Level is Component .
2. Right-click two_blocks_userUSERNUMBER_UNDEFINED and choose Joint Jog .

276 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. Adjust the sensitivity of the joint steering: From the Joint Jog dialog box, click Options and
move the Slider sensitivity slider toward low.

4. Click OK.
5. In the Joint Jog dialog box, select the Steering gear icon for joint J1 and drag it left and right.

Note:

You can drag the slider beyond the Joint Jog dialog box, which is OK.

6. Click Reset.
7. Click Close.

277 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Simple kinematics (part 2)
Estimated time to complete: 6–12 minutes
The objective of this activity is to use simple kinematics.

Project used in this activity: .\\Projects\Project_209S\LineUSERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: two blocks.psz

1: Open the Kinematics Editor for your two_blocks again

Note:
You should be still modeling the two_blocks_userUSERNUMBER_UNDEFINED, however if for
some reason you ended modeling in the last activity, there is a step here to start modeling it again.

1. From the Resources folder of the Object Tree, select the

two_blocks_userUSERNUMBER_UNDEFINED object.
2. If you are not currently modeling the object, from the ribbon, choose Modeling tab→Scope

group→Set Modeling Scope . and click OK, to the message about unsupported geometry.

Note:

A Modeling overlay is now shown on top of the icon for the modeled object.

3. Select thetwo_blocks_userUSERNUMBER_UNDEFINED object.

4. From the ribbon, choose Modeling tab→Kinematic Device group→Kinematics Editor .

278 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Edit the joint
1. In the Kinematics Editor dialog box, double-click on the J1 arrow.
2. In the Joint Properties dialog box, click Expand Dialog .
3. For Limits type, select Constant.
4. For the High Limit, type 360.
5. For the Low Limit, type 0 (the default).
6. Leave the Speed and Acceleration values as they are.

7. Click OK.
8. Close the Kinematics Editor dialog box.

3: Jog the kinematics

1. From the Graphic Viewer toolbar, verify the Pick Level is Component .

2. Select the two_blocks_userUSERNUMBER_UNDEFINED object.

3. From the ribbon, choose Robot tab→Tool and Device group→ Joint Jog .

279 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. In the Joint Jog dialog box, choose the Steering gear icon for joint J1 and drag it left and right.
5. Click Reset.
6. Click Close.

280 plmx.com.br
suporte@plmx.com.br
11 3565 3808
8.2. Kinematics basics summary

Add joints to a simple object

Estimated time to complete: 10–20 minutes
The objective of this activity is to add joints to the door.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Model the door with Process Simulate

1. From the ribbon, chooseFile→Disconnected Study →New Study , and click New
Study.
2. Click Create in the New Study dialog box.
3. From the ribbon, choose Modeling tab→Components group→Insert Component from File

4. In the Insert Component dialog box, browse into the

.\sysroot\\Libraries\model_kinematics\toolprototypes folder.
5. Choose your room_door_geo_userUSERNUMBER_UNDEFINED.cojt

Note:

The completed example is called room_door_demo.cojt. The instructor opens the object
called room_door_geo_user11.cojt and add the joints to it. All .COJTs are located in
.\sysroot\Libraries\model_kinematics\toolprototypes folder.

6. Click Open.

281 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Envision the kinematic tree then define the required links
Note:
There are only two joints in this case: One for the door at the hinges and another for the handle.

1. In your mind, envision the first joint (j1): The doorframe is fixed and does not move when the
door opens. So, the doorframe link is the parent to the door joint. The axis of this joint goes
through the hinges.
2. In your mind, envision the second joint (j2): The axis of the next joint goes through the center
of the door handle. Relative to the door handle joint, the door is the parent link and the
handle is the child link.

Note:

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

Kinematic Tree

3. In the Object Tree or Graphic Viewer, select the room_door_geo object.

Note:

The room_door_geo_userUSERNUMBER_UNDEFINED resource prototype has a default

instance name of room_door_geo.

4. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope and click
OK.

282 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 5. From the ribbon, choose Modeling tab→Kinematic Device group→Kinematics Editor .

6. Use what you have learned to create a link for the doorframe.
7. Use what you have learned to create a link for the door.
8. Use what you have learned to create a link for the handle.

3: Define the first joint in Process Simulate

Note:
Use what you have learned, along with these hints, to define the kinematics.

1. In the Kinematics Editor, drag a line from the doorframe to the door.
2. For the Parent Link select the door frame
3. For the Child link select the door
4. Click From
5. For the Axis From select the line though the hinges twice
6. Click OK to the error message.
7. Change the Z value for the To point of the axis.
8. For Joint Type click Revolute.
9. Click Expand Dialog .
10. Add limits and speeds to the joint.
11. Click OK.

4: Define the second joint of the simple object

1. In the Kinematics Editor, drag a line from the door to the handle.
2. For Parent Link select the door
3. For Child Link select door handle
4. Click From

283 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 5. For the Axis From select the line though the handle twice
6. Click OK to the error message.
7. Change the X value for the To point of the axis.
8. For Joint Type click Revolute.
9. Click Expand Dialog .
10. Add limits and speeds to the joint.

Note:

Add the High limit before the Low limit. A negative number is lower than a positive number.

Speed and Acceleration are in current units (set on the File→Options dialog box).

11. Click OK.

12. Close the Kinematics Editor dialog box.

5: Use Joint Jog, Pose Editor, and End Modeling

1. Right-click the door object and choose Joint Jog .

2. Jog the joints of the door object using the Joint Jog dialog box.
3. Close the Joint Jog dialog box.
4. Right-click the door object and choose Pose Editor .
5. Use the Pose Editor to define an open and closed pose for the door.
6. Jump it between these poses.
7. Return to the HOME pose.
8. Close the Pose Editor dialog box.
9. Select the door object.

10. From the ribbon, choose Modeling tab→Scope group→End Modeling .

284 plmx.com.br
suporte@plmx.com.br
11 3565 3808
8.3. Joint dependency basics

Leading joints and follow factors (robot tool)

Estimated time to complete: 22–44 minutes
The objective of this activity is to create the kinematics and use leading joint concept for a robot tool.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: gun_lf.psz

1: Load the study (gun_lf)

1. From the Quick access toolbar choose Open in Standard Mode .

2. Choose gun lf.psz and click Open.
3. Select the gun_lf_userUSERNUMBER_UNDEFINED object.

4. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

285 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Create 3 links
1. Select the gun_lf_userUSERNUMBER_UNDEFINED object.

2. From the ribbon, choose Modeling tab→Kinematic Device group→Kinematics Editor .

3. From the Graphic Viewer toolbar, change the Pick Level to Entity .

286 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. In the Kinematics Editor dialog box, choose Create Link .
5. Select the orange, body geometry.
6. In the Link Properties dialog box, type the name body.
7. Click OK.
8. In the Kinematics Editor dialog box, choose Create Link .
9. Select the green, upper arm geometry.
10. In the Link Properties dialog box, type the name upr_arm.
11. Click OK.
12. In the Kinematics Editor dialog box, choose Create Link .
13. Select the pink, lower arm geometry.
14. In the Link Properties dialog box, type the name lwr_arm.
15. Click OK.

3: Create 2 joints
1. In the Kinematics Editor dialog box, select the first link (for example the body for the parent
link).
2. Hold down the Ctrl key and select the second link (for example upr arm for the child link
3. Choose Create Joint .
4. From the Graphic Viewer toolbar, change the Pick Intent to Where Picked .

5. In the Joint Properties dialog box, click From for the Axis.
6. Create an axis for the joint to be created by selecting two places on the line.

287 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

Another method is to blank the body and select the center of the top and bottom of the cylinder
where the two arms rotate.

7. Joint type of Revolute joint should already be selected.

8. Click OK. Joint j1 is defined.
9. Follow the same process to define a joint (j2) from the body (parent link) to the lwr arm (child
link).
10. Close the Kinematics Editor dialog box.

11. From the Graphic Viewer toolbar, change the Pick Intent back to Snap .

4: Jog the kinematics

1. Continue working in the Kinematics Editor displaying
gun_lf_userUSERNUMBER_UNDEFINED.
2. From the Kinematics Editor, choose Joint Jog .
3. Select the joint J1 slider and drag it left and right.
4. Jog joint J2 in the same way.
5. Click Reset.
6. Close the Joint Jog dialog box.

5: Save changes to the 3D data

1. Right-click it and choose HOME .

2. From the ribbon, choose Modeling tab→Scope group→End Modeling .

3. (When loading the next study you can choose to not save changes to the study, since none have
been made).

288 plmx.com.br
suporte@plmx.com.br
11 3565 3808
6: Set the lower arm to depend on the upper arm
Note:
Set joint J2 to follow (for example lower arm to depend on the upper arm) joint J1.

1. Choose gun_lf_userUSERNUMBER_UNDEFINED.

2. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

3. Choose Yes.

4. From the ribbon, choose Modeling tab→Kinematic Device group→Kinematics Editor .

5. In the Kinematics Editor dialog box, select (once) on the follow joint (for example j2).
6. Click Joint Dependency .
7. For Joint Dependency, click Joint Function.

Note:

The default value is Independent.

8. Click the down arrow to the right of Joint Name and Choose j1.
9. Click j1.

Note:

Details of the joint j2 function are displayed in the Joint Function area.

289 plmx.com.br
suporte@plmx.com.br
11 3565 3808
7: Enter the correct follow factor
Note:
Enter the correct follow factor. This factor is a ratio of one joint’s motion to another. In this step you
define the follow factor for each of the joints so that the following joints are fully open when the
leading joint is fully open:

Note:
The follow factor might be −2.13, depending on how you define the kinematics. Remember, the follow
factor is a ratio of one joint’s motion to another.

Note:
Follow factor = Follow joint range / Leading joint range

1. Click Multiplication.
2. Type (-2.13) in the Joint Function dialog box.
3. Click Apply and Close.
4. Close the Kinematics Editor dialog box.

8: Check the joint motion

1. From the Graphic Viewer toolbar, change the Pick Level back to Component .

2. Select the gun_lf_userUSERNUMBER_UNDEFINED object.

3. From the ribbon, choose Robot tab→Tool and Device group→Joint Jog .

4. Select the joint J1 slider and drag it left and right.

5. Close the Joint Jog dialog box.

9: Save changes to the 3D data

1. Right-click it and choose HOME .

290 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. From the ribbon, choose Modeling tab→Scope group→End Modeling .

3. (When loading the next study you can choose to not save changes to the study, since none have
been made).

10: Change follow factor to negative number

1. Choose gun_lf_userUSERNUMBER_UNDEFINED.

2. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

3. Choose Yes.
4. Change follow factor to negative number (or to a positive number), so that the joints (lower and
upper arm) move away from each other when jogged.
5. Check the motion of joints and note difference.

291 plmx.com.br
suporte@plmx.com.br
11 3565 3808
8.4. Introduction to kinematic cranks

Optional Instructor Demo: Kinematic looping

Estimated time to complete: 2–4 minutes
The objective of this activity is to add kinematics to the piston.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: dump_demo.psz

1: Steps for the dump demo

1. The instructor should open the dump_demo.psz study from the .\\Projects\Project_209S\Line
USERNUMBER_UNDEFINED StudyFolder\model kinematics folder.
2. Show the kinematic tree of dump_demo, and joint jog it.
3. Joint jog the only independent joint and show how the piston moves. You see three rotational
joints and a prismatic joint moving.

292 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Kinematic looping
Estimated time to complete: 8–16 minutes
The objective of this activity is to add kinematics to the piston.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: dump.psz

1: Start modeling the dump2 object

1. From the Quick access toolbar choose Open in Standard Mode .

2. In the Open dialog box, browse to the .\\Projects\Project_209S\Line
USERNUMBER_UNDEFINED\model kinematics folder.
3. Choose dump.psz and click Open.
4. In the Object Tree, deselect the display status square for the dump2 object and then check
again (to make it is fully displayed).
5. Right-click the dump2 object and choose Display Only .

Note:

This should display three frames in the area shown in the picture above. These frames are
critical to the success of this activity.

293 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

7. Click OK.

2: Use the crank wizard to define the kinematics

1. From the ribbon, choose Modeling tab→Kinematics group→Kinematic Device .

2. In the Kinematics Editor, click Create Crank .

3. In the Create Crank dialog box, click RPRR .

4. Click Next.

Note:

To define the three points to represent the axes of the joints, you could either select existing
frames, or define an optional custom plane to project three picked points onto. For this activity
you do not use a custom plane. However if you wanted to use a plane, it should be rotated 90
degrees around the Y-axis.

5. On the RPRR Slider Crank Joints dialog box, click the point (above the Coupler Link) on the
linkage diagram.

294 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. Select the equivalent frame in the Graphic Viewer as shown in the picture.

Note:

After something is selected for a point, the linkage diagram shows a black background for the
point.

7. Repeat this process for the other two axis points.

8. A triangle is drawn in the Graphic Viewer between the points.

295 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 9. Click Next.

Note:

For prismatic joint offset, you take the default (Without offset).

10. Click Next.

11. On the RPRR Slider Crank Links dialog box, select the link represented by the gray stripped
rectangle labeled Fixed Link on the linkage diagram.

12. Set the Pick Level to Entity .

13. Select the equivalent entities for this link in the Graphic Viewer, which are the two dog-eared
shaped parts on the floor.

296 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 14. On the linkage diagram, select Input Link and select the three solids immediately adjacent to
the fixed link.

15. On the linkage diagram, select Coupler Link and select the next two gray solids immediately
adjacent to the input link.
16. On the linkage diagram, select Output Link and select everything else (you could draw a
selection box in the Graphic Viewer).
17. Click Finish. The kinematic tree is defined.

297 plmx.com.br
suporte@plmx.com.br
11 3565 3808
3: Use the Joint Jog dialog box
1. Close the Kinematic Editor dialog box.
2. Right-click the object and choose Joint Jog .
3. Use the Joint Jog dialog box to jog the joints.
4. Reset the mechanism with finished.

4: Save changes to the 3D data

1. Right-click it and choose HOME .

2. From the ribbon, choose Modeling tab→Scope group→End Modeling .

3. (When loading the next study you can choose to not save changes to the study, since none have
been made).

298 plmx.com.br
suporte@plmx.com.br
11 3565 3808
8.5. Kinematic branching

Robot tool kinematic definition (part 1)

Estimated time to complete: 10–20 minutes
The objective of this activity is to define a gun with a piston (a loop).

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: gun_geo.psz

1: Start modeling the gun_geo object

1. From the Quick access toolbar choose Open in Standard Mode .

2. In the Open dialog box, browse to the .\\Projects\Project_209S\Line
USERNUMBER_UNDEFINED\model kinematics folder.
3. Choose gun_geo.psz and click Open.
4. In the Object Tree, deselect the display status square for the
gun_geo_userUSERNUMBER_UNDEFINED object and then check again (to make it fully
displayed).
5. Right-click the gun_geo_userUSERNUMBER_UNDEFINED object in the Graphic Viewer
or Object Tree and choose Display Only .

Note:

This should display three frames in the area shown in the picture above. These frames are
critical to the success of this activity.

6. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

7. Click OK.

299 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Kinematic definition

1. From the ribbon, choose Modeling tab→Kinematics group→Kinematic Device .

300 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. The following links have already been created for you:
o lwr_arm
o upr_arm
o rod
o cyl
o bracket

3: Use the crank wizard to define the kinematics

Note:
This activity provides ONE way to define the kinematics of this gun. There are several ways that it
could be done. Please make sure that you are able to perform the steps as written before trying other
ways of doing the kinematics.

1. In the Kinematics Editor, click Create Crank .

2. In the Create Crank dialog box for crank type, select RPRR (Slider).
3. Click Next.
4. In the RPRR Slider Crank Joints dialog box, click the first point (above the Couple Link).

5. In the Object Tree, select the fr1 frame within your gun_geo object.

Note:

This is the frame between the blue and yellow links. The Coupler-Output Joint value is
entered in the dialog box.

Note:

Create all three frames in advance and create them on one plane down the middle of the gun. In
this activity, select the frames in the Object Tree to guarantee that the correct point is selected.
If the wrong point is selected (and the mistake is not found until you are done defining the
crank), all crank kinematics may need to be deleted and recreated. However, in some cases the
instructor can fix the problem.

6. On the RPRR Slider Crank Joints dialog box, click the second point (the point to the right of
the Fixed Link on the Link Diagram).

301 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 7. In the Object Tree, select the fr2 frame within your gun_geo object.

Note:

This is the frame between the orange and magenta links. The Fixed-Input Joint value is
entered in the dialog box.

8. On the RPRR Slider Crank Joints dialog box, click the third point (the point to the left of the
Fixed Link on the Link Diagram).
9. In the Object Tree, select the fr3 frame within your gun_geo object.

Note:

This is the frame between the orange and yellow links. The Output Joint value is entered in
the dialog box.

Note:

A triangle is drawn in the Graphic Viewer between the three points.

10. Click Next.

11. Click Next, again to create the crank Without offset.

12. On the Slider Crank Links dialog box, click the first link (Fixed Link) represented by the gray
line on the Link Diagram.

13. On the Slider Crank Links dialog box, click Existing Link.

Caution:

The links are already created this time do NOT create them again. You SHOULD select
Existing Link for each link.

14. Select the equivalent link in drop down (lwr_arm).

302 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

This is the orange link.

15. Repeat this process for the Input Link, Couple Link, and Output Link.

Link Name Correlation to Crank Linkage Diagram

bracket (green) (not used yet, you add it later)
upr_arm (yellow) Output Link
rod (magenta) Input Link
cyl (blue) Coupler Link

lwr_arm (orange) Fixed Link, which you already defined

16. Note:
17. The lwr_arm is a fixed link for now. However, you add a another joint later in the training to
make it move.
18. Click Finish. The crank kinematic tree is defined.

4: Create a joint between the bracket and the lwr_arm links

1. In the Kinematic Editor dialog box, create a joint by dragging a line from the bracket to the
lwr_arm link.
2. In the Joint Properties dialog box, select From and select fr3 from the Object Tree.
3. In the Joint Properties dialog box, select To and select fr3 from the Object Tree.
4. Click OK to the error message.
5. For the Y value for To, type 100.
6. Click OK.
7. Close the Kinematic Editor dialog box.

5: Test using the Joint Jog dialog box

1. Right-click your gun_geo and choose Joint Jog .

Note:

There are only two joints to jog.

2. Jog the two joints of the object.

Note:

303 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 J1 rotates the lower arm. The other joint moves the upper gun arm with the solenoid. See the
first part of this topic to see why there are only two jog−able joints for a mechanism with five
joints defined. Remember, there are no joint limits set.

Warning:

When you jog the gun, only one of the jaws moves. It may look a little strange right now. Have
your instructor look at it to verify it is correct for this point in the activities.

Tip:

If the motion seems wrong (for example the two jaws don't open but it spins around) select the
joint just created and click Reverse Joint from the Kinematic Editor.

3. Remember to click Reset before leaving Joint Jog.

4. Close the Joint Jog dialog box.
5. What you would like is for both of the gun’s jaws to open and close. To create this balanced
gun you need to add another function to the kinematics. See the next activity for details.

304 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Robot tool kinematics (part 2)
Estimated time to complete: 8–16 minutes
The objective of this activity is to use a function to make the two jaws open:

Note:
A follow factor could have also been used instead of a function.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: gun_geo.psz

1: Continue and create a balanced joint robot tool

Note:
Both arms move the same amount in opposite directions. This can be accomplished by making the
upper arm’s joint the leading joint and the lower arm’s joint the follow joint with a factor of −2 (or -
2.13).

1. Open the Kinematic Editor.

2. Select the joint that moves the lower arm (J1).
3. Click Joint Dependency .
4. For Joint Dependency, click Joint Function.

Note:

The default value is Independent.

5. Click the down arrow to the right of Joint Name and select fixed_InputJ1.
6. Click fixed_InputJ1.
7. Add *(-2) to the end of the function in order to get: (T(fixed_InputJ1))*(-2)

2: Go to Joint Jog dialog box and test

1. Close the Kinematic Editor.
2. Right-click your gun_geo and choose Joint Jog .

Note:

There is only one joint to jog. This means that there is only one independent joint which moves
both arms at the same time, but in opposite directions. Remember there are no joint limits set
yet.

305 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. Remember to go to the HOME pose before leaving Joint Jog

3: Edit the function

1. Try editing the function and changing the −2 to some other value (for example 2).
2. Then jog it and notice affect on motion.
3. Put it back the other way if it worked better.

4: Save changes to the 3D data

1. Right-click it and choose HOME .

2. From the ribbon, choose Modeling tab→Scope group→End Modeling .

3. (When loading the next data you can choose to not save changes from Process Simulate, since
none have been made).

Note:

This gun now has functions added to the joints from two sources. The first ones were created
automatically by Process Simulate because the gun contains a kinematic loop. The functions
created by Process Simulate are editable by the user. The second function you just created in
this activity to balance the movement of your gun. It is editable by the user.

306 plmx.com.br
suporte@plmx.com.br
11 3565 3808
8.6. Define speed and acceleration

Speed and acceleration

Estimated time to complete: 8–16 minutes
The objective of this activity is to define the max speed and acceleration on your gun joint.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: gun_geo.psz

1: Add speed and acceleration values

1. Choose your gun_geo.

2. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

3. From the ribbon, choose Modeling tab→Kinematics group→Kinematic Device .

4. In the Kinematics Editor dialog box, double-click on the joint.

5. In the Joint Properties dialog box, click Expand Dialog .
6. For (Maximum) Speed, type 9999.
7. For (Maximum) Acceleration, type 9999.
8. Click OK.

307 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 9. Click Close.

2: Test it

1. From the ribbon, choose Modeling tab→Kinematic Device group→ Pose Editor .

2. Create two poses that are different for your gun_geo named TEST1 and TEST2.
3. Choose your gun_geo, hold down the Ctrl key, and select a parent operation from the
Operation Tree.

4. From the ribbon, choose Operation tab→Create Operation group→New Operation

→New Device Operation .

5. Choose TEST1 for the From Pose, TEST2 for the To Pose.
6. Click Expand Dialog , set the Duration to 0.1, and click OK.
7. From the ribbon, choose Modeling tab→Kinematic Device group→ Pose Editor .

8. Jump your gun_geo to the TEST1 pose.

9. Use the Sequence Editor to play the simulation.
10. From the ribbon, choose Operation→Create Operation group→Operation Properties .

308 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 11. Notice how the time of simulation is increased to how long it takes for the joints to move
between the poses, based on the assigned speed and acceleration.

12. From the ribbon, choose Modeling tab→Kinematic Device group→Kinematics Editor .

13. Change the speed and acceleration for the joint to 99.
14. Use the Sequence Editor to play the same simulation again.
15. From the ribbon, choose Operation→Create Operation group→Operation Properties .

16. Notice how the time of simulation is increased to how long it takes for the joints to move
between the poses, based on the assigned speed and acceleration.

3: Copy the prototype

1. In the Object Tree, select your gun_geo that you are modeling.
2. Right-click it and choose HOME .
3. From the ribbon, choose Home tab→Edit group→Copy .
4. In the Object Tree, select the parent to this object.

5. From the ribbon, choose Home tab→Edit group→Paste .

6. Rename the object gun_geo_servo_USERNUMBER_UNDEFINED.
7. Choose gun_geo_servo_USERNUMBER_UNDEFINED.
8. From the ribbon, choose Modeling tab→Scope group→End Modeling .

309 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 9. Click Save.

4: Move the object home and end modeling

1. Right-click it and choose HOME .

2. Select the object.
3. From the ribbon, choose Modeling tab→Scope group→End Modeling .

310 plmx.com.br
suporte@plmx.com.br
11 3565 3808
8.7. Define an object as a tool

Spot — Defining an object as a pneumatic spot-

weld gun
Estimated time to complete: 20–40 minutes
The objective of this activity is to use the Tool Definition command to define an object as a
pneumatic spot-weld gun.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: gun_geo.psz

1: Open gun_geo for modeling

1. Continue using the same data loaded in Process Simulate.

Note:

This activity is a continuation of the previous one, and the kinematics must already be defined.

311 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. Select the gun_geo object.

3. From the ribbon, choose Robot tab→Tool and Device group→Home .

Note:

Return the gun to the position it was in when you first defined the kinematics (that is, j1=0,
j2=0). This is called the HOME pose.

312 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

5. Choose Yes.

2: Verify that the linear units are set to mm (and not inches)
1. Choose File→Options .
2. In the Options dialog box, click the Units tab.

3. Choose mm from the Linear pull-down list.

4. Click OK.

3: Create the CLOSE pose

313 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 1. From the ribbon, choose Modeling tab→Kinematic Device group→ Pose Editor . The
Pose Editor dialog box is displayed.

2. In the Pose Editor dialog box, click New. The New Pose dialog box is displayed.
3. Click the up/down arrows for the joint value until it is 0.

Note:

On some guns the CLOSE pose is not zero degrees. In this case, type the proper joint value
using the same technique described in the next step.

4. Pose Editor dialog box, select the pos1 just created, select it again and type CLOSE.
5. Click OK.
6. (Do not close the Pose Editor dialog box yet).

4: Create the SEMIOPEN pose

1. In the Pose Editor dialog box, click New. The New Pose dialog box is displayed.
2. Click the up/down arrows for the joint value until it is-15 (or 15, depends on the axis
direction).

Note:

This gun has two joints, but only one shows in the list. Do you remember why? It is because j2
is dependent on j1.

3. Click OK.
4. In Pose Editor dialog box, select the pos1 just created, select it again and type SEMIOPEN.
5. (Do not close the Pose Editor dialog box yet).

5: Create the OPEN pose

Note:

314 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Jog the gun to the open position (or type in the value in the Pose Editor directly).

1. From the ribbon, choose Robot tab→Tool and Device group→ Joint Jog .

2. In the Joint Jog dialog box, select the blue j1 slider, and move the mouse left and right in the
Graphic Viewer to jog the gun to an open position.
3. From the Pose Editor dialog box, click New.
4. Click OK.
5. Pose Editor dialog box, select the pos1 just created, select it again and type OPEN.

6: Test the poses then reset the mechanism

1. In the Pose Editor dialog box, select CLOSE then click Jump.
2. Select OPEN, and then click Jump again. This jumps the gun from the CLOSE pose to the
OPEN pose.
3. In the Pose Editor or Joint Jog dialog boxes, click Reset to reset the mechanism back to the
HOME pose.

7: Create the (spot-weld) TCP frame

1. From the ribbon, choose Modeling tab→Layout group→Create Frame →Frame by 6

values .

2. Select once in space (on nothing to get the orientation).

3. In the Create Frame By 6 Values dialog box, click Position.
4. Select the top middle of the bottom gun tip (cap).
5. Click OK. (Usually this frame is created between the two gun tips).

315 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. On the Object Tree, name the frame tcp (select it, press the F2 key, and type tcp).
7. Select the tcp frame.
8. From the ribbon, choose Modeling tab→Entity Level group→Set as Preserved Objects .

8: Create the mount frame

1. From the ribbon, choose Modeling tab→Layout group→Create Frame →Frame by 6

values .

2. Select the self origin of the gun (Usually this frame is centered on the gun mounting plate).
3. Click OK.

316 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. On the Object Tree, name the frame mnt (select it, press the F2 key, and type mnt).
5. Select the mnt frame.
6. From the ribbon, choose Modeling tab→Entity Level group→Set as Preserved Objects .

9: Enter the (pneumatic spot-weld) tool definition parameters

1. Continue modeling the same gun loaded in Process Simulate (gun geo).
2. Select the gun, either in the Graphic Viewer or the Object Tree.
3. From the ribbon, choose Modeling tab→Kinematic Device group→ Tool Definition

317 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. In the Tool Definition dialog box, select Gun from the Tool Type drop down list.
5. In the TCP Frame box, select the tcp frame from the drop down list, the Graphic Viewer or
the Object Tree.

Note:

You can temporarily modify the position of the selected frame by clicking the drop down arrow
next to Frame of Reference and specifying the new location of the frame using one of the four
methods available.

6. In the Base Frame box, select the mnt frame from the drop down list, the Graphic Viewer or
the Object Tree.
7. In the Do not check for collisions with area, select nothing.

Note:

Normally, you would specify the objects which may collide with the tool (for example the gun)
by Selecting them in the Graphic Viewer. For example, the tips (or caps) of the gun arms. This
means that collisions between the specified objects and the tool are neither checked for nor
noted.

8. Click OK. The selected device is defined as a tool of type gun.

Note:

In order for this definition to work, the object must be kinematic and have the OPEN,
SEMIOPEN, and CLOSE poses defined (case sensitive).

318 plmx.com.br
suporte@plmx.com.br
11 3565 3808
10: Save and end modeling
1. Select the object you are modeling in the Object Tree.
2. From the ribbon, choose Modeling tab→Scope group→End Modeling .

319 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Spot — Defining an object as a servo spot-weld
gun
Estimated time to complete: 10–20 minutes
The objective of this activity is to use the Tool Definition command to define an object as a servo
spot-weld gun.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Start modeling your servo spot-weld object

1. From the ribbon, chooseFile→Disconnected Study →New Study , and click New
Study.
2. Click Create in the New Study dialog box.
3. From the ribbon, choose Modeling tab→Components group→Insert Component from File

4. In the Insert Component dialog box, browse into the

\Libraries\model_kinematics\guns.\sysroot\ folder.
5. Choose your gun_lf_userUSERNUMBER_UNDEFINED.cojt
6. Click Open.
7. From the ribbon, choose Modeling tab→Components group→Insert Component from File

320 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 8. Choose Yes.

2: Create the (spot-weld) TCP frame

1. From the ribbon, choose Modeling tab→Layout group→Create Frame →Frame by 6

values .

2. Select once in space (on nothing to get the orientation).

3. In the Create Frame By 6 Values dialog box, click Position.
4. Select the top middle of the bottom gun tip (cap).
5. Click OK. (Usually this frame is created between the two gun tips).

6. On the Object Tree, name the frame tcp (select it, press the F2 key, and type tcp).
7. Select the tcp frame.
8. From the ribbon, choose Modeling tab→Entity Level group→Set as Preserved Objects .

321 plmx.com.br
suporte@plmx.com.br
11 3565 3808
3: Create the mount frame
1. From the ribbon, choose Modeling tab→Layout group→Create Frame →Frame by 6

values .

2. Select the self origin of the gun (Usually this frame is centered on the gun mounting plate).
3. Click OK.

4. On the Object Tree, name the frame mnt (select it, press the F2 key, and type mnt).

322 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 5. Select the mnt frame.
6. From the ribbon, choose Modeling tab→Entity Level group→Set as Preserved Objects .

4: Enter the (servo spot-weld) tool definition parameters

1. Continue modeling the same gun loaded in Process Simulate (gun
geo_servo_userUSERNUMBER_UNDEFINED).
2. Select the gun, either in the Graphic Viewer or the Object Tree.
3. From the ribbon, choose Modeling tab→Kinematic Device group→ Tool Definition .

4. In the Tool Definition dialog box, select Servo Gun from the Tool Type drop down list.
5. In the TCP Frame box, select the tcp frame from the drop down list, the Graphic Viewer or
the Object Tree.

Note:

You can temporarily modify the position of the selected frame by clicking the drop down arrow
next to Frame of Reference and specifying the new location of the frame using one of the four
methods available.

6. In the Base Frame box, select the mnt frame from the drop down list, the Graphic Viewer or
the Object Tree.
7. In the Do not check for collisions with area, select nothing.

Note:

Optionally, you would specify the objects which may collide with the tool (for example the
gun) by Selecting them in the Graphic Viewer. For example, the tips (or caps) of the gun arms.
This means that collisions between the specified objects and the tool are neither checked for
nor noted.

323 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 8. Click OK. The selected device is defined as a tool of type servo gun.

5: Save and end modeling

1. Select the object you are modeling in the Object Tree.

2. From the ribbon, choose Modeling tab→Scope group→End Modeling .

324 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Drill/Rivet — Defining an object as a drill/rivet
gun
Estimated time to complete: 10–20 minutes
The objective of this activity is to use the Tool Definition command to define an object as a
drill/rivet gun.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Begin modeling the drill rivet gun object

1. From the ribbon, chooseFile→Disconnected Study →New Study , and click New
Study.
2. Click Create in the New Study dialog box.

3. From the ribbon, choose Modeling tab→Scope group→Insert Component from File .

4. In the Insert Component dialog box, browse into the

.\\sysroot\Libraries\modeling_kinematics\guns folder.
5. Choose your rivet_drill_gun_userUSERNUMBER_UNDEFINED.cojt
6. Click Open.

7. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

8. Choose Yes.

325 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Define the gripper kinematics
1. Verify that the drill_tcp and rivet_tcp frames are in the correct positions.
2. Select the drill_rivet_gun_userUSERNUMBER_UNDEFINEDobject

3. From the ribbon choose Modeling tab→Kinematics Device group→Kinematics Editor .

4. In the Kinematics Editor dialog box, click Create Link .

5. Create the base link and select its geometry

Note:

The frames can be part of the base or just in the component.

6. Click OK.
7. In the Kinematics Editor dialog box, click Create Link .
8. Create the drill arm link and select its geometry

326 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 9. Click OK.
10. In the Kinematics Editor dialog box, click Create Link .
11. Create the rivet arm link and select its geometry

12. Click OK.

3: Create and test the drill rivet gun joints and poses
Note:
Jump from one pose to the other just to understand how the gripper functions, to find the gripping
entities (the pink ones) and to verify it has kinematics.

1. Create the first joint between base and rivet arm. It should be named rivet and move
prismatically along the X axis
2. Create the second joint between base and drill arm. It should be named drill and move
prismatically along the X axis.
3. In the Kinematics Editor dialog box, use Joint Jog to test the (direct) kinematics.
4. Reset the kinematics to HOME when done and close the Joint Jog dialog box.
5. Right-click the component and choose Pose Editor .
6. Add an OPEN pose and a CLOSE pose using the Pose Editor .

Pose name Joint value

DRILL rivet=-50,drill=50

327 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Pose name Joint value
RIVET rivet=50,drill=-50
OPEN rivet=-50,drill=-50
CLOSE rivet=50,drill=-50
SEMIOPEN rivet=-25,drill=-50

7. Note:
8. Your default TCPF is the rivet_tcp. The OPEN, CLOSE, and SEMIOPEN frames are used to
automatically actuate the gun at a rivet, so the CLOSE and RIVET poses are the same.

4: Test the poses then reset the mechanism

1. In the Pose Editor dialog box, select CLOSE then click Jump.
2. Select OPEN, and then click Jump again. This jumps the gun from the CLOSE pose to the
OPEN pose.
3. In the Pose Editor or Joint Jog dialog boxes, click Reset to reset the mechanism back to the
HOME pose.

5: Enter the (drill/rivet) tool definition parameters

1. Select the drill rivet gun, either in the Graphic Viewer or the Object Tree.
2. From the ribbon, choose Modeling tab→Kinematic Device group→ Tool Definition

3. In the Tool Definition dialog box, select Gun from the Tool Type drop down list.
4. In the TCP Frame box, select the rivet_tcp frame from the drop down list, the Graphic
Viewer or the Object Tree.

Note:

This defines the default TCPF for the robot when this gun is mounted. The TCPF of the robot
can be placed on the drill_tcp as an attribute on a location. This is discussed in the advanced
robotics training.

5. In the Base Frame box, select the self frame from the drop down list, the Graphic Viewer or
the Object Tree.

328 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. In the Do not check for collisions with area, select nothing.

Note:

Normally, you would specify the objects which may collide with the tool (for example the gun)
by Selecting them in the Graphic Viewer. For example, the tips (or caps) of the gun arms. This
means that collisions between the specified objects and the tool are neither checked for nor
noted.

7. Click OK. The selected device is defined as a tool of type gun.

Note:

In order for this definition to work, the object must be kinematic and have the OPEN,
SEMIOPEN, and CLOSE poses defined (case sensitive).

6: Save and end modeling

1. Select the object you are modeling in the Object Tree.
2. From the ribbon, choose Modeling tab→Scope group→End Modeling .

329 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Material handling — Defining an object as a
gripper
Estimated time to complete: 12–24 minutes
The objective of this activity is to define an existing kinematic object as a gripper.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Begin modeling the box gripper object

1. From the ribbon, chooseFile→Disconnected Study →New Study , and click New
Study.
2. Click Create in the New Study dialog box.

3. From the ribbon, choose Modeling tab→Scope group→Insert Component from File .

4. In the Insert Component dialog box, browse into the

.\\sysroot\Libraries\modeling_kinematics\grippers folder.
5. Choose your box_gripper_userUSERNUMBER_UNDEFINED.cojt
6. Click Open.

7. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

8. Choose Yes.

330 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Define the gripper kinematics
1. Verify that the MNT and TCP frames are in the correct positions.
2. Select the box_gripper_userUSERNUMBER_UNDEFINEDobject

3. From the ribbon choose Modeling tab→Kinematics Device group→Kinematics Editor .

4. In the Kinematics Editor dialog box, click Create Link .

5. Create the base link and select its geometry

6. Click OK.
7. In the Kinematics Editor dialog box, click Create Link .
8. Create the left arm link and select its geometry

331 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 9. Click OK.
10. In the Kinematics Editor dialog box, click Create Link .
11. Create the right arm link and select its geometry

12. Click OK.

332 plmx.com.br
suporte@plmx.com.br
11 3565 3808
3: Create and test the gripper joints and poses
Note:
Jump from one pose to the other just to understand how the gripper functions, to find the gripping
entities (the pink ones) and to verify it has kinematics.

1. Continuing in the Kinematics Editor dialog box, create the first joint between base and left
arm. It should be named j1 and move prismatically along the X axis
2. Create the second joint between base and right arm. It should be named j2 and move
prismatically along the X axis.
3. In the Kinematics Editor dialog box, use Joint Jog to test the (direct) kinematics.
4. Reset the kinematics to HOME when done and close the Joint Jog dialog box.
5. Right-click the component and choose Pose Editor .
6. Add an OPEN pose and a CLOSE pose.

Pose name Joint value

OPEN J1=0
CLOSE J1=-38, J2=38
7. Jump from one pose to the other.

Note:

The existence of kinematics is a prerequisite to define any tool.

8. Close the Pose Editor dialog box.

4: Define it as a gripper
1. Select the box_gripper_userUSERNUMBER_UNDEFINED object.
2. From the ribbon, choose Modeling tab→Kinematic Device group→ Tool Definition .

3. In the Tool Definition dialog box, select Gripper as the Tool Type.
4. Set the TCP Frame to tcp and the Base Frame to mnt.
5. Select the cylinders on the gripper as the gripping entities.
6. Leave the offset as 1.
7. Click OK.

333 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

The gripping entities and the offset value define which parts is attached to the gripper when a
Gripper operation is simulated. This is a mechanism that is applied only when the gripper
operation starts: It calculates which parts collide with the gripping entities (taking into account
the offset) and these parts is automatically attached to the TCP Frame of the gripper.

As a result of this automatic detection of parts to attach, there is a significant importance to the
selection of the gripping entities for two reasons:

o Performance while simulation is running — in order to gain performance and reduce

the time it takes to find the parts to attach, a minimal number of entities as possible
should be defined as the gripping entities and minimal offset value.
o Accuracy — the gripping entity list must include all entities in such a way that all parts
that should be attached to the gripper is found by the automatic detection mechanism. In
this activity, you could select only one gripping pair (right or left one), reducing the
calculations during the simulation by factor of 2 or even select one entity (if you know
the part touches it), reducing it by x4. Due to the fact that both entities and part have
very simple geometry, this reduction may not be noticeable anyway.
8. Click OK to complete the gripper definition.

5: Save and end modeling

1. From the ribbon, choose Modeling tab→Scope group→End Modeling .

6: Define another gripper (Optional Extra Credit)

334 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 1. From the ribbon, chooseFile→Disconnected Study →New Study , and click New
Study.
2. Click Create in the New Study dialog box.

3. From the ribbon, choose Modeling tab→Scope group→Insert Component from File .

4. In the Insert Component dialog box, browse into the

.\\sysroot\Libraries\modeling_kinematics\grippers folder.
5. Choose your gripper1_userUSERNUMBER_UNDEFINED.cojt object (Instructor should
use user11)
6. Click Open.

7. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

335 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 8. Choose Yes.

336 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Arc — Defining an object as an arc-weld torch
Estimated time to complete: 10–20 minutes
The objective of this activity is to use the Tool Definition command to define an object as an arc-
weld torch.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Start modeling your arc-weld torch object

1. From the ribbon, chooseFile→Disconnected Study →New Study , and click New
Study.
2. Click Create in the New Study dialog box.
3. From the ribbon, choose Modeling tab→Components group→Insert Component from File

4. In the Insert Component dialog box, browse into the \Libraries\model_kinematics\guns\

folder.
5. Choose your st_gun3_30_userUSERNUMBER_UNDEFINED.cojt
6. Click Open.
7. From the ribbon, choose Modeling tab→Components group→Insert Component from File

8. Choose Yes.

337 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Create the (arc-weld) TCP frame
1. From the ribbon, choose Modeling tab→Layout group→Create Frame →Frame by 6

values .

2. Select the middle of the tip of the arc torch.

3. In the Create Frame By 6 Values dialog box, select in the Reference box (do not select from
the list of values).
4. Select the middle of the tip of the arc torch.

338 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

All relative position and orientation values are now zero.

5. In the Create Frame By 6 Values dialog box for the Relative Orientation of X, type 180].
6. In the Create Frame By 6 Values dialog box for the Relative Position of Z, type 20.

339 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 7. Click OK.

Note:

Usually this frame is created about an inch away from the torch, according to the desired “stick
out” distance.

8. On the Object Tree, name the frame tcp (select it, press the F2 key, and type tcp).
9. Select the tcp frame.
10. From the ribbon, choose Modeling tab→Entity Level group→Set as Preserved Objects .

3: Create the mount frame

1. From the ribbon, choose Modeling tab→Layout group→Create Frame →Frame by 6

values .

2. Select the self origin of the gun (Usually this frame is centered on the gun mounting plate).
3. Click OK.

340 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. On the Object Tree, name the frame mnt (select it, press the F2 key, and type mnt).
5. Select the mnt frame.
6. From the ribbon, choose Modeling tab→Entity Level group→Set as Preserved Objects .

4: Enter the (arc-weld) tool definition parameters

1. Continue modeling the same gun loaded in Process Simulate

(st_gun3_30_userUSERNUMBER_UNDEFINED).
2. Select the gun, either in the Graphic Viewer or the Object Tree.
3. From the ribbon, choose Modeling tab→Kinematic Device group→ Tool Definition .

341 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. Click OK to create dummy kinematics and poses.
5. In the Tool Definition dialog box, select Gun from the Tool Type drop down list.
6. In the TCP Frame box, select the tcp frame from the drop down list, the Graphic Viewer or
the Object Tree.

Note:

You can temporarily modify the position of the selected frame by clicking the drop down arrow
next to Frame of Reference and specifying the new location of the frame using one of the four
methods available.

7. In the Base Frame box, select the mnt frame from the drop down list, the Graphic Viewer or
the Object Tree.
8. In the Do not check for collisions with area, select nothing.

Note:

Optionally, you would specify the objects which may collide with the tool (for example the
gun) by Selecting them in the Graphic Viewer. For example, the tip of the gun. This means that
collisions between the specified objects and the tool are neither checked for nor noted.

9. Click OK. The selected device is defined as a tool of type gun.

5: Save and end modeling

1. Select the object you are modeling in the Object Tree.
2. From the ribbon, choose Modeling tab→Scope group→End Modeling .

342 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Paint — Defining an object as a paint gun
Estimated time to complete: 10–20 minutes
The objective of this activity is to define an object as a paint gun.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Start modeling your paint gun object

1. From the toolbar, click File→Disconnected →New Study , and click New Study.
2. Click Create in the New Study dialog box.
3. From the ribbon, choose Modeling tab→Components group→Insert Component from File

4. In the Insert Component dialog box, browse into the

.\\sysroot\Libraries\model_kinematics\guns folder.
5. Choose your paint_gun1_userUSERNUMBER_UNDEFINED.cojt
6. Click Open.
7. From the ribbon, choose Modeling tab→Components group→Insert Component from File

8. Choose Yes.

343 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Create the paint gun tip frame
1. Choose Modeling→Create Frame→Frame by 6 values .
2. Select the middle of the nozzle of the paint gun.
3. Click OK.
4. On the Object Tree, name the frame paint_gun_tip (select it, press the F2 key, and type
paint_gun_tip).
5. Select the paint_gun_tip frame.
6. From the ribbon, choose Modeling tab→Entity Level group→Set as Preserved Objects .

3: Create the (paint) TCP frame

1. Choose Modeling→Create Frame→Frame by 6 values .
2. In the Create Frame By 6 Values dialog box, select in the Reference box (do not select from
the list of values).
3. Select the paint_gun_tip frame.

Note:

All relative position and orientation values are now zero.

4. In the Create Frame By 6 Values dialog box for the Relative Orientation of X, type 180].
5. In the Create Frame By 6 Values dialog box for the Relative Position of Z, type 200.

344 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. Click OK.

Note:

Usually this frame is created about 12 inches away from the nozzle, according to the effective
distance of the spray device and spray.

7. On the Object Tree, name the frame tcp (select it, press the F2 key, and type tcp).
8. Select the tcp frame.
9. From the ribbon, choose Modeling tab→Entity Level group→Set as Preserved Objects .

345 plmx.com.br
suporte@plmx.com.br
11 3565 3808
4: Create the mount frame
1. From the ribbon, choose Modeling tab→Layout group→Create Frame →Frame by 6

values .

2. Select the self origin of the gun (Usually this frame is centered on the gun mounting plate).
3. Click OK.

4. On the Object Tree, name the frame mnt (select it, press the F2 key, and type mnt).
5. Select the mnt frame.
6. From the ribbon, choose Modeling tab→Entity Level group→Set as Preserved Objects .

346 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5: Enter the (paint) tool definition parameters
1. Continue modeling the same gun loaded in Process Simulate
(paint_gun1_userUSERNUMBER_UNDEFINED).
2. Select the gun, either in the Graphic Viewer or the Object Tree.
3. From the ribbon, choose Modeling tab→Kinematic Device group→ Tool Definition .

4. Click OK to create dummy kinematics and poses.

5. In the Tool Definition dialog box, select Paint Gun from the Tool Type drop down list.
6. In the TCP Frame box, select the tcp frame from the drop down list, the Graphic Viewer or
the Object Tree.

Note:

You can temporarily modify the position of the selected frame by clicking the drop down arrow
next to Frame of Reference and specifying the new location of the frame using one of the four
methods available.

7. In the Base Frame box, select the mnt frame from the drop down list, the Graphic Viewer or
the Object Tree.
8. In the Tip Frame box, select the paint_gun_tip frame from the drop down list, the Graphic
Viewer or the Object Tree.
9. In the Do not check for collisions with area, select nothing.

Note:

Optionally, you would specify the objects which may collide with the tool (for example the
gun) by Selecting them in the Graphic Viewer. For example, the tip of the gun. This means that
collisions between the specified objects and the tool are neither checked for nor noted.

347 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 10. Click OK. The selected device is defined as a tool of type paint gun.

6: Save and end modeling

1. Select the object you are modeling in the Object Tree.
2. From the ribbon, choose Modeling tab→Scope group→End Modeling .

348 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Debur — Defining an object as a deburring tool
Estimated time to complete: 10–20 minutes
The objective of this activity is to use the Tool Definition command to define an object as a
deburring tool.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Start modeling your deburring object

1. From the toolbar, click File→Disconnected →New Study , and click New Study.
2. Click Create in the New Study dialog box.
3. From the ribbon, choose Modeling tab→Components group→Insert Component from File

4. In the Insert Component dialog box, browse into the

.\\sysrootLibraries\model_kinematics\guns folder.
5. Choose your rc_b_24033_deburring_tool_userUSERNUMBER_UNDEFINED.cojt
6. Click Open.
7. From the ribbon, choose Modeling tab→Components group→Insert Component from File

8. Choose Yes.

349 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Create the (deburring) TCP frame

1. Choose Modeling→Create Frame→Frame by 6 values .

2. In the Create Frame By 6 Values dialog box, select in the Reference box (do not select from
the list of values).
3. Select the middle of the tip of the arc torch.

Note:

All relative position and orientation values are now zero.

4. In the Create Frame By 6 Values dialog box for the Relative Orientation of X, type 180.

5. Click OK.
6. On the Object Tree, name the frame tcp (select it, press the F2 key, and type tcp).
7. Select the tcp frame.
8. From the ribbon, choose Modeling tab→Entity Level group→Set as Preserved Objects .

350 plmx.com.br
suporte@plmx.com.br
11 3565 3808
3: Create the mount frame
1. From the ribbon, choose Modeling tab→Layout group→Create Frame →Frame by 6

values .

2. Select the self origin of the gun (Usually this frame is centered on the gun mounting plate).
3. Click OK.

4. On the Object Tree, name the frame mnt (select it, press the F2 key, and type mnt).
5. Select the mnt frame.
6. From the ribbon, choose Modeling tab→Entity Level group→Set as Preserved Objects .

351 plmx.com.br
suporte@plmx.com.br
11 3565 3808
4: Enter the (deburring) tool definition parameters
1. Continue modeling the same gun loaded in Process Simulate
(rc_b_24033_deburring_tool_userUSERNUMBER_UNDEFINED).
2. Select the gun, either in the Graphic Viewer or the Object Tree.
3. From the ribbon, choose Modeling tab→Kinematic Device group→Tool Definition .

4. Click OK to create dummy kinematics and poses.

5. In the Tool Definition dialog box, select Gun from the Tool Type drop down list.
6. In the TCP Frame box, select the tcp frame from the drop down list, the Graphic Viewer or
the Object Tree.

Note:

You can temporarily modify the position of the selected frame by clicking the drop down arrow
next to Frame of Reference and specifying the new location of the frame using one of the four
methods available.

7. In the Base Frame box, select the mnt frame from the drop down list, the Graphic Viewer or
the Object Tree.
8. In the Do not check for collisions with area, select nothing.

Note:

Optionally, you would specify the objects which may collide with the tool (for example the
gun) by Selecting them in the Graphic Viewer. For example, the tip of the gun. This means that
collisions between the specified objects and the tool are neither checked for nor noted.

9. Click OK. The selected device is defined as a tool of type gun.

352 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5: Save and end modeling
1. Select the object you are modeling in the Object Tree.
2. From the ribbon, choose Modeling tab→Scope group→End Modeling .

353 plmx.com.br
suporte@plmx.com.br
11 3565 3808
8.8. Adding kinematics to a simple robot

Adding kinematics to a robot model

Estimated time to complete: 20–40 minutes
The objective of this activity is to add kinematics to the robot created in an earlier activity in order to
learn the kinematic tools provided in Process Simulate.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Get the my robot geo object

1. From the ribbon, chooseFile→Disconnected Study →New Study , and click New
Study.
2. Click Create in the New Study dialog box.

3. From the ribbon, choose Modeling tab→Scope group→Insert Component from File .

4. In the Insert Component dialog box, browse into the

.\\sysroot\Libraries\modeling_kinematics\robots folder.
5. Choose your myrobot_geo_userUSERNUMBER_UNDEFINED.cojt robot.
6. Click Open.

354 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Envision the kinematic chain in your head and then begin modeling
1. Right-click the my_robot_geo_userUSERNUMBER_UNDEFINED object and choose
Display Only .

2. What are the links, what are the joints, and so on. you need to define 7 links and 6 joints

Note:

The 7 links is named: base, lnk1, lnk2, lnk3, lnk3, lnk4, lnk5, and lnk6. The joints is names
J1, J2, J3, J4, J5, and J6.

355 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. Select the robot.

4. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

5. Click Yes.
6. Create frames in an easy to select location to be used to create the axes of the robot (one for
each axis). Remember that when entering the axis for joint, the From/To point coordinates are
in reference to the Working Frame.

3: Create the first link

1. Select the robot object.

2. From the ribbon, choose Modeling tab→Kinematic Editor group→Kinematics Editor .

3. In the Kinematics Editor dialog box, click Create Link .

4. Select the bottom three solids for the first link.

356 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 5. In the Link Properties dialog box for name, type base.
6. Click OK.
7. The three entities colors are changed to orange.

4: Create the second link

1. In the Kinematics Editor dialog box, click Create Link .
2. Select the next three solids from the bottom.

3. Click OK.
4. The three entities colors are changed to green.

Note:

The default name lnk1 is assigned to this link

357 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5: Define the next 5 links the same way
1. Define the next 5 links the same way, for a total of 7 links:

Here is lnk2:

Here is lnk3:

Here is lnk4:

358 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Here is lnk5:

Here is lnk6:

6: Axis definition
1. You can create an axis using one of these three methods:
o Method 1: The quickest way is to pick two points on the geometry to define the axis
while defining the joint.
o Method 2: Before defining the joint, create two frames. Then pick the frames to define
the axis while defining the joint.

359 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 o Method 3: Before defining the joint, create line. Then pick two points on the line to
define the axis while defining the joint.

Tip:

This activity uses method 1. However, if you would like to use method 2 or method 3, you
have to create the frames or lines before openning the Kinematic Editor dialog box. So
optionally in this step, you could create frames to make an easily selectable point for the axis of
a joint. See the steps that follow.

360 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. From the Graphic Viewer toolbar, set Pick Intent to Snap .

3. Optionally from the ribbon, choose Modeling tab→Layout group→Create Frame

→Frame By 6 Values .

4. Optionally, in the Frame By 6 Values dialog box, click Position.

5. Optionally, select the center of the one of the ends of the cylinders that is shown above to be an
axis.

Note:

You only need to create one frame for each axis representation.

The same axis can be used for the definition of the J4 and J6 joints.

6. Optionally, click OK
7. Optionally, repeat this process for the other axes shown in the picture above.

Note:

You don't need to create a frame for the axis between the base and lnk1 links.

7: Define the first joint

1. Select the base link.

2. Hold down the Ctrl key.
3. Select lnk1.
4. In the Kinematics Editor dialog box, click Create Joint .
5. Click From and choose the first point for the joint axis in the Graphic Viewer.
6. Choose the second point for the joint axis in the Graphic Viewer.
7. In the Joint Properties dialog box, click Expand Dialog .
8. For Limits type, select Constant.
9. For High Limit, type 180.
10. For Low Limit, type -180.

361 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 11. For Speed, type 110.
12. For Acceleration, type 9999.
13. Click OK

8: Define the second joint of the robot

1. Select the lnk1 link.
2. Hold down the Ctrl key.
3. Select lnk2.
4. In the Kinematics Editor dialog box, click Create Joint .
5. Select From.
6. In the Graphic Viewer, select the center of the end of the depicted cylinder.

7. For the second point, select the center of the center of the end of the opposite end of the
cylinder.
8. In the Joint Properties dialog box, click Expand Dialog .
9. For Limits type, select Constant.
10. For High Limit, type 70.
11. For Low Limit, type -70.
12. For Speed, type 110.
13. For Acceleration, type 9999.
14. Click OK.

9: Continue this process to define all six joints

Note:
Reference joint range values for the purposes of this activity only. Select the appropriate axis for each
joint. J4 and J6 use the same axis.

362 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 1. Continue this process to define all six joints. Use this table for reference:

Parent Child Constant Low Constant High Max Max

Joint
Link Link Limit Limit Speed Accel.
J3 lnk2 lnk3 -70 70 110 9999
J4 lnk3 lnk4 -190 90 170 9999
J5 lnk4 lnk5 -110 110 170 9999
J6 lnk5 lnk6 -340 340 240 9999
Note:
Normally the joint ranges for J2 and J3 are dependant on each other (variable). In this activity, you
define them as constant. This is not suggested for production robotic kinematics.

10: Save and end modeling

1. From the ribbon, choose Modeling tab→Scope group→End Modeling .

363 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Using direct kinematics to move the robot
Estimated time to complete: 2–4 minutes
The objective of this activity is to test the kinematics of the robot that you created.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Test the 6 joints in the mechanism

1. From the Graphic Viewer toolbar, change the Pick Level to Component .
2. Right-click the robot and choose Joint Jog .
3. Move the sliders for each joint and observe how it moves.

Note:

The current value of the joint being jogged is displayed in the Joint Jog dialog box are relative
to home pose.

Note:

The range is specified based upon all joint values being 0 at the home pose.HOME pose is
defined by the position of the links when you defined the kinematics.

4. Return the robot to HOME pose: Click Reset.

Caution:

Do not forget to click Reset on the Joint Jog dialog box before closing the dialog box.

364 plmx.com.br
suporte@plmx.com.br
11 3565 3808
8.9. Inverse kinematics device creation and
usage

Adding a tool frame

Estimated time to complete: 8–16 minutes
The objective of this activity is to add a TOOLFRAME onto the kinematic device in order to make it
into a robot (able to use inverse kinematics).

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Continue modeling the my robot geo object

1. Continue using the same data loaded in Process Simulate.
2. Select the robot.

3. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

4. Click Yes.

365 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Look at the kinematic links
Note:
Look at the temporary coloring of the kinematic links of the mechanism.

1. Select the robot.

2. From the ribbon, choose Modeling tab→Kinematic Device group→Kinematics Editor .

366 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

Recall that this robot has 6 joints that are all rotational (for example its primary kinematic
branch configuration is RRRRRR — all rotational joints).

3: Define Inverse Kinematics

Note:
Make this device into a robot (for example inverse kinematics).

1. In the Graphic Viewer zoom in on the robot’s wrist.

367 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. Change the Pick Level to Entity .
3. Change the Pick Intent to Snap .
4. From the Kinematics Editor dialog box, click Create Toolframe .
5. Select (with a Pick Intent of Snap) the middle of the end of lnk6 (the cyan link) at the end of
the robot wrist.
6. In the Create Toolframe dialog box, verify the Attach to link box is highlighted.
7. Select anywhere on the lnk6 (the cyan link), at the end of the robot wrist. (Yes, select it again).
8. Click OK.
9. Look at the robot’s entities in the Object Tree.

Several frames, including the TOOLFRAME are created.

10. Close the Kinematics Editor dialog box.

4: Save and end modeling

1. From the ribbon, choose Modeling tab→Scope group→End Modeling .

Note:

The GTAC website (support.industrysoftware.automation.siemens.com) contains several

hundred commercial robots from robotic vendors. In most cases you do not have to model your
own robots.

368 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Using inverse kinematics to move the robot
Estimated time to complete: 10–20 minutes
The objective of this activity is to use the inverse kinematics that have been defined.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Use Robot Jog to move the robot

Note:
Notice how this type of movement is different from Joint Jog.

1. Continue using the same data.

2. Right-click the robot and choose Robot Jog to open the Robot Jog dialog box.

3. Grab the Robot Jog Manipulator Frame in the Graphic Viewer and pull the robot around.
4. Do not close the Robot Jog dialog box yet.

Note:

369 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 The Robot Jog dialog box is only available for robot objects (for example objects with a TCPF
frame at the end of its kinematic tree).

2: Create new robotic operation for the robot

1. Choose your robot.

2. From the ribbon, choose Operation tab→Create Operation group→New Operation

→New Weld Operation .

In the dialog box, the Robot box contains the name of your robot.

3. For the Name, type generic_robotic_Op.

4. In the New Generic Robotic Operation dialog box for the Scope, select Operation Root from
the drop down.
5. Take the defaults for the rest of the boxes and click OK.

Note:

The creation and validation of proper robotic processes is described in detail later in this
course. The information provided in this topic should not be considered enough to begin
processing welds in the Process Simulate environment.

3: Create a location for the robot

1. On the Operation Tree viewer, select the new bolded generic_robotic_Op robotic
operation.
2. From the ribbon, choose Operation tab→Add Location group→Add Current Location .

A new location named via is added to the robotic path.

Note:

The path editing buttons can also be found on the Path toolbar which is turned off by default.

370 plmx.com.br
suporte@plmx.com.br
11 3565 3808
4: Create another via location for the robot
1. On the Operation Tree viewer, select the new location in the new bolded Weld_Op robotic
operation.

2. From the ribbon, choose Operation tab→Add Location group→Add Location After .

The via1 is created selected for manipulation in the Robot Jog dialog box.

3. Use the Manipulator Frame in the Graphic Viewer or the Manipulations area of the Robot
Jog dialog box to move the robot to another position.

The via1 location is dragged to the new position of the robot’s TCPF.

4. Close the Robot Jog dialog box.

5. When you are done, choose Robot tab→Tool and Device groupHome to return to the
HOME pose.

371 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 The robot’s HOME pose, is where all its joint values are equal to zero.

5: Play and reset the simulation

1. On the Sequence Editor, click Play Simulation Forward .

2. Watch the simulation.
3. After the simulation runs, click Jump Simulation to Start .

372 plmx.com.br
suporte@plmx.com.br
11 3565 3808
(Optional extra credit) More inverse kinematics
Estimated time to complete: 12–24 minutes
The objective of this activity is to provide additional inverse kinematics examples. These are
considered optional activities. In this case, only the basic steps is provided.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Defining transporter (AGV) kinematics

Note:
In this activity, you model the crawler and crawler_top as separate objects. Later you would define
the crawler_top as a tool to be mounted to the transporter. In this case this “tool” would contain the
one translational joint and would add flexibility to how the poses could be applied for it. (Otherwise if
the bed kinematics were part of the crawler, the poses would contain all the joints of the robot and the
bed, making the modification of the simulation difficult).

Note:
If you are not sure what the kinematics should look like, open crawler_demo and Robot Jog it.
Delete it from the study when finished.

373 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 1. From the ribbon, choose Modeling tab→Scope group→Insert Component from File .

2. Browse to the .\\sysroot\Libraries\model_kinmatics\more_kin folder and select the

crawler_userUSERNUMBER_UNDEFINED.cojt and
crawler_top_userUSERNUMBER_UNDEFINED.cojt

374 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. Right-click the crawler_userUSERNUMBER_UNDEFINED in the Object Tree and choose
Display Only .

4. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

5. Create four empty links.

6. Add all the geometry to link4

Note:

You do not have to put geometry into a link.

7. The first joint (between link1 and link2) should be named X and move prismatically along the
X axis.

Note:

It does not matter where the axis is defined for prismatic joints as long as it goes in the right
direction.

8. The second joint (between link2 and link3) should be named Y and move prismatically along
the Y axis.
9. The third joint (between link3 and link4) should be named Rz and move rotationally around
the Z axis.
10. Test the (direct) kinematics and reset them to HOME when done.
11. Add a TOOLFRAME to link4, located on the ground between the front wheels (select fr1
frame from the Object Tree).
12. Test the (inverse) kinematics and reset them to HOME when done.
13. From the ribbon, choose Modeling tab→Scope group→End Modeling .

14. Right-click the crawler_top_userUSERNUMBER_UNDEFINED in the Object Tree and

choose Display Only .

375 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 15. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

16. Create two empty links.

17. Add the bed geometry to link2
18. The one joint (between link1 and link2) should be named lift and move prismatically along
the Z axis.
19. From the ribbon, choose Modeling tab→Scope group→End Modeling .

2: Defining fork lift kinematics

Warning:
There is no usable data for a forklift in the training data. These steps are here for reference.

1. Follow the same basic process described for the crawler, except use the forklift geometry
(minus the fork).
2. Follow the same basic process described for the crawler_top, except use the forklift fork
geometry.

3: Defining overhead crane kinematics

Note:
If you are not sure what the kinematics should look like, open crane2_demo and Robot Jog it.
Delete it from the study when finished.

376 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 1. From the ribbon, choose Modeling tab→Scope group→Insert Component from File .

2. Browse to the .\sysroot\Libraries\model_kinmatics\more_kin folder and select the

Crane2_userUSERNUMBER_UNDEFINED.cojt.

377 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. Right-clickCrane2_userUSERNUMBER_UNDEFINED in the Object Tree and choose
Display Only .

4. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

5. Create a frame on the top of the crane top (Create Frame →Frame by 6 values ).
6. Shift it down in the Z 10 feet using Placement Manipulator .
7. Create four empty links.
8. Add all the geometry from the crane2_userUSERNUMBER_UNDEFINED (not top) to link2
9. Add all the geometry from the crane2_userUSERNUMBER_UNDEFINED (top) to link3.
10. Add the fr1 frame to link4.
11. The first joint (between link1 and link2) should be named X and move prismatically along the
X axis (0,0,0) – (10,0,0)
12. The second joint (between link2 and link3) should be named Y and move prismatically along
the Y axis. (0,0,0) – (0,10,0)
13. The third joint (between link3 and link4) should be named z and move prismatically along the
Z axis. (0,0,0) – (0,0,10)
14. Add limits to the joints?
15. Test the (direct) kinematics and reset them to HOME when done.
16. Add a TOOLFRAME to link4, located on the fr1 frame
17. Test the (inverse) kinematics and reset them to HOME when done.

4: Defining another type of crane kinematics

Note:
If you are not sure what the kinematics should look like, open crane1_demo and Robot Jog it.
Delete it from the study when finished.

Note:
In this case, you create hook as a separate device with one linear joint that you mount to the end of the
crane to give the type of flexibility you want during simulation.

378 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 1. From the ribbon, choose Modeling tab→Scope group→Insert Component from File .

379 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. Browse to the .\sysroot\Libraries\model_kinmatics\more_kin folder and select the
crane1_userUSERNUMBER_UNDEFINED.cojt.
3. Right-click crane1_userUSERNUMBER_UNDEFINED in the Object Tree and choose
Display Only .

4. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

5. Define the kinematics as shown in the demo object or as desired.

6. Add a TOOLFRAME to the last link.

5: Defining (Regular) lift assist kinematics

Note:
If you are not sure what the kinematics should look like, open lift_assist_demo and Robot Jog it.
Delete it from the study when finished.

380 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 1. From the ribbon, choose Modeling tab→Scope group→Insert Component from File .

2. Browse to the .\sysroot\Libraries\model_kinmatics\more_kin folder and select the

Lift_Assist_userUSERNUMBER_UNDEFINED.cojt.
3. Choose Lift_Assist_userUSERNUMBER_UNDEFINED in the Object Tree.

4. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

5. Define seven links as shown in the picture above

6. Joints 1, 2, and 3 are rotational using the Z-axis of the frames on the top of the arm.
7. Joint 4 is rotational and Joint 5 is linear along the Z-axis

Note:

This robot can be used in conjunction with the human (follow the robotic operation of the lift
assist).

8. Add a TOOLFRAME to link4.

6: Defining (special) lift assist kinematics

Note:
If you are not sure what the kinematics should look like, open top_lift_assist_demo and Robot Jog
it. Delete it from the study when finished.

381 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 1. From the ribbon, choose Modeling tab→Scope group→Insert Component from File .

2. Browse to the .\sysroot\Libraries\model_kinmatics\more_kin folder and select the

top_lift_assist_userUSERNUMBER_UNDEFINED.cojt.
3. Right-click top_lift_assist_user1 in the Object Tree and choose Display Only .

4. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

382 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 5. The first two joints are prismatic along the X-axis and Y-axis.
6. Joints 3, 4, and 5 are rotational using the Z-axis of the frames on the top of the arm.
7. Joint 6 is rotational and Joint 7 is linear along the Z-axis

Note:

This robot can be used in conjunction with the human (follow the robotic operation of the lift
assist).

8. Add a TOOLFRAME to link4.

383 plmx.com.br
suporte@plmx.com.br
11 3565 3808
9. Other selected modeling and kinematics
topics

384 plmx.com.br
suporte@plmx.com.br
11 3565 3808
9.1. Rails, gantries, and positioners (external
axis definition)

Sample rail creation overview

Estimated time to complete: 6–12 minutes
The objective of this activity is to create a simple rail from scratch.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Open a new prototype for the rail

1. From the ribbon, choose File→Disconnected Study →New Study , and click New
Study.
2. Choose Create.
3. From the ribbon, choose Modeling tab→Components group→ New Resource

4. In the New Resource dialog box, select ToolPrototype.

5. Click OK.
6. Select the new object name and press the F2 key.
7. Name it rail1_userUSERNUMBER_UNDEFINED.

2: Define the Rail and Carriage

Note:
The geometry for the rail could be created in a CAD system, such as NX. However, the kinematics
should be defined in Process Simulate.

385 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Note:
It can consist of two boxes. One is the rail track and the other is the carriage that carries the robot
along the track.

Example: Dimensions:

1. Rail 15,000 x 800 x 1000 (box )

2. Carriage 1000 x 800 x 100 (box )
3. Use what you've learned to place the carriage on one end of the rail.
4. After creating the links, define the rail as a kinematic device having a single prismatic joint
(J1) to move the rail along the track.

3: End the modeling session

1. From the Object Tree, select your rail1_userUSERNUMBER_UNDEFINED.
2. From the ribbon, choose Modeling tab→Scope group→End Modeling .

3. Save it into the .\sysroot\Libraries\modeling_kinematics\toolprototypes folder.

386 plmx.com.br
suporte@plmx.com.br
11 3565 3808
9.2. More kinematic branching and cranks

Other slider cranks including offset slider

Estimated time to complete: 8–16 minutes
The objective of this activity is to look at an example of kinematic motion of various cranks and
defining the kinematics using the Kinematics RPRR offset slider.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Insert several crank object examples

1. The same study should still be opened from the previous activity.

2. From the ribbon, choose Modeling tab→Scope group→Insert Component from File .

3. Browse and select these COJTs from the .\sysroot\Libraries\model_kinematics\more_kin

folder: rrrp.cojt, prrr.cojt, rprr_offset.cojt, prrr_offset.cojt, rprr_offset_geo.cojt, and
rrrp_offset.cojt.

Note:

rprr_offset_geo.cojt does not have any kinematics. you add them later in this activity.

4. Right-click in the Graphic Viewer and choose Display All .

5. Use Fast Placement to move the objects so that they are not overlapping.

387 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Jog the joint functions

1. Joint Jog one of the crank objects.

2. Open the Kinematics Editor dialog box for one of the crank objects.

Note:

Look at the functions on the joints using the Joint Kinematics Functions button on the
Kinematics Editor toolbar.

3: Start modeling the crank

1. Select the rprr_offset_geo object in the Graphic Viewer or Object Tree.

2. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

3. Click OK.
4. Right-click the rprr_offset_geo object and choose Display Only .
5. Right-click the rprr_offset_geo object and choose Zoom to Selection .

6. From the ribbon, choose Modeling tab→Kinematic Device group→Kinematics Editor .

388 plmx.com.br
suporte@plmx.com.br
11 3565 3808
4: Define a RPRR slider with offset

1. In the Kinematics Editor, click Create Crank .

2. For Choose Crank type, select RPRR .

3. Click Next.
4. On the Slider Crank Joints dialog box, click one of the three points on the Linkage Diagram
and select the equivalent point in the Graphic Viewer

Point Location
po7 Between Fixed Link and Input Link
po8 Between Input Link and Coupler Link
po9 Between Coupler Link and Output Link

Note:

A triangle is drawn in the Graphic Viewer between the three points.

5. Click Next.
6. Check With offset.

389 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 7. In the Graphic Viewer for the From point, select the end of line_3 sticking out of the green
input link.
8. In the Slider Crank Joints dialog box, select in the To point box.
9. In the Graphic Viewer for the To point, select the end of line_3 sticking out of the yellow
coupler link.
10. Click Next.

Here is an overview of the data that is used in the next steps:

Link Content Correlation to Linkage Diagram

gray entity Fixed Link
green entity Input Link
red entity Coupler Link
blue entity Output Link
11. On the Slider Crank Joints dialog box, click the first link (Fixed Link).

12. On the Slider Crank Joints dialog box, click Existing Link.
13. Select the equivalent link in drop down. DO NOT RECREATE THE LINKS.
14. Repeat this process for the other three links.
15. Click Finish. The kinematic tree is defined.

390 plmx.com.br
suporte@plmx.com.br
11 3565 3808
9.3. Create slot joints

Creating slot joints

Estimated time to complete: 4–8 minutes
In this activity, you create a slot joint.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Try the slot kinematics demo models

1. From the ribbon, chooseFile→Disconnected Study →New Study , and click New
Study.
2. Click Create.

3. From the ribbon, choose Modeling tab→Scope group→Insert Component from File .

4. Browse into the .\sysroot\Libraries\model_kinematics\slot_joints folder.

5. Choose slot_joint1_demo.cojt and slot_joint2_demo.cojt.
6. Click Open..
7. Right-click in the Graphic Viewer and choose Zoom to Fit .
8. Place them side-by-side instead of on top of each other.

391 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 9. Right-click the slot_joint1_demo and choose Joint Jog .
Note:
Notice the limits of the joint.

10. In the Joint Jog dialog box, move the slider for j1 to see how the kinematics follow the slot.
11. Delete the slot_joint1_demo and slot_joint2_demo components to unload the data.

2: Define one slot kinematics

1. From the ribbon, choose Modeling tab→Scope group→Insert Component from File .

2. Choose slot1_geo_USERNUMBER_UNDEFINED.cojt and

slot2_geo_USERNUMBER_UNDEFINED.cojt
3. Click Open.
4. Right-click in the Graphic Viewer and choose Zoom to Fit .
5. Place them side-by-side instead of on top of each other.

392 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. Select slot1_geo_USERNUMBER_UNDEFINED

7. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

8. From the ribbon, choose Modeling tab→Kinematic Device group→Kinematics Editor .

9. In the Kinematics Editor dialog box, select the lower, depress the Ctrl key, select the upper,
release the Ctrl key.
The link you selected first is the parent and the other link is the child.

10. In the Kinematics Editor dialog box, click Create Slot Joint .

393 plmx.com.br
suporte@plmx.com.br
11 3565 3808
The Create Slot Joint dialog box appears.

11. For Joint Type , select One slot (default).

12. Click Preview.
13. For Leading curve, select the blue Curve in the slot of
slot1_geo_USERNUMBER_UNDEFINED.
14. For Pin 1 , select the center of the pin at the bottom of the slot.
The select point is projected to the plane of the leading curve.

This is marked with an orange cross.

15. For Pin 2 , select the center of the pin near the middle of the slot.
The select point is projected to the plane of the leading curve.

This is marked with a blue cross.

394 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 16. For the offset, pick the gripping end of the lower.

The select point is projected to the plane of the leading curve.

17. Click OK and close the Kinematics Editor.

Three joints are created.

18. Right-click the slot1_geo_USERNUMBER_UNDEFINED, choose Joint Jog , and click

OK to the warning.
Note:
Notice the limits of the joint.

19. In the Joint Jog dialog box, move the slider for j1 to see how the kinematics follow the slot.
20. Select slot1_geo_USERNUMBER_UNDEFINED.

21. From the ribbon, choose Modeling tab→Scope group→End Modeling .

22. Do not save changes to the study.

3: Define two slot kinematics

1. Select slot2_geo_USERNUMBER_UNDEFINED

2. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

395 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. From the ribbon, choose Modeling tab→Kinematic Device group→Kinematics Editor .
4. In the Kinematics Editor dialog box, select the lower, depress the Ctrl key, select the upper,
release the Ctrl key.
The link you selected first is the parent and the other link is the child.

5. In the Kinematics Editor dialog box, click Create Slot Joint .

6. For Joint Type , select Two slot (default).
7. Click Preview.
8. Follow the same basic steps to define the leading curves, pins, and offset.
9. Joint the joint to see how it moves.
10. Select slot1_geo_USERNUMBER_UNDEFINED.

11. From the ribbon, choose Modeling tab→Scope group→End Modeling .

12. Do not save changes to the study.

396 plmx.com.br
suporte@plmx.com.br
11 3565 3808
9.4. Variable joint limits

Understanding variable joint limits

Estimated time to complete: 4–8 minutes
In this activity, you better understand variable joint limits.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Get the robot demo

1. From the ribbon, chooseFile→Disconnected Study →New Study , and click New
Study.
2. Click Create.

3. From the ribbon, choose Modeling tab→Scope group→Insert Component from File .

4. Browse into the .\sysroot\Libraries\model_kinematics\var_limits folder.

5. Choose var_limit_robot_demo.cojt.
6. Choose Open.
7. Right-click in the Graphic Viewer and choose Zoom to Fit .

397 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Jog the robot demo

1. Right-click the var_limit_robot_demo and choose Joint Jog .

Note:
Notice the limits of the two joints.

2. In the Joint Jog dialog box, move the slider for the j1 joint all the way to the left.

398 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Note:
Notice the limits of j2. As joint j1 is moved, the limits of j2 change and visa versa.

Note:
In this example as j1 moves, joint j2 moves by the same amount (because a follow factor of 1 is
applied to it).

3. Try jogging j2 all the way to the right.

399 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Note:
The child link of j2 is crashing into its parent because while the joint pose changed, its limits did not.
The correct limits for j2 would now be −75 at the minimum and +45 at the maximum.

To understand what kind of input the system expects, look at the following graph. This joint-
dependence graph (for fixed joint limits) shows the limits of j2 as a function of j1.

In the above graph all combinations of j1,j2 are allowed as long as they are within the boxed area.
Specifically, as long as −30 < j1 < 45 and −30 < j2 < 90 the robot can move there. Any combination
outside the boxed area is illegal. For example, the combination (j1=−15, j2=110) is illegal.

Note:
This joint-dependence graph (for variable joint limits), represents a situation that would work the same
with constant limits.

In order to avoid a collision between the two links of the robot, you would like your joint-dependence
graph to look as follows:

400 plmx.com.br
suporte@plmx.com.br
11 3565 3808
When j1 is at −30, j2 can vary between 0 and 120;

When j1 is at +45, j2 can vary between −75 and 45.

In the next activity you get a robot component into the cell and notice that it never reaches an illegal
pose. The j2’s joint limits change based on the position of j1.

For example, think of your person standing at attention with his arm straight out. Assume that the
person only has two joints: j1 at his waist to bend forward, and j2 at this arm to move straight down
until it hits his body. In this posture where J1=0, the range of j2 is 0 to 90. However, if the person
bends forward (for example j1=90), then the range of j1 becomes 0 to 15.

4. Do not save changes to the study.

401 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Defining the variable limits
Estimated time to complete: 4–8 minutes
In this activity, you define variable joint limits.

Note:
In this activity, if J1=-30, then the range of J2 is 0 to 12. However, if J1 is 45, then the range of J2
becomes -75 to 45.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Get the robot that is not a demo

1. From the ribbon, choose File→Disconnected Study →New Study , and click New
Study.
2. Click Create.

3. From the ribbon, choose Modeling tab→Scope group→Insert Component from File .

4. Browse into the .\sysroot\Libraries\model_kinematics\var_limits folder.

5. Choose var_limit_robot_.cojt.
6. Choose Open.
7. Right-click in the Graphic Viewer and choose Zoom to Fit .

402 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Begin editing the dependent joint

1. Select the var_limit_robot_.cojt.

2. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

3. Click OK in the message about the unsupported geometry.

4. From the ribbon, choose Modeling tab→Kinematic Device group→Kinematics Editor .

5. In the Kinematics Editor dialog box, double-click the dotted line representing the j2 joint.

403 plmx.com.br
suporte@plmx.com.br
11 3565 3808
3: Begin creating the dependency graph

1. In the Joint Properties dialog box, choose Expand dialog .

2. For Limits type, select Variable.
Note:
The Fixed Joint drop down appears.

3. For Fixed Joint, select j1.

Note:
The Variable Joint Values dialog box appears.

4. From the Variable Joint Values dialog box, select in the first row for the Fixed j1 [deg] column.
5. For the first fixed joint value, type −30.
6. Press the [Tab] key to go to the first row for the Variable j2 [deg] column.
7. For the first depend joint value, type 0.

4: Finish creating the dependency graph

1. Press the [Tab] key to go to the second row for the Fixed j1 [deg] column.
2. For the second fixed joint value, type −30.

404 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. Press the [Tab] key.
4. For the second depend joint value, type 120.
5. Press the [Tab] key.
6. For the third fixed joint value, type 45.
7. Press the [Tab] key.
8. For the third depend joint value, type 45.
9. Press the [Tab] key.
10. For the fourth fixed joint value, type 45.
11. Press the [Tab] key.
12. For the fourth depend joint value, type −75.
13. Press the [Tab] key.

Note:
You just entered the four coordinates of the parallelogram above: (−30, 0), (−30, 120), (45, 45), (45,
−75)

405 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5: Save changes to the dependency graph

1. In the Variable Joint Values dialog box, click OK

2. In the Joint Properties dialog box, click OK
3. In the Kinematics Editor dialog box, click Close

6: Test the kinematics and end modeling

1. In the Graphic Viewer, right-click it and choose Joint Jog .

2. Use the Joint Jog dialog box to jog it to see how the kinematic works.
3. Reset the kinematics and close the Joint Jog dialog box.
4. End modeling to save your modeling changes.

406 plmx.com.br
suporte@plmx.com.br
11 3565 3808
9.5. More on kinematic functions

(Demo) Implementing joint logic with functions

Estimated time to complete: 6–12 minutes
The objective of this activity is to look at an example of kinematic motion added to a weld gun. In this
example the upper arm until a certain limit before the bottom arm begins to move.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

Launch the

1: Instructor opens "Gun Fun"

Warning:
This is not a student activity.

1. From the ribbon, chooseFile→Disconnected Study →New Study , and click New
Study.
2. Click Create.

3. From the ribbon, choose Modeling tab→Scope group→Insert Component from File .

4. Browse into the .\sysroot\Library\modkin\guns folder, select gun fun and click Open.

Note:

Students should not save any changes to this object, since the whole class is looking at the
same gun .COJT.

407 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Joint jog the gun

1. Right click the gun and select Joint Jog .

2. Jog the joints of the gun.

3: Look at the Kinematic Joint Functions

Note:
Look at the functions on the joints using the Joint Kinematics Functions button on the
Kinematics Editor toolbar.

1. Open the Kinematics Editor dialog box for this gun.

2. J1 is an independent joint (so there’s no function)

3. J2 function: (((D(j1)<=41.275)*(.005497*D(j1)))+((D(j1)>41.275)*(.2269)))

Note:

J2 NOTE:

o Expression1 is D(j1)<=41.275: If prismatic joint j1 is less than or equal to 41.275, then

evaluate to 1 else evaluate to 0.
o Expression2 is .005497*D(j1): prismatic joint j1 times 0.005497
o Expression3 is D(j1)>41.275: If prismatic joint j1 is greater than 41.275, then evaluate
to 1 else evaluate to 0.
o Expression4 is 0.2269

408 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 o J2’s Logic: Multiply expression1 times expression2 plus expression3 times
expression4: This means that j2 depends on expression2 for its joint value when j1 is
less than or equal to 41.275, but depends on expression4 when j1 is greater than
41.275.
4. J3 function: ((D(j1)>41.275)*((-.004810)*(D(j1)-41.275)))

Note:

J3 NOTE:

o Expression1 is D(j1)>41.275: If prismatic joint j1 is greater than 41.275, then evaluate

to 1 else evaluate to 0.
o Expression2 is -.004810)*(D(j1)-41.275): prismatic joint j1 minus 41.275 times -
0.004810
o J3’s Logic: Multiply expression1 times expression2. This means that j3 always has a
value of zero unless j1 is greater than 41.275
5. J4 function: (((D(j1)<=41.275)*((-.003145)*D(j1)))+((D(j1)>41.275)*((-.1298)+((-
.002806)*(D(j1)-41.275)))))

Note:

J4 NOTE:

o Expression1 is D(j1)<=41.275
o Expression2 is (-.003145)*D(j1)
o Expression3 is D(j1)>41.275
o Expression4 is (-.1298)+ ((-.002806)*(D(j1)-41.275)))
o J4’s Logic: Multiply expression1 times expression2 plus expression3 times
expression4. This means that j4 depends on expression2 for its joint value when j1 is
less than or equal to 41.275, but depends on expression4 when j1 is greater than 41.275.

409 plmx.com.br
suporte@plmx.com.br
11 3565 3808
(Optional Instructor Demo) Kinematics
following a surface
Estimated time to complete: 6–12 minutes
The objective of this activity is to look at an example of kinematic motion that follows a surface
defined by a mathematical function.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Insert the surface tracker object

1. The same study should still be opened from the previous activity.

2. From the ribbon, choose Modeling tab→Scope group→Insert Component from File .

3. Browse and select the surfacetracker.cojt (CAM Motion Example) object from the
.\sysroot\Libraries\model_kinematics\more_kin folder.
4. Click Open.

Note:

It is OK for the .COJT filename to be different than the name shown in Process Simulate. They
are two different attributes of the object.

5. Right-click the CAM Motion Example (surface tracker) object and choose Display Only .

410 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Joint jog the gun

1. Right-click the CAM Motion Example (surface tracker) object and select Joint Jog .
2. Jog the joints.

3: Look at the Kinematic Joint Functions

1. Select the CAM Motion Example (surface tracker) object.

2. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

3. From the ribbon, choose Modeling tab→Kinematic Device group→Kinematics Editor .

411 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. In the Kinematics Editor dialog box for the CAM Motion Example (surface tracker) object.

5. In the Kinematics Editor dialog box for the CAM Motion Example (surface tracker) object,
choose the Z joint.
6. From the Kinematics Editor dialog box, choose Joint Kinematics Functions .

412 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 7. Click Close
8. Click Close
9. Select the CAM Motion Example (surface tracker) object.
10. From the ribbon, choose Modeling tab→Scope group→Reload Component .

11. Choose Yes,

413 plmx.com.br
suporte@plmx.com.br
11 3565 3808
9.6. Train joint function example

(Instructor Demo) Examine the train joint

Estimated time to complete: 2–4 minutes
The objective of this activity is to examine the trainj. There is an example object named trainj
available for examination. It has all of the functions defined and works properly.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Steps for the Train Joint

1. The same study should still be opened from the previous activity.
2. Insert the trainj.cojt from the .\sysroot\Libraries\modeling_kineamtics\functions folder and
begin modeling it.
3. In the Object Tree, right-click the trainj object and choose Display Only .

4. Right-click the trainj object and select Joint Jog .

5. Jog the joints to see how it works.
6. Return to the HOME pose.
7. Select the trainj object.

8. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

414 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 9. From the ribbon, choose Modeling tab→Kinematic Device group→Kinematics Editor .

10. Look at the function defined for the cpin joint on this device.
11. Follow the same process to look at the function for the barpin joint.
12. Open and jog some of the other train related objects.

415 plmx.com.br
suporte@plmx.com.br
11 3565 3808
9.7. Cam Joint function example

(Instructor Demo) Examine the cam joint

Estimated time to complete: 2–4 minutes
The objective of this activity is to examine the camfinalj. There is an example object named
camfinalj available for examination. It has all of the functions defined and works properly.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Steps for the cam joint object

1. The same study should still be opened from the previous activity.
2. Insert the camfinal.cojt from the .\sysroot\Libraries\modeling_kineamtics\functions folder
and begin modeling it.
3. Right-click the camfinal object and choose Display Only .

4. Right-click the camfinal object and select Joint Jog .

5. Jog the joints to see how it works.
6. Return to the HOME pose.
7. Select the trainj object.

8. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

416 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 9. From the ribbon, choose Modeling tab→Kinematics group→Kinematics Editor .

10. Using the Kinematics Editor, look at the functions defined for the joints on this device.
11. Open and jog some of the other cam related objects.

417 plmx.com.br
suporte@plmx.com.br
11 3565 3808
9.8. Compound equipment (optional)

Setting up compound equipment

Estimated time to complete: 12–24 minutes
The objective of this activity is to setup some compound equipment.

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study used in this activity: temp.psz

1: Create the first part of the robot and rail equipment

1. Continue using the same data loaded in Process Simulate.

2. From the ribbon, chooseFile→Disconnected Study →New Study , and click New
Study.
3. Name it tempstudy.
4. In the Object Tree, select the Resources folder.
5. From the ribbon, choose Modeling tab→Components group→ New Resource .

6. In the New Resource dialog box, select EquipmentPrototype and click OK.
7. Change the name to Rail user.

8. From the ribbon, choose Modeling tab→Scope group→Insert Component from File .

418 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 9. In the Insert Component dialog box, browse to
.\sysroot\Libraries\model_kinematics\compound_equipment2.
10. Select e_carriage_l.cojt and click Open.

11. From the ribbon, choose Modeling tab→Scope group→Insert Component from File .

12. In the Insert Component dialog box, browse to

.\sysroot\Libraries\model_kinematics\compound_equipment2.
13. Select e_rail_I25.cojt and click Open.

2: Create the second part of the robot and rail equipment

1. In the Object Tree, select the Resources folder.
2. From the ribbon, choose Modeling tab→Components group→ New Resource .

3. In the New Resource dialog box, select EquipmentPrototype and click OK.
4. Change the name to Robot and Rail user.
5. In the Object Tree drag the Rail user equipment prototype onto the Robot and Rail user
equipment prototype.

6. From the ribbon, choose Modeling tab→Scope group→Insert Component from File .

419 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 7. In the Insert Component dialog box, browse to .\sysroot\Libraries\model_kinematics\robots.
8. Select real_robot.cojt and click Open.

3: Place the robot on the rail

1. From the ribbon, choose Modeling tab→Scope group→Set Modeling Scope .

420 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. In the Object Tree, select the Rail.

3. From the Graphic Viewer toolbar, choose Display .

4. Right-click the Robot and Rail userUSERNUMBER_UNDEFINED equipment instance. in
the Object Tree and choose Display Only .
5. Right-click the real_robot and choose Relocate .
6. Select the magenta frame on the rail's carriage and click Apply and Close.

4: Attach it to the rail

1. In the Object Tree, select the Robot and Rail userUSERNUMBER_UNDEFINED equipment
instance.
2. From the ribbon, choose Modeling tab→Kinematic Device group→Kinematics Editor .

421 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. Click Create Link , click OK, and Close.
4. Click Create Link , click OK, and Close.
5. Drag a joint between the two links just created and click OK.

Note:

The root of the compound equipment must contain some type of kinematic information (one
joint at minimum) in order to be able to store the attachment of objects within it. Now when
you end modeling this object, it prompts you for the location to store the new .COJT.

6. Select the real_robot.

7. From the ribbon, choose Home tab→Tools group→Attachment →Attach .

422 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 8. From the Graphic Viewer toolbar, change the Pick Level to Entity .
9. Choose on the geometry of the e_carriange_l (the k1 link should be selected).
10. For Store attachment, select Local (In current study).
11. Click OK.
12. From the Graphic Viewer toolbar, change the Pick Level to Component .

5: Set it up as an external axis and finish up

1. Right-click the real_robot and choose Robot Properties .
2. In the Robot Properties dialog box, click the External Axes tab.
3. Click Add, select e_carriage_l for the Device, and click OK.

Note:

j1 is already selected as the Joint.

4. Click Close.
5. Select the Robot and Rail userUSERNUMBER_UNDEFINED.
6. From the ribbon, choose Modeling tab→Scope group→End Modeling .

423 plmx.com.br
suporte@plmx.com.br
11 3565 3808
424 plmx.com.br
suporte@plmx.com.br
11 3565 3808
10. General robotics

425 plmx.com.br
suporte@plmx.com.br
11 3565 3808
10.1. Robotics overview
There are no activities for this lesson.

10.2. Create a study (again)

Creating a new study (again)

Estimated time to complete: 8–16 minutes
The objective of this activity is to create another study.

Demo video

Copy and paste this video link into a new web browser to watch the demo video:

file:///.\\sysroot\training_videos\new_sa_study.mp4
Activity data

Project used in this activity: .\\Projects\Project_209S\Line USERNUMBER_UNDEFINED

StudyFolder\model kinematics

Study created in this activity: Study2.psz

1: Create a new study in a project folder

1. Choose File→Disconnected Study →New Study .

Continue to use the DefaultStudy.pszt for the Template.

2. From the New Study dialog box, for Study type, select RobcadStudy.
3. Click Create and OK.
4. From the ribbon, choose Modeling tab→Components group→Create Compound Resource
.

426 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 5. In the Resources folder of the Object Tree, rename CompoundResource1 to Assembler
Study.
6. In the Operation Tree, right-click and choose New Compound Operation .
7. In the New Compound Operation dialog box for the Name, enter Assembler Study.
8. For Scope, select Operation Root and click OK.

2: Save the study

1. From the Quick access toolbar choose Save .

2. In the Save As dialog box, browse into the your Line USERNUMBER_UNDEFINED
folder.
3. For the File name, enter Study2.psz and click Save.
4. Click OK.

427 plmx.com.br
suporte@plmx.com.br
11 3565 3808
10.3. Manufacturing feature representation
There are no activities for this lesson.

428 plmx.com.br
suporte@plmx.com.br
11 3565 3808
11. Spot welding applications

429 plmx.com.br
suporte@plmx.com.br
11 3565 3808
11.1. Spot weld primer (optional topic)
There are no activities for this lesson.

11.2. Process methodology

There are no activities for this lesson.

11.3. Project spot mfg features

Viewing spot manufacturing features in Process

Simulate
Estimated time to complete: 8–16 minutes
The objective of this activity is to view spot manufacturing features in Process Simulate.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Study used in this activity: station02.psz

1: Load the Station02 study

1. From the Quick access toolbar choose Open in Standard Mode .

2. Browse to .\\Projects\Robotics Sim Begin (user 1)\processing\Line

USERNUMBER_UNDEFINED StudyFolder.
3. Select station02.psz and click Open.

430 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Open the Mfg Viewer

1. From the Process Simulate Object Tree, select a part and choose Zoom to Selection from
the Graphic Viewer toolbar.

2. Notice the manufacturing features in the Graphic Viewer.

3. From the ribbon, choose View tab→Screen Layout group→Viewers →Mfg Viewer.

4. In the Mfg Viewer, click the down arrow to the right of the Filter and verify is selected.
5. Notice the Mfg Features in the Mfg Viewer.

431 plmx.com.br
suporte@plmx.com.br
11 3565 3808
3: View some of the attributes of the weld locations

1. In the Mfg Viewer, click Customize .

2. In the Mfg Viewer - Properties Customization dialog box Available properties list, expand
MFG Viewer Fields.

432 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. In the Mfg Viewer - Properties Customization dialog box, choose Projection Indication and
Assignment indication attributes under Mfg Viewer Fields.
4. Click to move them to the Show properties in following order list
5. (Optional) In the Mfg Viewer - Properties Customization dialog box, select the desired
attributes under the WeldPoint available properties.
6. (Optional) Click to move them to the Show properties in following order list
7. Click OK.

Currently the welds are assigned to parts, but not projects yet.

4: Setting up auto save

1. Choose File→Options .
2. From the General tab of the Options dialog box, select the Every check box.

433 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. Type 30 minutes.
4. Click OK.

Note:

Now Process Simulate automatically prompts you to save your work periodically. When
prompted, click Yes to save your work locally. Initiating a regular save operation resets the
auto save timer.

434 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Projecting spot manufacturing features
Estimated time to complete: 2–4 minutes
The objective of this activity is to project the weld locations you have created onto the workpiece and
orient them roughly to avoid collision with the workpiece.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Study used in this activity: station02.psz

1: Start projecting spot manufacturing features

Note:
By projecting the spot manufacturing features onto its related parts, you get a robotic simulative
operation, where each spot is represented as a location operation.

1. Continue in Process Simulate from where the last activity left off.

Note:

The station02 study should be loaded from the Processing folder .

2. From the Operation Tree, expand into station02 and click the display status square for the pink
WeldOperation 1 simulative operation, if it is not currently displayed.

Note:

A dotted line is shown in the Graphic Viewer which represents the order of the manufacturing
features in simulative operation.

3. Select the pink WeldOperation 1 simulative operation.

4. From the ribbon, choose Process tab→Discrete group→Project Weld Points .

435 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

The default approach and perpendicular axis are defined and can be modified by either clicking

Options or by choosing File→Options and click the Weld tab.

5. Select the Project on approximation only check box.

Note:

436 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Only JTs in the XTBRep format support projecting weld points on exact geometry. If the part
exact geometry is not available in the JT file (for example, it is a location that did not retrieve
the exact geometry), users are asked whether to project based on an approximation or skip the
projection for the weld points which failed for exact projection.

6. Click Project.

Note:

Notice that each location has a blue check mark next to it in the Project Weld Points dialog
box, meaning that the projection was successful.

Note:

Constraint − weld locations must be on the surface and perpendicular to it. They are used to
determine the orientation of the weld gun when approaching or at this location.

7. Click Close.

437 plmx.com.br
suporte@plmx.com.br
11 3565 3808
11.4. Edit a weld path

Adjusting a weld path

Estimated time to complete: 14–28 minutes
The objective of this activity is to edit the weld path of locations from the previous activity and jog a
weld gun along it.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Study used in this activity: station02.psz

1: Graphically label the locations

1. Continue using the same data loaded in Process Simulate.
2. From the Operation Tree, select the first location in the pink WeldOperation 1 simulative
operation.
3. Hold down the Shift key and select the last location in the path.

4. From the ribbon, choose Modeling tab→Note group→Notes →Object Notes .

438 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 5. Place the notes into non-overlapping positions by dragging and dropping them in the Graphic
Viewer.

2: Reorder the locations in the path

1. From the Operation Tree, right-click the pink WeldOperation 1 simulative operation and
choose Set Current Operation .

Note:

If the Sequence Editor is not shown, from he ribbon choose View tab→Screen Layout
group→Viewers→Sequence Editor.

2. From the Sequence Editor, right-click on nothing and choose Tree Filters Editor.
3. In the Tree Filters Editor dialog box, select all three deselected check boxes.

439 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. Click OK.
5. From the Sequence Editor, expand the pink WeldOperation 1 simulative operation to show
all the locations.
6. Looking at the Graphic Viewer: Drag and drop the locations on the Sequence Editor (in
between other locations) so that they are in sequential order from right to left (for example
starting with e254 and ending with e278).

3: Get the first approximation (guess) of a gun

1. On the Operation Tree, right-click on the pink WeldOperation 1 simulative operation and
choose Operation Properties .
2. In the Operation Properties dialog box, click the Process tab.
3. Select in the Gun box.

Note:

Do not select the robot at this time. You do this in a later topic.

4. Select the gun on the robot sitting near the top of the car door (named gun1).

Note:

Do not select gun1_2. That is for the other robot and weld operation.

5. Click OK.

440 plmx.com.br
suporte@plmx.com.br
11 3565 3808
4: Orient the weld location approach vector

1. Select the first location in the pink WeldOperation 1 simulative operation (for example
e254).
2. From the Graphic Viewer toolbar, choose Single or Multiple Locations Manipulation .

Because one location is selected the Location Manipulation dialog box is shown.

3. In the Location Manipulation dialog box, verify that Follow Mode is depressed and select
the e254 location.

Note:

If only the gun is associated the weld operation (or the location is location is not reachable by
the robot), a temporary gun is placed at the selected location. If the gun and robot are
associated and the location is reachable, both are moved to the location.

441 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 The rotation from normal (around the X-axis and Y-axis) and translation of weld locations is
limited using the settings on the Weld tab of the Options dialog box.

4. Rotate the weld location around the Z-axis (as shown above) by clicking Rz and moving the
slider or by dragging the yellow arc of the manipulator frame in the Graphic Viewer.

Note:

Constraint − the approach of the gun must be modified to avoid collisions.

Note:

While the Locations Manipulation dialog box is open, the gun is attached to the weld location.
This command rotates the weld location NOT the gun. When the location is rotated, the gun
follows.

5. Close the Locations Manipulation dialog box.

5: Align the orientations of the other weld locations to this one

1. In the Operation Tree, select the pink WeldOperation 1 simulative operation.

2. From the ribbon, choose Operation tab→Edit Path group→ Align Locations .

3. For Align selected locations to, select the location you just rotated (for example e254).

Note:

This command aligns all orientations while maintaining the perpendicular constraint of the
weld locations.

Note:

Weld locations for the Selected locations list can also be selected with a selection window in
the Graphic Viewer.

442 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. In the Align Locations dialog box, click OK.

6: Simulate the gun along the path

1. In the Operation Tree, right-click the pink WeldOperation 1 simulative operation and
choose Set Current Operation .
2. From the Sequence Editor, click Play Simulation Forward .

Note:

Watch the gun simulating and imagine the robot attached. Does this orientation for the gun
make sense? Are there any sharp changes in orientation (for example flips) ?

3. Click Jump Simulation to Start .

4. In the Sequence Editor, click Zoom to Fit .

Note:

Originally there was no time associated to these location operations. However, based on the
gun time (no robot motion yet) a time is assigned to the locations.

443 plmx.com.br
suporte@plmx.com.br
11 3565 3808
7: Save your study

1. From the Quick access toolbar, choose Save .

444 plmx.com.br
suporte@plmx.com.br
11 3565 3808
11.5. Multi sections

Gun shank validation

Estimated time to complete: 10–20 minutes
The objective of this activity is to create cross-sections of the weld gun at various spot-welds to check
for clearance and validate the gun for this process.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Study used in this activity: station02.psz

1: Get a gun and put it at a weld location

1. Continue using the same data loaded in Process Simulate.

Note:

The study should contain a pink WeldOperation 1 simulative operation, and product
related to the path.

2. Select the pink WeldOperation 1 simulative operation.

3. From the ribbon, choose Process tab→Discrete group→Multi Sections .

4. Look for collisions (for example an X beside the weld in the Locations list).

445 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Create and place the cutting box on weld location(s)

1. In the MultiSections dialog box, click Expand Dialog .

2. Verify that Show cutting box of selected section and Show gun are checked.

3. In the MultiSections dialog box, double-click on a weld location in the Locations list.

Note:

The gun is shown in the Graphic Viewer of the MultiSections dialog box at the location; and a
transparent cutting box and gun are shown in the main Graphic Viewer at the location.

4. Modify the dimensions of the cutting box to define rough volume of gun by clicking Fit all
Cutting Boxes to Gun .
5. Modify the dimensions of the cutting box to be a 2D section by entering new values from the
keyboard to adjust dimensions: Click on one of the current values.

446 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. In the Cutting Box Dimensions dialog box for Y Dimension, type -1 for the Low and 1 for the
High value.
7. Make the other four values 20 mm larger.

8. Click OK.
9. Notice how the cutting box shape has changed, as well as the resulting sections.

Note:

The MultiSections dialog box forms sections according to the cutting−box parameters. It
produces a section for each location displayed in the Locations list.

3: Show side view of multi-section (line them up)

1. From the MultiSections dialog box, click Show section side view .
2. Zoom in to the area around the gun tips.

447 plmx.com.br
suporte@plmx.com.br
11 3565 3808
4: Identify a section on the workpiece
1. From the MultiSections dialog box, click another location from the Locations list.

448 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

The frame representing the location is highlighted in magenta and the section plane is moved in
the main Graphic Viewer to the selected location.

2. The gun is jumped to that location in the Graphic Viewer and MultiSections dialog box if the
location is double-clicked.

Note:

It is possible, based on gun overlay, to modify the shank (in Process Simulate modeling or by
sending a .JT of the sections to the gun designer in another CAD system) OR select another
gun that is appropriate for this particular process.

5: Store the multi-section as an object

1. From the MultiSections dialog box for Store Sections, click All Sections as one Component.

Note:

The output of this command can be either a .JT or .COJT, depending on what was set for the
File Format using the Settings button of the MultiSections dialog box.

2. Click Save as.

3. In the Save Component As dialog box, browse to the
.\sysroot\sections\userUSERNUMBER_UNDEFINED folder.
4. Click Save.

Note:

A JT file is created in a .COJT folder which contains all sections shown in the MultiSections
dialog box.

5. From the MultiSections dialog box, click Close.

449 plmx.com.br
suporte@plmx.com.br
11 3565 3808
11.6. Weld Distribution Center (WDC)

Using Weld Distribution Center (with Automatic

Approach Angle)
Estimated time to complete: 10–20 minutes
In this activity, you learn how to use the Weld Distribution Center with automatic approach angle.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Study used in this activity: station02.psz

1: Locate a spot-weld operation

1. Continue using the same study.

Note:

Need to have a spot-weld simulative operation with projected locations.

2. Save your changes to the study back to the database, if you haven't already.
3. Select the pink WeldOperation 1 simulative operation.

Note:

Ideally with the command you would select welds from several robot's paths.

2: Open the weld distribution center

1. From the ribbon, choose Process tab→Discrete group→Weld Distribution Center and
wait for a few seconds.

450 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. Do NOT close the Weld Distribution Center dialog box.

3: Weld distribution center settings and filters

1. In the Weld Distribution Center dialog box, click Settings .

451 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. In the Settings dialog box, click Apply Automatic Approach Angle on Assignment.
3. Click OK.
4. In the Weld Distribution Center dialog box, click the down arrow to the right of Filter .
5. Look at the list of available filters.
6. Do NOT close the Weld Distribution Center dialog box.

452 plmx.com.br
suporte@plmx.com.br
11 3565 3808
4: Using the pie chart and automatic approach angle in Weld Distribution
Center
1. In the Weld Distribution Center, select the first weld.

Note:

You could change the assignment of a weld from one robot (weld operation) to another by
selecting the deselected check box for the weld (under the desired weld operation)

2. Hold down the Shift key.

3. Select the last weld.
4. Release the Shift key.
5. Choose Automatic Approach Angle .
6. Select a single weld.
7. Choose Open Pie Chart .

Note:

Currently the pie chart shows white because a robot has not been assigned to this weld location
yet.

8. In the Location Pie Chart dialog box, select the check box for Opened Tool.
9. Move the slider to manually adjust the location orientation.

10. Undo your changes here by clicking Reset.

11. Click Close to close the Location Pie Chart dialog box.
12. Close the Weld Distribution Center dialog box.

5: Save your study

1. From the Quick access toolbar, choose Save .

453 plmx.com.br
suporte@plmx.com.br
11 3565 3808
11.7. Process methodology, revisited
There are no activities for this lesson.

11.8. Overview of gripper creation (optional)

There are no activities for this lesson.

11.9. Scene setup

Putting the gripper on the robot (for pedestal

welding)
Estimated time to complete: 10–20 minutes
The objective of this activity is to prepare for pedestal welding.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\mount_wp

Study used in this activity: station22.psz

1: Load your station22

1. From the Quick access toolbar choose Open in Standard Mode .

454 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. Browse to .\\Projects\Robotics Sim Begin (user1)\mount_wp\Line
USERNUMBER_UNDEFINED StudyFolder.
3. Select station22.psz and click Open.

2: Measure the thickness of the spacer

1. In Process Simulate, click Point to Point Distance on the Graphic Viewer toolbar).

2. Zoom in to the robot's wrist and tool.

3. In the Point to Point Distance dialog box, select the First Object box.
4. For the First Object, select the edge of the spacer touching the robot.
5. For the Second Object, select the opposite end of the spacer.

455 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. Write down the dX. (for example 95.5 mm).
7. Close the Point to Point Distance dialog box.

3: Mount the gripper to the robot, if it is not already

Note:
The mount command places the mounted object, attaches it to the TOOLFRAME of the robot, and sets
the robot TCPF to the predefined position and orientation on the mounted object.

Caution:
Notice that you are mounting the gripper to the robot, not the spacer. The spacer is attached to the
gripper.

1. Select the robot.

2. From the ribbon, choose Robot tab→Tool and Device group→ Mount Tool .

3. In the Mount Tool dialog box for the Tool, select the gripper.
4. For the Frame on the tool, select fr4.
5. For the Frame on the robot, select TOOLFRAME (the default).

456 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

The Mount Tool command is designed to do at least three things: move the tool into
position, attach the tool to the robot TOOLFRAME, and move the robot TCPF to the
predefined TCP position and orientation in the tool. However, if the tool is already in position
(and don't want the Mount Tool command to move it, select the same frame for the
Mounted Tool: Frame and Mounting Tool: Frame.

Tip:

The Mount Tool command does several things including optionally placing the gun on the
TOOLFRAME of the robot. If you already have to gun in position, just fill in the same frame
into both Frame boxes. This cases the gun to not move when the Mount Tool command is
applied.

6. Click Frame by 6 values to the right of the Frame on the robot prompt.
7. Figure out the increased X value by distance measured in the last step (for example 1830 +
95.5 = 1925.5). And type that value in.

Note:

It is X because this user interface enters and displays information according to the Working
Frame axes.

8. In the Location dialog box, click OK.

9. Click Apply and Close.

457 plmx.com.br
suporte@plmx.com.br
11 3565 3808
4: Attach the endspacer (one way) to the gripper fixed link
1. Select the endspacer.

2. From the ribbon, choose Home tab→Tools group→Attachment →Attach .

3. (In the Attach dialog box, click One way).

4. For the To Object, select the gripper component (or the k1 entity).
5. For Store attachment, select Local (In current study).
6. Click OK.

Tip:

Only the gripper should be mounted to the robot tool frame. All spacers should be attached to
the gripper.

5: Save your study

1. From the Quick access toolbar, choose Save .

458 plmx.com.br
suporte@plmx.com.br
11 3565 3808
11.10. Material handling (pick and place)
operations

Get/put the part in the fixture

Estimated time to complete: 14–28 minutes
The objective of this activity is to create a pick and place path (operation).

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\\mount_wp

Study used in this activity: station22.psz

1: Create a new pick and place operation

1. Continue using the same data loaded in Process Simulate.
2. From the Operation Tree, right-click station22 and choose Set Current Operation .
3. Select the robot.
4. Hold down the Ctrl key.
5. Select station22 from the Operation Tree and release the Ctrl key

6. From the ribbon, choose Operation tab→Create Operation group→New Operation

→New Pick and Place Operation .

7. For the name enter, s420a_PNP_Op1.

8. For the Pick pose, select st41_clse.
9. For the Place pose, select st41_pick_opn.

459 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 10. Select the frame just below the part for both the Pick and the Place location (it is part of the
fixture).
11. Click OK. Operation s420a_PNP_Op1 is created.

2: Add a location to the path before the first location

1. On the pick and place operation in the Operation Tree, select the first location in the path.

2. From the ribbon, choose Operation tab→Add Location group→ Add Location Before .

3. Drag the location using the manipulator frame to the position you want.
4. Close the Robot Jog dialog box.

3: Add a location after the last location

1. On the Operation Tree, click the last location in the path.

2. From the ribbon, choose Operation tab→Add Location group→Add Location After .

460 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. Drag the location using the manipulator frame to the position you want.
4. Close the Robot Jog dialog box.

4: Make separate pickup and drop off paths

1. On the Operation Tree, start dragging s420a_PNP_Op1 .

2. Press the Ctrl key.
3. Drop the operation on station22.
4. Release the Ctrl key.

A copy of the operation is created.

5. Name one copy Pick up and the other Drop off.

6. Delete the place location from the Pick up operation.
7. Delete the pick location from the Drop off operation.

5: Sequence the operations

1. In the Sequence Editor, select Pick up .

2. Hold down the Ctrl key and select WeldOperation and then Drop off .
3. Release the Ctrl key.
4. Click Link .
5. In the Sequence Editor, drag and drop Pick up before WeldOperation.
6. Right-click on station22 and choose Reorder by Links.

461 plmx.com.br
suporte@plmx.com.br
11 3565 3808
6: Add a pause event and play the simulation

1. On the Gantt chart of the Sequence Editor, right-click on the end of the Pick up operation
and choose Pause Event.
2. Enter 0 seconds Before End of Task.

3. Click OK.
4. From the Sequence Editor, click Play Simulation Forward . The robot should start at home,
move into the fixture, pick up the part, and return to home pose.

7: Reset the simulation and save your study

1. From the Sequence Editor, click Jump Simulation to Start .

2. From the Quick access toolbar choose Save .

462 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Creating a mounted workpiece path
Estimated time to complete: 12–24 minutes
The objective of this activity is to learn how to rough in a mounted workpiece (pedestal path) path.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\mount_wp

Study used in this activity: station22.psz

1: Prepare the mounted workpiece data

1. Continue using the same data loaded in Process Simulate.
2. From the Sequence Editor, click Play Simulation Forward to simulate the path. The robot
should start at home, move into the fixture, pick up the part, and return to home pose.

2: Project the spot manufacturing features into locations

1. From the Operation Tree, expand into station22.
2. From the Operation Tree, click the display status square for the pink WeldOperation
simulative operation.
3. Select the pink WeldOperation simulative operation.

4. From the ribbon, choose Process tab→Discrete group→Project Weld Points .

Note:

The default approach and perpendicular axis are defined and can be modified by either clicking
Options or by choosing File→Options and click the Weld tab.

5. Select the Project on Approximation only check box.

6. Click Project.
7. Click OK, and Close.

463 plmx.com.br
suporte@plmx.com.br
11 3565 3808
3: Associate the locations to the welding frame on the sw40d
Note:
The locations you just created are mounted workpiece locations. So you need to associate the locations
with the welding frame on the s420a.

1. From the Operation Tree, right-click the pink WeldOperation simulative operation and
choose Operation Properties .
2. From the Properties dialog box, click the Process tab.
3. For Robot select the s420a robot.
4. For Gun select the green sw40d (for example not the gripper mounted to the robot).
5. Select the External TCP check box.

6. Click OK.
7. In the Operation Tree, the icon for the weld operation changes (because External TCP was
checked).

4: Reset, play, and reset the simulation

1. From the Sequence Editor, click Jump Simulation to Start the simulation
2. Watch the simulation.
3. Click Play Simulation Forward the simulation. (It pauses after the pickup).
4. Click Play Simulation Forward again.
5. Close the error dialog box.
6. Click Jump Simulation to Start . (you fix the path in the next activity).

5: Check reachability

1. Click Play Simulation Forward to move the simulation to the pause event.
2. Select the robot.

3. From the ribbon, choose Robot tab→Reach group→Reach Test .

464 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. Select the pink WeldOperation simulative operation.
5. Look at which locations are blue (fully reachable), yellow (partially reachable), and red (not
reachable).
6. Close the Reach Test dialog box.

6: Jump the robot to the reachable locations

Note:
Jump the robot to the reachable locations to see how they look (for example is the sheetmetal part
colliding with the sw40d) ?

1. Select the robot.

2. From the ribbon, choose Robot tab→Reach group→Jump to Location to start jump to
location Mode).

3. On the Operation Tree, select each of the locations in order.

4. From the ribbon, choose Robot tab→Reach group→Jump to Location to start jump to
location Mode).
5. Notice that all four locations need to have changes made to them.
6. Jump Simulation to Start the simulation. (you fix the path in the next activity).
7. If the robot does not return to his HOME pose, right-click it and choose Home .
8. If the product assembly does not go back to its proper start position select station_22 from the
Parts folder of the Object Tree and from the ribbon, choose Modeling tab→Layout
group→Restore Object Initial Position .

465 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 9. Click Play Simulation Forward to move the simulation to the pause event.

466 plmx.com.br
suporte@plmx.com.br
11 3565 3808
11.12. Orient workpiece locations

Orient the Locations

Estimated time to complete: 8–16 minutes
The objective of this activity is to orient the locations.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\mount_wp

Study used in this activity: station22.psz

1: Get a better location orientation

1. Continue using the same data loaded in Process Simulate.
2. Choose location wp4 in the pink WeldOperation simulative operation.

3. From the Graphic Viewer toolbar, choose Single or Multiple Locations Manipulation .

4. In the Location Manipulation dialog box, verify that Follow Mode is depressed and select
the wp4 location.

467 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

A shadow of the sw40d may be placed at the location (and the robot do not move) if only the
pedestal gun is associated to the weld operation. If both the pedestal gun and robot are
associated to the weld operation, then the robot moves to the pedestal gun.

468 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 5. Rotate the weld location (using the blue arc of the manipulator frame) so that the sw40d is on
the opposite side of the part as the robot.
6. Close the Location Manipulation dialog box.

2: Use the pie chart command to verify that the location is reachable
1. Select location wp5 in the pink WeldOperation simulative operation.

2. From the ribbon, choose Process tab→Discrete group→Pie Chart .

Note:

Closed Tool should not be checked.

469 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

If you had selected Indicate joint working limits from File→Options , this dialog box
shows additional information.

3. In the Location Pie Chart dialog box, move the slider below the pie left and right until the
longer axis (X-axis) is in the blue (reachable) area of the pie.
4. Close the dialog box.

Note:

This type of reach check considers the reach envelope of the robot, but not collisions between
the part and the sw40d.

Note:

The Rotate Interactively tool considers the collisions between the part and the sw40d, but the
reach envelope of the robot would not be considered.

470 plmx.com.br
suporte@plmx.com.br
11 3565 3808
3: Align the rest of the locations and play the simulation
Note:
You used one technique to fix the alignment of wp4 and another for wp5. In this case, align the rest of
the locations in the pink WeldOperation simulative operation to match your wp4 reference
location.

1. Select the pink WeldOperation simulative operation.

2. From the ribbon, choose Operation tab→Edit Path group→ Align Locations .

3. For Align selected locations to, select the wp4 location you just rotated.

4. Click OK.
5. Perform the reach test again.

471 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. Click Jump Simulation to Start .
7. From the Gantt chart of the Sequence Editor, right-click the pause event and choose Delete .
8. Click Play Simulation Forward .

4: Reset the simulation and save your study

1. From the Sequence Editor, click Jump Simulation to Start .

2. From the Quick access toolbar choose Save .

472 plmx.com.br
suporte@plmx.com.br
11 3565 3808
11.13. Introduction to gun search

Gun search
Estimated time to complete: 18–36 minutes
The objective of this activity is to use the Weld Gun Search tool. It is a step-by-step wizard that
guides the user to find the optimum gun for welding.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Study used in this activity: station02.psz

1: Load the Station02

1. From the Quick access toolbar choose Open in Standard Mode .

2. Browse to the .\\Projects\Robotics Sim Begin (user

1)\processing\LineUSERNUMBER_UNDEFINED StudyFolder .
3. Select station02.psz and click Open.

473 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Begin the gun search

1. From the ribbon, choose Process tab→Planning group→ Geometric Gun Search .

2. In the Geometric Gun Search dialog box, click Next.

474 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. Select the pink WeldOperation 1 simulative operation from the Operation Tree that you have
used during the first part of class.
4. In the Geometric Gun Search — Targets dialog box, click Next.

3: Use weld guns from the

1. In the Geometric Gun Search — Choose Guns dialog box, select Study from the Select guns
from drop-down.
2. Select all the guns shown in the list.

Tip:

Insert all guns you want to check with this tool into the study before opening the Geometric
Gun Search dialog box

3. Click Use .

Note:

475 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Lists of guns can be stored or loaded for later use by clicking either Load Gun Set or
Store Gun Set .

4. Click Next.

4: Check if the guns collide

Note:
Parts or tooling can be selected for checking the guns against. Gun poses that is used at each location
can be selected.

1. From the Object Tree, select the product assemblies being welded. In this case, the parts are
surf_part and door_frame.

476 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. In the Geometric Gun Search — Collision Check dialog box, click Next.

5: Define the gun search options

1. In the Geometric Gun Search — Options dialog box, deselect the Closed and select Semi-
Open check boxes.
2. Select the Check gun flipped around approach axis check box.
3. Select the Rotate Gun Around Perpendicular Axis check box.
4. Enter an Angle of Rotation of 30 degrees.
5. Enter 2 for the Number of steps.

477 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. Click Next.

6: Display gun search results

• In the Geometric Gun Search — Search dialog box, click Search.

Note:

This picture shows what you see if several guns are inserted into the study for use in the
geometric gun search.

478 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Note:
The picture above is for reference only. Your results may be different. The description of how to
define a resource prototype as a gun was described earlier in this course.

479 plmx.com.br
suporte@plmx.com.br
11 3565 3808
7: Save the gun results to an Excel file
1. Geometric Gun Search — Search dialog box, click Save to File .
2. In the Save As dialog box, browse into the .\sysroot\Documents folder.
3. Name the file according to your user id and study name (for example _M11LH_gun).
4. Click Save.

480 plmx.com.br
suporte@plmx.com.br
11 3565 3808
11.14. Servo guns

(Optional Instructor Demo) Simulating robots

with servo guns
Estimated time to complete: 4–8 minutes
The objective of this activity is to load an existing cell and simulate a robot with servo guns.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder/other_selected

Study used in this activity: cables_servo_demo.psz

1: Load the cables servo demo study

1. From the Quick access toolbar choose Open in Standard Mode .

2. Browse to .\\Projects\Robotics Sim Begin (user

1)\LineUSERNUMBER_UNDEFINED\other_selected .
3. Select cables_servo_demo.psz and click Open .

2: Play and reset the cables servo simulation

Note:
The guns in this study are servo guns.

1. In the Operation Tree, right-click on cables_servo Demo and choose Set Current Operation
.
2. From the Sequence Editor, clickPlay Simulation Forward .
3. Click Jump Simulation to Start to reset it.

481 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Working with servo guns
Estimated time to complete: 18–36 minutes
The objective of this activity is to work with servo guns.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder/other_selected

Study used in this activity: cables_servo.psz

1: Load the cables servo study

1. From the Quick access toolbar choose Open in Standard Mode .

2. Browse to .\\Projects\Robotics Sim Begin (userUSERNUMBER_UNDEFINED)\other-

selected.
3. Select cables_servo.psz and click Open.
4. Right-click in the Graphic Viewer and choose Display All .
5. From the Object Tree, select the r120_2 robot and identify it in the Graphic Viewer.
6. Zoom to an area: Hold down the Alt key and draw a box around the r120_2 robot and its
gun (the one closest to the r120_2 robot)

7. Select an object in the box of the view and choose View Center from the Graphic Viewer
toolbar.

482 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Open the Joint Jog dialog box

1. In Process Simulate, right-click the r120_2 robot and choose Joint Jog .
2. Notice the main joint of the servo gun is not shown.
3. Close the Joint Jog dialog box.

Note:

The main joint of a servo gun, also designated the dynamic or active arm, is controlled by an
electric motor; mounting a servo gun on a robot makes the main joint an external axis of the
robot.

3: Set the servo gun as an external axis of the robot

1. Select ther120_3 robot in the robot 3 compound resource.

2. From the ribbon, choose Robot tab→Setup group→Robot Properties .

483 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

This button can also be found on the right-click of a robot.

3. In the Robot Properties dialog box, click the External Axis tab.
4. Notice the servo gun joint does not show, but do NOT add it at this time.
5. Click the Settings tab.
6. From the Robot Properties dialog box, click Mount Tool .

Note:

The same Mount Tool command can be accessed from the Robot Properties dialog box,
the Robot tab of the ribbon, or the robot right-click.

7. Select the gun for this robot.

8. For the Frame on the gun, select the mtg frame.
9. Click Apply and Close.
10. Click the External Axes tab again. Notice the servo gun joint shows.

484 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

If it does not show, close and reopen the Robot Properties dialog box again.

11. In the Robot Properties dialog box, click Close.

4: Move the robot in front of the location to its left (lo1)

1. Right-click the robot and choose Joint Jog .

2. Notice the main joint of the servo gun is shown.

485 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. From the Joint Jog dialog box, jog external joint j1 (srtx_u0163_l).
4. Notice the main point of the servo gun moves.

Tip:

Leave the Joint Jog dialog box open throughout this activity and do not reset this joint value at
this time.

5: Assign the robot to the path

1. From the Operation Tree, browse and right-click pa3 and choose Operation Properties .
2. In the Properties dialog box, click the Process tab.
3. Select the r120_3 robot in the robot 3 compound resource.
4. Click OK.

6: Assign external values for a location

1. From the Operation Tree, browse and select the first location of pa3 (r3pounce).
2. From the ribbon, choose Robot tab→OLP group→Set External Axes Values .

486 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. In the Set External Axes Values dialog box, select the Approach Value check box.

Note:

The current value for the external axis joint is automatically copied from the Joint Jog dialog
box to the Approach Value box in the Set External Axes Values dialog box.

4. In the Joint Jog dialog box, move the slider for the j1 (srtc_u0181_l1) joint to a different
value.

Note:

In this case you want to have a different value for the external axis when approaching and
departing from this location.

5. In the Set External Axes Values dialog box, select the Depart Value check box.

Note:

The current value for the external axis joint is automatically copied from the Joint Jog dialog
box to the Depart Value box in the Set External Axes Values dialog box.

Note:

You can also, just type the desired value into this box. Or if several locations need the same
value you can copy and paste the value to the other boxes (using right-click copy/paste or Ctrl-

[C] / Ctrl-[V]). Finally, the Follow Mode and Get Current Joint Value can be used
as well.

487 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. Click Next Location .
7. Enter the Approach Value and Depart Value for this location using the desired technique.
8. Repeat for two or three locations
9. Close the Joint Jog dialog box.
10. Close the Set External Axes Values dialog box.

7: Simulate it in the Path Editor

1. In the Operation Tree, select the pa3 simulative operation
2. From the Path Editor toolbar, click Add Operations to Editor .

Note:

Another way to add a path to the Path Editor is to drag and drop it here from the Operation
Tree.

3. Click Play Simulation Forward .

4. Click Jump Simulation to Start .

8: Look at the external axis value for the gun in the Path Editor

1. On the Path Editor, click Customize Columns .

2. In the Customize Columns dialog box in the Available columns list, expand into the General
group of attributes.
3. Select Depart External Axes Values and External Axes Values and click Add.

Note:

This list of attributes can be saved and loaded for later use using these buttons: and .

4. In the Customize Columns dialog box in the Available columns list, expand into the General
group of attributes.
5. Add any other desired columns such as Joint Speed, Motion Type, and Zone.
6. Click OK.
7. Scroll to the right and locate the Depart External Axes Values or External Axes Values
columns.
8. Mouse over the pencil icon in the Depart External Axes Values or External Axes Values
columns to see the external axis joint values for each location.

488 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 If there is a value, it shows 1 out of 1. If there is not a value it shows 0 out of 1.

Note:

In the Path Editor, the External Axes Values and Depart External Axes Values columns
indicate how many external axes have been defined at the selected location, and of these, how
many axis values have been set. Point at a cell in the column to display a tool tip with the set
values.

9: Save your study

1. From the Quick access toolbar, choose Save .

489 plmx.com.br
suporte@plmx.com.br
11 3565 3808
12. Drill and rivet applications

490 plmx.com.br
suporte@plmx.com.br
11 3565 3808
12.1. Overview of drilling and riveting applications
No activities for this lesson

12.2. Create drill/rivet manufacturing features

Creating drill/rivet manufacturing features

Estimated time to complete: 16–32 minutes
In this activity, you import rivet manufacturing features.

Project used in this activity: .\\Projects\Airplane Project\LineUSERNUMBER_UNDEFINED

Study opened in this activity: Workcenter 50 Drill Study.psz

1: Setup your rivet file for import

1. Open Microsoft Excel.

Any version of Excel can be used.

2. Choose →Open .
3. In the Open dialog box, browse to the .\sysroot\Import Export files folder.
4. Change the File type to Text Files (*.prnl*.txt;*.csv).
5. Select the rivetlist_sa.csv file and click Open.
The spreadsheet is opened in Excel. Each row is an object (rivet) and each column is an attribute of the
object. Class, name, X, Y, and Z are required attributes. rx, ry, and rz are an optional attributes. If the
rx, ry, and rz attribute exist, then you use Obtain Weld Point Orientation to create the locations,
otherwise you use Project Weld Points .

The rest of the attributes are custom attributes (prefixed with Attribute_) that are provided as a
classroom example. The Rivet object type is a custom object type (class) that is based on a
WeldPoint.

491 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. Choose →Exit.

2: Airplane data: Open the study

1. From the Quick access toolbar, choose Open in Standard Mode .

2. Browse to .\\Projects\Airplane Project\LineUSERNUMBER_UNDEFINED.

3. Select Workcenter 50 Drill Study.psz and click Open.
4. Wait for a couple seconds for the data to load.

3: Import the rivets

In this scenario, the rivet data is imported using coordinates based on the fuselage barrel’s local
coordinate system. We will adjust the working frame so that the points will appear in the correct
location relative to the barrel.

1. Choose Modeling tab→Scope group→Set Working Frame .

2. Select Frame by 6 values .
3. On the Graphic Viewer toolbar, set the Pick Intent to Self Origin .

4. Select the gray fuselage barrel from either the Graphic Viewer or the Parts folder of the Object
Tree.

5. Click OK.
The working frame is positioned in the center of the Barrel.

492 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. From the ribbon, choose Process tab→Planning→Import Mfgs .
The Import Mfgs dialog box is displayed.

7. In the Import Mfgs dialog box, click and browse to the .\sysroot\Import Export files
folder.
8. Select the rivetlist_sa.csv file and click Use Working Frame.
9. Click Open and Import.
The data file is imported into the open study (PSZ file).

10. Click View Logfile.

It is OK that the locations do not have a rotation (Rx, Ry, and Rz).

11. Close the log file when finished.

4: Look at the rivets in the loaded study

1. Open the Mfg Viewer: From the ribbon choose View tab Screen Layout group→Viewers
→Mfg Viewer.

493 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. From the Mfg Viewer toolbar, click down arrow to the right of Filter by Type, and click
Show All.
3. From the Mfg Viewer toolbar, click Customize .
4. In the Customize dialog box, expand into WeldPoint and then into Rivet (at the bottom of
the list).
Rivet is a custom object created as a training example. It also contains 7 custom attributes.

5. With Rivet selected, click >>, and click OK.

All the information from the spreadsheet is shown. You can change these values by editing the
spreadsheet and importing it again. The second time you import, you do not need to create all the
relationships again.

6. In the Mfg Viewer, unpin the viewer.

The viewer collapses along the right edge of the Process Simulate window.

494 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5: Setup the weld operations

1. In the Operation Tree, right-click Drill Workcenter 50 Process , choose New Compound
Operation .
2. In the New Compound Operation dialog box for the Name, type Rivet Barrel, and click OK.
3. Select Rivet Barrel .
4. Open the Mfg Viewer: From the ribbon choose Operation tab Create Operation group→New

Operation →New Weld Operation .

5. In the New Weld Operation dialog box for Name, type Rivet_Op2, and click OK.
6. Make three copies of the Rivet_Op2 naming them Rivet_Op3 , Rivet_Op4 ,
Rivet_Op5 .
7. In the Operation Tree, drag the 4 rib2_ rivets onto Rivet_Op2 .
The rivets move under the weld operation.

8. Drag the 4 rib3_ rivets onto Rivet_Op3 .

9. Drag the 4 rib4_ rivets onto Rivet_Op4 .
10. Drag the 4 rib5_ rivets onto Rivet_Op5 .

495 plmx.com.br
suporte@plmx.com.br
11 3565 3808
6: Setting up auto save
1. Choose File→Options .
2. From the General tab of the Options dialog box, select the Every check box.

496 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. Type 30 minutes.
4. Click OK.

Note:

Now Process Simulate automatically prompts you to save your work periodically. When
prompted, click Yes to save your work locally. Initiating a regular save operation resets the
auto save timer.

12.3. Create drilling and riveting operations

497 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Creating riveting operations
In this activity, you create riveting operations.

Project used in this activity: .\\Projects\Airplane Project\LineUSERNUMBER_UNDEFINED

Study opened in this activity: Workcenter 50 Drill Study.psz

1: Start projecting rivet manufacturing features

Note:
By projecting the rivet manufacturing features onto the part, you get a robotic simulative operation,
where each rivet is represented as a location operation.

1. Continue in Process Simulate from where the last activity left off.

Note:

The Workstation 50 Drill study should be loaded from the Line folder .

2. From the Operation Tree, expand into Workstation 50 Drill and click the display status square
for the pink Rivet Barrel containing the four simulative operations, if it is not currently
displayed.

Note:

A dotted line is shown in the Graphic Viewer which represents the order of the manufacturing
features in each simulative operation.

3. Select the pink Rivet Barrel containing the four simulative operations.
4. From the ribbon, choose Process tab→Discrete group→Project Weld Points .

498 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

The default approach and perpendicular axis are defined and can be modified by either clicking

Options or by choosing File→Options and click the Weld tab.

5. Click Options .
6. In the Options dialog box for the Approach Vector, select Y, and click OK.
7. Click Project.

Note:

499 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Notice that each location has a blue check mark next to it in the Project Weld Points dialog
box, meaning that the projection was successful.

Note:

Constraint − rivet locations must be on the surface and perpendicular to it. They are used to
determine the orientation of the rivet gun when approaching or at this location.

8. Click Close.

2: View location attributes mapped from the mfg feature

1. In the Operation Tree, browse into a robotic operation.

2. Select a location.
3. From the ribbon, choose Robot tab→OLP group→Robotic Parameters Viewer.

4. See the Type, Sealant, Stack Max, Cycle, Diameter, Stack Min, and Length attributes.
5. Click Close.

3: Setup the rivet operations

1. Right-click the robot and choose Mount Tool .

2. In the Mount Tool dialog box for Tool, select the rivet_drill_gun.
3. Select the same frame (or location) for both Frame boxes so the gun does not move when you
click Apply.
4. Click Close.
5. In the Operation Tree, right click Rivet_Op2 and choose Operation Properties .
6. In the Properties dialog box click the Process tab.
7. For Robot, select the fanuc_r2000ia_165f robot and click OK.
8. Repeat the previous three steps for the other three Rivet_Op .

500 plmx.com.br
suporte@plmx.com.br
11 3565 3808
12.4. Waypoints and the Waypoint Viewer

Waypoints and the Waypoint Viewer

In this activity, you create waypoints and use the Waypoint Viewer.

Project used in this activity: .\\Projects\Airplane Project\LineUSERNUMBER_UNDEFINED

Study opened in this activity: Workcenter 50 Drill Study.psz

1: Add operations to the Waypoint Viewer

1. Open the Waypoint Viewer: From the ribbon choose View tab Screen Layout group→Viewers
→Waypoint Viewer.

2 In the Waypoint Viewer, select the fanuc_r2000ia165f_if robot from the list.

If there was more than one robot in a study, you have to select the one you want from the list. A unique
waypoint structure can be stored for each robot in a study.

3. In the Operation Tree, select the 4 Rivet_Op operations.

4. Click Add Operation to add it to the Waypoint Viewer.

501 plmx.com.br
suporte@plmx.com.br
11 3565 3808
The layout automatically fixes itself when you reload the study, but you can move the boxes around if
you want.

5. In the Operation Tree, select the first location in the Rivet_Op2 operation.

2: Add the waypoints

1. From the ribbon choose Robot tab Reach group→Jump Assigned Robot .

2. Click Create Waypoint to create a new waypoint.

The new waypoint is created on the current robot TCPF and displayed in the Waypoint Viewer. The
Robot Jog dialog box opens to enable you to manipulate the robot TCPF (and the waypoint).

3. In the Robot Jog dialog box, click Z.

4. Change the Step size to 200 mm.

5. Click Move Positive to move to 200 mm above the selected location.

502 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. Click Close.

7. Repeat this process for the other 3 Rivet_Op operations.

8. Click Link Waypoints to enter a mode to link waypoints to other waypoints or to weld operations.

9. Click Waypoint1, drag your mouse to Rivet_Op2 , and release the mouse.

10. Repeat the last step for the other 3 Rivet_Op operations and waypoints.

11. Arrange the Waypoint Viewer objects as shown below.

12. Toggle Link Waypoints button on and connect each waypoint to its corresponding rivet operation.

13. When complete, toggle the Link Waypoints button off.

14. In the Graphic Viewer, select Waypoint2.

15. From the ribbon choose Robot tab Reach group→Jump Assigned Robot .

16. Create a high-level waypoint: Click Create Waypoint to create a new waypoint.

503 plmx.com.br
suporte@plmx.com.br
11 3565 3808
The new waypoint is created on the current robot TCPF and displayed in the Waypoint Viewer. The
Robot Jog dialog box opens to enable you to manipulate the robot TCPF (and the waypoint).

17. In the Robot Jog dialog box, click Z.

18. Click Move Positive to move to 200 mm above the selected location.

19. Click Close.

20. Rename the high-level waypoint to Clear.

21. Connect the Clear high-level waypoint to the other waypoints.

3: Simulating with waypoints

1. Begin sequencing the operations: Hold down the Ctrl key.

2. Select the 4 Rivet_Op operations in order.

3. Release the Ctrl key.

4. In the Sequence Editor, click Link .

5. Begin simulating the whole sequence: In the Operations Tree, right-click Rivet Barrel and select Set
Current Operation .

504 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. In the Sequence Editor, click Play Simulation Forward .

Notice the order that the waypoints and operations are simulated (as defined in the Waypoint Viewer).

7. In the Sequence Editor, click Jump Simulation to Start .

8. Simulate just one operation: In the Operations Tree, right-click Rivet_Op2 and select Set Current
Operation .

9. In the Sequence Editor, click Play Simulation Forward .

Notice Clear and Waypoint1 simulate before the path locations.

10. In the Sequence Editor, click Jump Simulation to Start .

4: Simulating a non-nominal sequence

Begin simulating a group of operations: From the ribbon choose Robot tab→Program group→Robotic
Program Inventory.

2. In the Robotic Program Inventory dialog box, click New Robotic Program .

3. In the New Robotic Program dialog box for Robot, select the robot, and click OK.

4. In the Robotic Program Inventory dialog box, select the robot program just created.

5. In the Robotic Program Inventory dialog box, click Open in Program Editor .

6. From the Operations Tree, select two Rivet_Op operations.

7. In the Path Editor click Add Operation to Program .

8. In the Path Editor click Play Simulation Forward .

505 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 9. In the Path Editor, click Jump Simulation to Start .

506 plmx.com.br
suporte@plmx.com.br
11 3565 3808
13. Material handling applications

507 plmx.com.br
suporte@plmx.com.br
11 3565 3808
13.1. Overview of gripper creation (optional)
There are no activities for this lesson.

13.2. Material handling scene setup

(Instructor Demo) Material handling example

Estimated time to complete: 4–8 minutes
The objective of this activity is to see the simulation you are about to create.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\other_selected

Study used in this activity: pnp_demo.psz

1: Open the data

1. From the Quick access toolbar choose Open in Standard Mode .

2. In the Open dialog box, browse to the .\\Projects\Robotics Sim Begin

(userUSERNUMBER_UNDEFINED)Line USERNUMBER_UNDEFINED
StudyFolder\other_selected folder.
3. Select the pnp_demo.psz study.
4. Click Open.
5. Right-click in the Graphic Viewer and choose Display All .
6. In the Operation Tree, right-click pnp and choose Set Current Operation .

508 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Play and reset the PNP simulation

1. From the Sequence Editor, click Play Simulation Forward .

The robot picks up the four boxes from the two conveyors and stacks them in the container.

2. Click Jump Simulation to Start to reset the simulation.

509 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Pick and place (material handling) setup
Estimated time to complete: 8–16 minutes
The objective of this activity is to setup the pick and place (material handling) simulation.

Note:
PNP is an abbreviation for Pick and Place.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\other_selected

Study used in this activity: pnp.psz

1: Open the PNP study

1. From the Quick access toolbar choose Open in Standard Mode .

2. In the Open dialog box, browse to the .\\Projects\Robotics Sim Begin (user
1)\LineUSERNUMBER_UNDEFINED StudyFolder\other_selected folder.
3. Select the pnp.psz study.
4. Click Open.
5. Right-click in the Graphic Viewer and choose Display All .
6. In the Operation Tree, right-click pnp and choose Set Current Operation .

2: Mount the gripper to the robot, if it is not already

Note:
This activity uses the pnp data.

1. Check the Attachments column in the Object Tree to see if the gripper is already mounted
onto the TCPF of the robot.

Note:

If this column is not already displayed, click Customize Columns to display it.

2. Select the robot.

3. From the ribbon, choose Robot tab→Tool and Device group→Mount Tool .

510 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. In the Mount Tool dialog box for the Tool, select the box gripper.
5. For the Frame on the tool, select mnt.
6. For the Frame on the robot, select TOOLFRAME.
7. Click Apply and Close.

3: Save your study

1. From the Quick access toolbar, choose Save .

511 plmx.com.br
suporte@plmx.com.br
11 3565 3808
13.3. Material handling (pick and place)
operations

Create the basic (PNP) process

Estimated time to complete: 20–40 minutes
The objective of this activity is to create a basic collection of pick and place paths (operation) for one
box from the left and one from the right.

Note:
PNP is an abbreviation for pick and place.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\other_selected

Study used in this activity: pnp.psz

1: Create a new pick and place operation for the left box
1. Continue using the same data loaded in Process Simulate.
2. Start creating a new robotic operation: Select the robot .
3. Hold down the Ctrl key.
4. In the Operation Tree, select pnp.
5. Release the Ctrl key.

6. From the ribbon, choose Operation tab→Create Operation group→New Operation

→New Pick and Place Operation .

7. In the New Pick and Place Operation dialog box for Pick pose, select CLOSE.
8. For the Place pose, select OPEN.
9. From the Graphic Viewer toolbar change the Pick Intent to Self Origin .

512 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 10. In the New Pick and Place Operation dialog box for Pick, select the part on the left.
11. Change the Pick Intent to Where Picked .

12. In the New Pick and Place Operation dialog box for Place, select near the middle of the left
third of the container bottom.

513 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 13. Click OK to create the kawasaki_uz100_PNP_Op operation.

2: Check reachability
1. Select the container .
2. Hold down the Ctrl key.
3. Select the location in the container (but not the path).
4. Release the Ctrl key.
5. Right-click the highlighted objects and choose Placement Manipulator .

Leave the Placement Manipulator dialog box open.

6. New select the robot .

7. From the ribbon, choose Robot tab→Reach group→ Reach Test .

8. Select the kawasaki_uz100_PNP_Op simulative operation.

514 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Leave the Placement Manipulator and Reach Test dialog boxes open.

9. In the Graphic Viewer, grab the X axis of the Manipulator Frame and drag it toward the robot
until the place location gets a blue check in the Reach Test dialog box.
10. Close the Placement Manipulator dialog box and the Reach Test dialog box.

3: Make separate pickup and drop off paths

1. Make sure nothing is selected.
2. To copy: On the Operation Tree, drag and drop the kawasaki_uz100_PNP_Op simulative
operation onto the pnp with the Ctrl key depressed.

Note:

An object can also be copied by selecting it, choosing Copy from the Home tab of the

ribbon, choosing the desired parent object, and choosing Paste from the Home tab of the
ribbon.

515 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. Using the F2 key, rename one copy of the copied objects to kawasaki_uz100_pick_left1 and
the other to kawasaki_uz100_drop_left_bottom.
4. Delete the place location from kawasaki_uz100_pick_left1 .
5. Delete the pick location from kawasaki_uz100_drop_left_bottom.

4: Stick the part to the gripper

1. In the Operation Tree, right-click kawasaki_uz100_pick_left1 and choose Set Current

Operation .
2. From the Sequence Editor, click Play Simulation Forward .

Tip:

As long as you don't jump the simulation to the beginning, the attachment remains.

5: Add a location before/after the pick (left1) location

1. On the Operation Tree, select the pick location.

2. From the ribbon, choose Operation tab→Add Location group→ Add Location Before .

516 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. In the Robot Jog dialog box, click Z.
4. Enter 600 and press Enter.

Note:

600 mm is approximately equal to 24 inches.

5. Close the Robot Jog dialog box.

6. On the Operation Tree, select the via location just created in kawasaki_uz100_pick_left1
7. and choose Copy from the Home tab of the ribbon.

8. Select kawasaki_uz100_pick_left1 and choose Paste from the Home tab of the
ribbon.

6: Add a location before/after the place (drop left bottom) location

1. On the Operation Tree, select the place location.

2. From the ribbon, choose Operation tab→Add Location group→ Add Location Before .

3. In the Robot Jog dialog box, click Z.

4. Enter 900 and press Enter.
5. Close the Robot Jog dialog box.
6. Select the via location just created in kawasaki_uz100_drop_left_bottom and choose Copy
.

7. Select kawasaki_uz100_drop_left_bottom and choose Paste .

517 plmx.com.br
suporte@plmx.com.br
11 3565 3808
7: Sequence the operations for the first pass

1. In the Operation Tree, right-click pnp and choose New Compound Operation .
2. In the New Compound Operation dialog box for Name, type FirstPass, and click OK.
3. Move the two operations into the FirstPass compound operation.
4. In the Operation Tree, right-click pnp and choose Set Current Operation .
5. Click OK to reset the simulation.
6. In the Sequence Editor, select kawasaki_uz100_pick_left1 .
7. Hold down the Ctrl key and select kawasaki_uz100_drop_left_bottom .
8. Release the Ctrl key.
9. Click Link .
10. In the Sequence Editor, right-click FirstPass compound operation and choose Reorder by
Links.

8: Simulate the robot so far

1. From the Sequence Editor, click Play Simulation Forward . The robot should pick up the
box and put it into the container.

Note:

Notice that when the robot puts the box into the container, it collides with side of the box. (You
can step the simulation backwards or setup and turn on collision detection to see it). This
problem can be easily solved by rotating the place location (and its approach/retract locations)
90 degrees. you do this in the next step.

518 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. Click Jump Simulation to Start the simulation.

9: Rotate the place location and its approach/retract locations

1. On the Operation Tree, select all three locations in kawasaki_uz100_drop_left_bottom

with the Ctrl key depressed.

Note:

A simulative operation is a generic term for the operations created by Process Simulate to
represent a simulation. In this case, the simulative operation is a robot operation.

2. From the Graphic Viewer toolbar choose Single or Multiple Locations Manipulation .

3. In the Multiple Locations Manipulation dialog box, click Rz.

4. Enter 90 and press Enter.
5. Click Close
6. From the Sequence Editor, click Play Simulation Forward . The robot should pick up the
box and put it into the container. This time the place location is rotated 90 degrees.

519 plmx.com.br
suporte@plmx.com.br
11 3565 3808
10: Reset the simulation and save your study

1. From the Sequence Editor, click Jump Simulation to Start .

2. From the Quick access toolbar choose Save .

520 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Stacking boxes
Estimated time to complete: 14–28 minutes
The objective of this activity is to build on the results of the previous activity. After this activity, you
have 1 column of 2 boxes in the container.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\other_selected

Study used in this activity: pnp.psz

1: Create a new pick operation for the right box

1. Continue using the same data loaded in Process Simulate.
2. From the Sequence Editor, click Play Simulation Forward . The robot should pick up the
box and put it into the container.
3. Make sure nothing is selected.
4. Drag the kawasaki_uz100_pick_left1 onto the FirstPass compound operation with the
Ctrl key depressed.
5. Rename the duplicate object to kawasaki_uz100_pick_right1.

2: Move the path's locations to the right side

1. On the Operation Tree, select all three locations in kawasaki_uz100_pick_right1 with the
Ctrl key depressed.

Note:

Locations can be found in a simulative operation. A simulative operation is a generic term for
the operations created by Process Simulate to represent a simulation. In this case, the
simulative operation is a robot operation.

2. From the Graphic Viewer toolbar choose Relocate .

3. In the dialog box, select in the From frame box.

4. Select the Pick location.
5. In the dialog box, select in the To frame box.
6. From the Graphic Viewer toolbar, change the Pick Intent to Self Origin .

521 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 7. Select the part on the right.
8. Click Apply and Close

3: Create a new place operation for the right box

1. Drag the kawasaki_uz100_drop_left_bottom onto the FirstPass compound operation

with the Ctrl key depressed.
2. Use the F2 key to rename the duplicate object to kawasaki_uz100_drop_left_top.

4: Move the path's locations to stack the box on the left top

1. On the Operation Tree, select all three locations in kawasaki_uz100_drop_left_top with

the Ctrl key depressed.

Note:

Locations can be found in a simulative operation. A simulative operation is a generic term for
the operations created by Process Simulate to represent a simulation. In this case, the
simulative operation is a robot operation.

2. From the Graphic Viewer toolbar choose Placement Manipulator .

3. From the Graphic Viewer toolbar, change the Pick Intent to Snap .

4. In the Placement Manipulator dialog box, click Z.

5. Enter 304.8 and press Enter.

Note:

This number was found by measuring the height of the box, since you want to stack the second
box on top of the first box in the container

522 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. Click Close

5: Farther sequence the operations of the first pass

1. In the Sequence Editor, select kawasaki_uz100_drop_left_bottom .

2. Hold down the Ctrl key and select kawasaki_uz100_pick_right1 and
kawasaki_uz100_drop_left_top .
3. Release the Ctrl key.
4. Click Link .
5. Click Jump Simulation to Start , if needed.
6. From the Sequence Editor, click Play Simulation Forward . The robot should pick up the
each box and stack them in the container.

523 plmx.com.br
suporte@plmx.com.br
11 3565 3808
6: Reset the simulation and save your study

1. From the Sequence Editor, click Jump Simulation to Start .

2. From the Quick access toolbar choose Save .

524 plmx.com.br
suporte@plmx.com.br
11 3565 3808
14. Arc-weld applications

525 plmx.com.br
suporte@plmx.com.br
11 3565 3808
14.1. Overview of arc-weld robotic applications
There are no activities for this lesson.

14.2. Continuous manufacturing features and

operations
Using continuous feature operations
Estimated time to complete: 22–44 minutes
The objective of this activity is to use continuous feature operations.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\other_selected

Study used in this activity: arc_7th_axis.psz

1: Open the arc 7th axis study

Complete the steps on this page if the data is not already opened in Process Simulate.

1. From the Quick access toolbar choose Open in Standard Mode .

2. Browse into your .\\Projects\Robotics Sim Begin

(userUSERNUMBER_UNDEFINED)\Line USERNUMBER_UNDEFINED
StudyFolder\other_selected folder.
3. Choose the arc 7th axis.psz file and click Open.

4. From the Graphic Viewer toolbar, choose Display All .

526 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Mount the gun on the robot

1. From the Graphic Viewer toolbar, verify that the Pick Level is set to Component .

2. If it is not already, mount the arc torch to the robot: Right-click the motoman_k10 robot and
choose Mount Tool .
3. In the Mounted Tool area for Tool, pick the arc_gun1 and .
4. In the Mounted Tool area for Frame, pick fr1
5. Click Apply and then click Close.

3: Use the continuous process generator to create the arc-weld

1. With nothing selected, from the ribbon choose Process tab→Continuous group→Continuous

Process Generator .

The Continuous Process Generator dialog box is shown with the Face sets section expanded
and the Face Pick Level is automatically selected.

2. In the Continuous Process Generator dialog box for Process, select Arc.
3. For Base set, pick the back edge of the groove in the part (the farthest from the robot).

One face is selected.

4. In the Continuous Process Generator dialog box, select the Side set box.
5. For Side set, pick the back edge of the groove in the part (the nearest to the robot).

527 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 One face is selected.

Temporarily, the start point for the seam is represented by a green sphere, the seam is
represented by a blue line, a blue arrow shows the direction of the seam, and an orange sphere
represents the end of the seam.

6. Click on the blue directional arrow in the middle of the seam to change the seam direction.

7. Change the weld to start 100 mm from the edge: Begin dragging the green sphere, enter 100
into the Start box, and press Enter.
8. Change the weld to end 90 mm from the edge: Begin dragging the orange sphere, enter 90 into
the End box, and press Enter.
9. Change the direction of the weld: select the blue arrow in the middle of the weld.
10. In the Continuous Process Generator dialog box, expand the Operation section.

Note:

The Operation name, Robot, Tool, and Scope boxes already have values.

528 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 11. For the Operation name, enter Arc_userUSERNUMBER_UNDEFINED_Op
12. For the Scope, select arc 7th axis in the Operation Tree.

13. In the Continuous Process Generator dialog box, expand the Mfg feature section.
14. Select the Mfg type, such as ContinuousMfg or ArcContinuousMfg.
15. For 3D folder location, click Browse and choose the .\\sysrootLibraries\mfgs folder.

Note:

In production, the exact folder name could be anything under the system root folder. However,
you should create a standard for what to name the manufacturing features and where they
should be placed.

16. Click OK.

A new manufacturing feature in the Mfg Viewer and arc weld operation in the Operation Tree
are created.

4: Look at the continuous manufacturing features in the Mfg Viewer

1. In Process Simulate, notice the manufacturing features in the Graphic Viewer.

Note:

529 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 The continuous manufacturing feature is the cyan line on the brown part in front of the robot.

2. From the ribbon, choose View tab→Screen Layout group→Viewers →Mfg Viewer.

3. In the Mfg Viewer, click the down arrow to the right of the Filter and choose .
4. Notice the manufacturing feature in the Mfg Viewer.

5. In the Mfg Viewer, click Customize .

6. If they are not already: In the Field Selection dialog box, choose Projection Indication and
Assignment indication attributes under Mfg Viewer Fields and move them to the Show
properties in following order list.
7. Click OK.

These fields show that the manufacturing feature is assigned to a part, but has not projected to
create a robotic path yet.

5: Highlight the continuous manufacturing features in the Graphic Viewer

1. Choose File→Options .
2. In the Options dialog box, choose the Appearance tab.

530 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. Expand into Emphasized Graphic Appearance.
4. Choose Emphasized Mfgs.
5. Check the Color check box, and select Yellow.

Note:

This is the default color.

6. For Width, enter 3.

Note:

This is the default width.

531 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 7. Click OK.
8. From the ribbon, choose Process tab→Continuous group→ Emphasize Continuous Mfg .

Note:

The width and color can be changed on the fly as well.

9. Close the Emphasize Mfgs toolbar and choose Yes.

The toolbar is closed but the empasize mode is still active.

10. Do deactivate it, click Emphasize Continuous Mfg on the ribbon again.

6: Save your study

1. From the Quick access toolbar, choose Save .

532 plmx.com.br
suporte@plmx.com.br
11 3565 3808
14.3. Create paths from continuous
manufacturing features

Creating an arc-weld path from a manufacturing

feature
Estimated time to complete: 4–8 minutes
In this activity, you create an arc-weld path from a manufacturing feature assigned to a continuous

feature operation using Project Arc Seam ).

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\other_selected

Study used in this activity: arc_7th_axis.psz

1: Location orientation options

In this page of the activity, you compare the orientation of the TCPF with the parameters for locations
that are created.

1. Choose File→Options .
2. In the Options dialog box, click the Continuous tab.

Note:

Notice that the setup for continuous manufacturing feature projection is on a different tab than
the spot weld project setup (located on the Weld tab of the Options dialog box).

3. For the Permitted Deviation Angle, enter 360 degrees.

4. Click OK.

533 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Project the continuous feature operation

1. From the Operation Tree, select the Arc_userUSERNUMBER_UNDEFINED_Op

continuous feature operation.

2, From the ribbon, choose Process tab→Arc group→Project Arc Seam .

3. Click Project.
Locations are created in the Arc_userUSERNUMBER_UNDEFINED_Op path in the Operation
Tree.

The projection indication in the Mfg Viewer has a checkmark for the
Arc_userUSERNUMBER_UNDEFINED_Op feature.

4. Click Close.
5. In the Operation Tree, expand the tree structure that was just created under
Arc_userUSERNUMBER_UNDEFINED_Op continuous feature operation and
Arc_userUSERNUMBER_UNDEFINED_Op_1 seam.
6. Looking in the Graphic Viewer: If you have two locations that are very close together at the end
of the path (approximately 5 mm), delete the second to last location by right-clicking it in the
Operation Tree and choosing Delete .

7. In the Operation Tree, notice there are no via locations in the path.
8. From the Operation Tree, select the Arc_userUSERNUMBER_UNDEFINED_Op
continuous feature operation.
9. In the Path Editor, click Add Operations to Editor .

534 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 10. In the Path Editor, expand the Arc_userUSERNUMBER_UNDEFINED_Op_1 seam.
11. If the Speed, Zone, and Motion type columns are not shown in the Path Editor, click
Customize Columns and add them from the Default column list.
12.Notice the values for Speed, Zone, and Motion type on the seam locations.

3: Look at the gun on a location

1. In the Operation Tree, expand the tree structure that was just created, if it is not already.
2. In the Operation Tree, select Arc_userUSERNUMBER_UNDEFINED_Op_1 (the seam in
the continuous feature operation ).

3. From the ribbon, choose Process tab→Arc group→Torch Alignment .

4. In the Torch Alignment dialog box, click Follow Mode to activate it.
If the location is reachable, the torch and robot are jumped to the location. If it is not reachable, only a
“ghost” torch is placed on the location.

5. In the Torch Alignment dialog box, click Next Location .

Notice that the robot cannot reach all the locations from one fixed position. Therefore, you need to
place it on a rail (7th axis).

6. In the Torch Alignment dialog box, click Follow Mode to deactivate it.
7. Close the Torch Alignment dialog box.
Note:
You put the robot on the rail (as a 7th kinematic axis), and check the robot reach in another lesson.

4: Use a path template to set the location attributes

1. From the Operation Tree, select the Arc_userUSERNUMBER_UNDEFINED_Op

continuous feature operation.

2. From the ribbon, choose Operation tab→Templates group→ Apply Path Template .

535 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Note:

You learn how to create a template file for the Apply Path Template Action in the Advanced
Robotics course. This tool does not work until you setup the XML file for it. A sample XML is
provided with the course training data. The file is named RobotSim.xml and is located in the Sample
Default Path Template folder

(Copy the file RobotSim.xml from \sysroot\Sample Default Path Template folder to
\Tecnomatix\eMPower\Robotics\OLP\Default\PathTemplateConfiguration folder)

3. In the Apply Path Template dialog box, click Select and choose Arc-weld Templates→Apply
All.
This example template for training, adds approach \ retract locations and sets up motion parameters on
the seam locations such as speed, zone, and motion type. You learn more about setting these
parameters manually later in this course and how to create a path template in the advanced course.

4. Click OK and Close.

5. In the Operation Tree, expand the Arc_userUSERNUMBER_UNDEFINED_Op

continuous feature operation, if it is not already.
6. In the Operation Tree, notice there are additional via locations in the path now.

536 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 7. From the Operation Tree, select the Arc_userUSERNUMBER_UNDEFINED_Op
continuous feature operation.
8. In the Path Editor, notice the changed values for Speed, Zone, and Motion type on the seam
locations (and the additional via locations shown).

5: Save your study

1. From the Quick access toolbar, choose Save .

537 plmx.com.br
suporte@plmx.com.br
11 3565 3808
14.4. Seventh axis and more (external axis
usage)

(Optional Instructor Demo) Working with a 7th

axis
Estimated time to complete: 4–8 minutes
The objective of this activity is to demo what is done.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\other_selected

Study used in this activity: arc_7th_axis_demo.psz

1: Open the 7th axis demo to see what you are trying to do

1. From the Quick access toolbar choose Open in Standard Mode .

2. Browse into your .\\Projects\Robotics Sim Begin

(userUSERNUMBER_UNDEFINED)\Line USERNUMBER_UNDEFINED
StudyFolder\Other selected\ folder.
3. Choose the arc 7th axis demo.psz file and click Open.

4. From the Graphic Viewer toolbar, choose Display All .

538 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Play the demo
1. From the Operation Tree, right-click arc 7th axis Demo and choose Set Current Operation
.
2. Play the simulation.

A robot moves along a weld to arc welds a seam on a linear weld part.

539 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Working with a 7th axis (setting values)
Estimated time to complete: 22–44 minutes
The objective of this activity is to work with a 7th axis.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\other_selected

Study used in this activity: arc_7th_axis.psz

1: Open the arc 7th axis study

Complete the steps on this page if the data is not already opened in Process Simulate.

1. From the Quick access toolbar choose Open in Standard Mode .

2. Browse into your .\\Projects\Robotics Sim Begin

(userUSERNUMBER_UNDEFINED)\Line USERNUMBER_UNDEFINED
StudyFolder\other_selected folder.
3. Choose the arc 7th axis.psz file and click Open.

4. From the Graphic Viewer toolbar, choose Display All .

2: Mount the arc gun to the robot, if it is not already

1. From the Object Tree, make sure that at least these objects are displayed: Arc 7th Axis
compound part, ext_rail rail, arc_gun1 gun, and motoman_k10 robot ( mounted on
the rail).
2. Check the Attachment column in the Object Tree to see if the gun is already mounted onto the
TCPF of the robot.

Note:

If this column is not already displayed, click Customize Columns to display it.

3. If it is not, right-click the motoman_k10 arc weld robot and choose Mount Tool .

540 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. In the Mount Tool dialog box for Tool, select the arc_gun1 arc weld torch near the robot's
wrist (or it could be on the weld part).
5. For Frame on the tool (the second box in this window), select fr1.
6. For the Frame on the robot (the fourth box in this window), select TOOLFRAME (the
default).
7. Click Apply and Close.

3: Relocate the robot onto the blue carriage of the rail

1. Select the motoman_k10 robot.

2. From the Graphic Viewer toolbar, choose Relocate .

Note:

The Maintain orientation and Translate only on check boxes should NOT be selected.

3. From the Graphic Viewer toolbar, verify that the Pick Intent is set to Snap .
4. Select the top center of the blue box (the carriage) of the ext_rail rail for the To frame.
5. Click Apply and Close.

4: Attach the robot to the blue carriage on the rail

1. Select the motoman_k10 robot.

2. From the ribbon, choose Home tab→Tools group→Attachment →Attach .

3. From the Graphic Viewer toolbar, change the Pick Level to Entity .

541 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. Pick the blue carriage (Kas2) on the ext_rail rail for the To Object.

5. Click OK.
6. From the Graphic Viewer toolbar, change the Pick Level back to Component .

5: Set the rail as an external axis of the robot

1. Select the motoman_k10 robot.

2. From the ribbon, choose Robot tab→Setup group→Robot Properties .

542 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. In the Robot Properties dialog box, click the External Axes tab.
4. Click Add.
5. In the Add External Axis dialog box, select the ext rail object for the Device (the default).
6. In the Add External Axis dialog box, select j1 for the Joint (the default).
7. Click OK.

In the Robot Properties dialog box, ext rail:j1 is shown on the External Axes tab.

8. In the Robot Properties dialog box, click Close.

6: Jog the external axis joint so that the robot is close to a location
Note:
In this step of the activity, you jog the external axis joint so that the robot is as close as possible to first
locations approachViaLoc and Arc_userUSERNUMBER_UNDEFINED_Op_1_ls1 (the one to the
robot’s left). This is the first location in the arc weld created when you projected the continuous
manufacturing feature in an earlier lesson.

1. From the Graphic Viewer toolbar, change the Pick Level back to Component , if it is not
already.

543 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. Right-click the motoman_k10 robot and choose Joint Jog .

Joint j1 (ext_rail) is shown at the bottom of the list of robot joints.

3. From the Joint Jog dialog box, jog external joint j1 (ext_rail) so that the robot is as close as
possible to location Arc_userUSERNUMBER_UNDEFINED_Op_1_ls1.

Note:

This is the first location in the arc weld operation (seam path) created when you projected the
continuous manufacturing feature in an earlier lesson in this training.

The current external axis joint value is shown in the Value box. The value should be near -
1200 (It is OK if your value is a little different).

4. In the Set External Axes Values dialog box, click First Location .

544 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 The first via location (approachViaLoc) is selected in the Set External Axes Values dialog
box. (similar as next 7.2)

5. In the Set External Axes Values dialog box, select the Approach Value check box.
6. Leave the Joint Jog dialog box open.

7: Assign an external value

Note:
Assign the current external value (also known as the joint value of the rail) to the
Arc_userUSERNUMBER_UNDEFINED_Op_1_ls1 location.

1. From the Operation Tree, browse and select

Arc_userUSERNUMBER_UNDEFINED_Op_1_ls1 location.
2. From the ribbon, choose Robot tab→OLP group→Set External Axes Values .

Note:

Only servo guns have a Depart Value. Other external axes, such as rails, have no Depart
Value.

3. In the Set External Axes Values dialog box, check the Approach Value check box.

545 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 The current external axis joint value is shown in the Approach Value box. The value should
be near -1200 (It is OK if your value is a little different).

4. Leave the Joint Jog and Set External Axes Values dialog boxes open.

8: Assign an external value to the last locations

Note:
Assign an external value (also known as the joint value of the rail) to the last locations on the robot’s
right (Arc_userUSERNUMBER_UNDEFINED_Op_1_ls5 and retractViaLoc).

1. From the Joint Jog dialog box, jog the external joint j1 (ext_rail) so that the robot is as close as
possible to last location on the robot’s right
(Arc_userUSERNUMBER_UNDEFINED_Op_1_ls5).

The current external axis joint value is shown in the Value box. The value should be near 1200
(It is OK if your value is a little different).

2. In the Set External Axes Values dialog box, click Last Location .

The last via location (retractViaLoc) is selected in the Set External Axes Values dialog box.

3. In the Set External Axes Values dialog box, select the Approach Value check box.
4. In the Set External Axes Values dialog box, click Previous Location .

The previous weld location (Arc_userUSERNUMBER_UNDEFINED_Op_1_ls5) is selected

in the Set External Axes Values dialog box.

5. In the Set External Axes Values dialog box, select the Approach Value check box.
6. Close the Set External Axes Values dialog box.
7. Close the Joint Jog dialog box.
8. In the Operation Tree, select the Arc_userUSERNUMBER_UNDEFINED_Op continuous
feature operation.
9. Click the Path Editor.

546 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 10. If the Arc_userUSERNUMBER_UNDEFINED_Op continuous feature operation is not
shown: From the Path Editor, click Add Operations to Editor .
11. If the External Axes and Depart External Axes Values columns are not shown, click
Customize Columns and add then from the General list.

Note:

The External Axes column is the approach external axis values. Another column can be added
to the Path Editor named Depart External Axis Values. However, it is not needed for a 7th
axis (rail).

12. Look at the External Axes values you added to the locations.

If there is a value, it shows 1 out of 1. If there is not a value it shows 0 out of 1.

Note:

In the Path Editor, the External Axes Values and Depart External Axes Values columns
indicate how many external axes have been defined at the selected location, and of these, how
many axis values have been set. Point at a cell in the column to display a tool tip with the set
values.

9: Set the external values for the middle locations

In this case, you want the robot to move smoothly along the rail as it welds.

1. From the Operation Tree, select the Arc_userUSERNUMBER_UNDEFINED_Op_1 seam.

2. From the ribbon, choose Robot tab→OLP group→Smooth Rail Values Between Two
Locations . (Customize the Ribbon to add Smooth Rail)

547 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. By default in the Smooth Rail dialog box, the first and last locations in the
Arc_userUSERNUMBER_UNDEFINED_Op seam are already selected for the From location and
To location.
4. Leave the Method set to Interpolate On Travel Distance.

5. Click OK.

10: View the external axes attribute in the Path Editor

1. In the Operation Tree, select the Arc_userUSERNUMBER_UNDEFINED_Op continuous
feature operation.
2. Click the Path Editor.
3. In the Path Editor, expand the Arc_userUSERNUMBER_UNDEFINED_Op1 seam.

Notice that all of the locations now show 1 out of 1 for the External Axes value.

548 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. Scroll to the right and locate the Motion Type column.
5. Notice the Motion Type on the via locations are set to Joint (PTP) motion.

Note:

Typically, robot controllers cannot move linearly on the first location.

6. Scroll to the right and locate the External Axes column.

7. Mouse over the pencil icon to see the external joint values for each location.
8. In the Graphic Viewer, right-click the ext_rail and choose Home .
9. In the Graphic Viewer, right-click the motoman_k10 robot and choose Home .

Note:

IMPORTANT: The basic orientation of the locations should match the TCPF (for example X-
axis to the right, Z-axis coming out the part toward the robot). If not, reorient the locations.

Note:

In the previous couple of pages of this activity you stored external axis values (the position of
the robot on the rail) on to the two locations so that the locations are approximately reachable
by the robot. You use the official reachability tools later in this course.

10. On the Path Editor, click Play Simulation Forward .

If an error message occurs, it is shown in the lower right corner of the window.

11. On the Path Editor, click Jump Simulation to Start .

11: Save your study

1. From the Quick access toolbar, choose Save .

549 plmx.com.br
suporte@plmx.com.br
11 3565 3808
14.5. Create and edit more paths

Creating arc manufacturing features and

locations
Estimated time to complete: 8–16 minutes
The objective of this activity is to create the manufacturing features and locations to be used for arc
weld seams.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\other_selected

Study used in this activity: arc_multi_axis.psz

1: Load the “arc multi axis” study

Note:
Only perform this page of the activity if the data is not already opened in Process Simulate.

1. From the Quick access toolbar choose Open in Standard Mode .

2. Browse into your .\\Projects\Robotics Sim Begin

(userUSERNUMBER_UNDEFINED)\Line USERNUMBER_UNDEFINED
StudyFolder\Other selected .
3. Choose the arc multi axis.psz file and click Open.

4. From the Graphic Viewer toolbar, choose Display All .

550 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Get the view setup to create the arc manufacturing feature
1. In the Object Tree, expand two levels into the Parts and Resources folders.
2. From the Parts folder, select the FRONT_whitehouse_weldpart part and the
BOTTOM_whitehouse_weldpart part in the Arc multi axis compoundPart (the product
assembly sitting on the positioner).
3. Hold down the Ctrl key.
4. From the Resources folder, select the st_gun3_30 gun (the arc weld torch at the end of
the robot's wrist) in the Arc multi axis compoundResource.
5. Release the Ctrl key.

6. From the Graphic Viewer toolbar, choose Display Only.

551 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 7. Deselect the objects by selecting nothing in the Graphic Viewer.
8. Hold down the Ctrl key.
9. In the Object Tree, select the FRONT_whitehouse_weldpart part and the
BOTTOM_whitehouse_weldpart part (or draw a selection box around them in the Graphic
Viewer).

10. From the Graphic Viewer toolbar, choose Zoom to Selection .

11. Release the Ctrl key.

3: Create the arc continuous manufacturing feature

1. With nothing selected, from the ribbon choose Process tab→Continuous group→ Continuous

Process Generator

552 plmx.com.br
suporte@plmx.com.br
11 3565 3808
The Continuous Process Generator dialog box is shown with the Face sets section expanded and the
Face Pick Level is automatically selected.

2. In the Continuous Process Generator dialog box for Process, select Arc.
3. For Base set, select the top face of the BOTTOM_whitehouse_weldpart part.

One face is selected.

4. In the Continuous Process Generator dialog box, select the Side set box.
5. For Side set, select the far left front face of the FRONT_whitehouse_weldpart part.

553 plmx.com.br
suporte@plmx.com.br
11 3565 3808
One face is selected.

Temporarily, the start point for the seam is represented by a green sphere, the seam is represented by a
blue line, a blue arrow shows the direction of the seam, and an orange sphere represents the end of the
seam.

6. Continue selecting the front faces of the FRONT_whitehouse_weldpart part by clicking

for Side set.
Note:
(Optional) You can click to select all the faces tangential to the last selected face (select all faces
before a 90° turn).

(Optional) You can click to cancel the selection of all the faces.

554 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Five faces are selected.

7. In the Continuous Process Generator dialog box, expand the Operation section.
Note:
The Operation name and Scope boxes already have values. This time, the robot and tool are not
automatically populated since there is more than one.

8. For the Operation name, enter Front_ArcSeams_userUSERNUMBER_UNDEFINED_Op.

9. For the Tool, select st_gun3_30.
10. For the Scope, select arc multi axis in the Operation Tree.

11. In the Continuous Process Generator dialog box, expand the Mfg feature section.
12. Select the Mfg type, such as ContinuousMfg or ArcContinuousMfg.
13. For 3D folder location, click Browse and choose the .\sysroot\Libraries\mfgs folder.
Note:
In production, the exact folder name could be anything under the system root folder. However, you
should create a standard for what to name the manufacturing features and where they should be placed.

Note:
This command creates a new .JT file (in a .COJT folder) that contains the curve. This .COJT is
associated to a new manufacturing feature which is shown in the MFG Viewer.

14. Select the Arc Projection check box.

555 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 15. Expand the Arc Projection section and the Locations Distribution section.
16. Set the Maximal tolerance to 0.50 (mm).
17. Deselect the Optimize locations creation for arc and line segments check box.

18. (Optional) Click Preview to preview the results before clicking OK.
19. Click OK.
Note:
Locations are created on the curve based on Maximal tolerance. After completing the projection, the
system sets the motion type of each location as linear. If you look at the path in the Path Editor, it only
shows for the general motion type as Linear. It does not show in the Default controller motion type as
LIN until you assign a robot.

20. To see the manufacturing feature just created: From the ribbon, choose View tab→Screen
Layout group→Viewer→Mfg Viewer. Look at it in the Mfg Viewer.

556 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Modifying arc weld operations and seams
Estimated time to complete: 6–12 minutes
The objective of this activity is to fine tune the seams.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\other_selected

Study used in this activity: arc_multi_axis.psz

1: Orient torch angles

1. From the Operation Tree, expand into the
Front_ArcSeams_userUSERNUMBER_UNDEFINED_Op and select the
Front_ArcSeams_userUSERNUMBER_UNDEFINED_Op_1 seam.

2. From the ribbon, choose Process tab→Arc group→ Torch Alignment .

3. Select the Travel angle box and enter 10 degrees.

Note:

For example, in production you may want to change this in order to push or drag the arc torch.

4. Select the Spin angle box and enter 180 degrees.

Note:

These changes to the travel angle and spin angle only affect all the locations the location named
in the dialog box. To change all the locations at once, you have to make these changes in the
Projection dialog box (before clicking OK).

5. Click Reset to remove all edits to this location.

6. Click Close.

557 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Check the arc weld path with a torch
1. In the Resources folder of the Object Tree, verify that the st_gun3_30 torch display
status square is checked .
2. In the Operation Tree, verify that the
Front_Whitehouse_ArcSeams_userUSERNUMBER_UNDEFINED_Mfg_Op_1 seam
display status square is checked .
3. Choose the first location in the
Front_Whitehouse_ArcSeams_userUSERNUMBER_UNDEFINED_Mfg_Op_1 seam.

4. Choose Torch Alignment .

Note:

If you can’t choose Torch Alignment or the dialog box is grayed out, you have selected
the wrong object in the Operation Tree. Select the arc seam or the first arc seam location.

Warning:

Although you can use either Torch Alignment or the Location Manipulator , it is

suggested to use Torch Alignment .

5. In the Torch Alignment dialog box, click Follow Mode .

If the torch is mounted on a robot and the robot can reach the location, the torch is shown with
regular colors. If the gun is not mounted on a robot or the robot cannot reach the location, the
torch is shown in ghost colors. For this portion of the course, only the gun should be associated
to the continuous feature operation (not the robot).

6. Now rotate your point of view in the Graphic View a little to refresh displaying the gun onto
the first location of the arc weld path.

558 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

The torch is jumped to the first location in the seam. Do not worry about the robot for now.

7. Click Next Location several times to jump the torch through the seam.

Note:

To see the torch simulate through the seam, right-click the arc seam, choose Set Current
Operation , and click Play Simulation Forward in the Sequence Editor.

8. Click First Location

9. In the Torch Alignment dialog box, select in the various Arc Alignment boxes and notice the
helper picture to the right of the box changing.
10. Select in the Travel angle box, enter 3, and press Enter.

Note:

Changing this parameter here only affects this location. If your intent was to change this
parameter for all locations it should have been set in the Project Arc Seam dialog box at the
time this seam was created. All the angles of all of the locations can be changed after the fact

using Location Manipulator . You use this command to see its affects on an arc seam in
the next page of this activity.

11. Close the Torch Alignment dialog box.

559 plmx.com.br
suporte@plmx.com.br
11 3565 3808
3: Multiple rotate locations in seams (arc weld example)

1. Select the Front_ArcSeams_userUSERNUMBER_UNDEFINED_Mfg_Op_1 seam in

the Front_ArcSeams_userUSERNUMBER_UNDEFINED_Mfg_Op continuous feature
operation.

2. From the Graphic Viewer toolbar, choose Single or Multiple Location Manipulation .

3. In the Arc Seam Location (warning) dialog box, choose Yes, to continue.

The Multiple Locations Manipulation dialog box is shown.

Note:

560 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 You may see either a red X or a green to the right the location names S column. Ignore this
for now. If you do not see a dialog box like this, you may have selected a location instead of
the a seam before opening the Multiple Locations Manipulation dialog box.

4. In the Multiple Locations Manipulation dialog box, deselect Limit locations manipulation
according to options if it is already checked (the default is deselected).

5. Drag the bottom of the dialog box down to show all the locations in the Locations area of the
dialog box .
6. Choose the second location in the seam in the Locations area of the dialog box.
7. In the Multiple Locations Manipulation dialog box, click Follow Mode .
8. In the Multiple Locations Manipulation dialog box, select a location where you would like the
gun to the be shown in the Graphic Viewer.
9. Click Ry.
10. Click Move Negative once.

Note:

Notice that the Step Size is set to 10 degrees by default. All locations are rotated from their
current position a negative 10 degrees.

11. Click Reset.

Note:

All locations are returned to their orientation they had before this dialog box was opened.

12. Click Ry.

13. Click Move Positive .

Note:

All locations are moved from their current position a positive 10 degrees.

14. Click Close.

15. Reopen the Torch Alignment dialog box for this seam and notice the Travel Angle for all
locations is 20 (10+10) degrees except for the first location which is at 13 degrees.

Note:

The Torch Alignment dialog box moves a location an absolute value, while the Multiple
Locations Manipulation dialog box moves a location a relative value.

561 plmx.com.br
suporte@plmx.com.br
11 3565 3808
4: Finish up

1. From the Quick access toolbar choose Save .

2. Click OK.
3. Click OK.

562 plmx.com.br
suporte@plmx.com.br
11 3565 3808
15. Paint applications

563 plmx.com.br
suporte@plmx.com.br
11 3565 3808
15.1. Overview of paint continuous feature
applications
No activities for this lesson

15.2. Set up paint brushes and meshes

Setting up paint brushes and meshes

Estimated time to complete: 4–8 minutes
In this activity, you setup paint brushes and meshes.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\other_selected

Study used in this activity: arc_multi_axis.psz

1: Load the “arc multi axis” study

Note:
Only perform this page of the activity if the data is not already opened in Process Simulate.

1. From the Quick access toolbar choose Open in Standard Mode .

2. Browse into your .\\Projects\Robotics Sim Begin

(userUSERNUMBER_UNDEFINED)\Line USERNUMBER_UNDEFINED
StudyFolder\Other selected .
3. Choose the arc multi axis.psz file and click Open.

4. From the Graphic Viewer toolbar, choose Display All .

564 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Start modeling your own paint gun object

1. Right-click the paint_gun1 object in the Graphic Viewer or Object Tree and choose Display
Only .
2. Select the paint_gun1.

3. From the ribbon, choose Modeling tab→Components group→Set Modeling Scope .

565 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. Click OK.
5. In the Object Tree, select your paint_gun1
6. From the ribbon, choose Home tab→Edit group→Copy .
7. In the Resources folder, select arc multi axis.

8. From the ribbon, choose Home tab→Edit group→Paste .

9. Delete the paint_gun1.
10. In the Object Tree, rename paint_gun1_1 to
paint_gun1_userUSERNUMBER_UNDEFINED
11. Select the gun and from the ribbon, choose Modeling tab→Components group→Set

Modeling Scope .

12. In the Object Tree, right-click the fanuc_p200e_12 robot and choose Mount Tool .
13. In the Mount Tool dialog box for Tool, select
paint_gun1_userUSERNUMBER_UNDEFINED.
14. For both Frame boxes, select the same frame in the Graphic Viewer, so that the gun does not
move as a result of this command.
15. Click Apply and Close.

3: Model the brush geometry

1. Figure out the dimensions of the brush geometry.

Note:
Use the formula of similar triangles to calculate the radius of the SprayPattern1 cone to be created to
represent the brush:

distance / effective depth = cone radius at the distance / cone radius at the effective depth

In this case, you have a distance of 200 mm. You want to have an effective depth of 250 mm and a
cone radius at the distance of 25 mm.

So, you should create a cone to represent the brush that has a Height of 250 mm and a Radius of
31.25 mm.

566 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. From the ribbon, choose Modeling tab→Geometry group→Solids →Cone Creation
→Create a Cone .
3. In the Create Cone dialog box for Name, type SprayPattern1.
4. In the Create Cone dialog box for Lower Radius, type 31.25.
5. For Upper Radius, type 0.
6. For Height, type 250.
7. Expand the dialog box.
8. Deselect the Maintain Orientation check box.
9. Select the Locate at box, click the red frame (the tcp frame), and click OK.

10. From the Graphic Viewer toolbar, set the Pick Level to Entity.
11. Right-click the SprayPattern1 cone and choose Placement Manipulator.
12. Move the SprayPattern1 cone the difference between the distance and effective depth: In the
Placement Manipulator dialog box click Z, enter -50, press the Enter key, and click Close.

13. Select the SprayPattern1.

14. From the ribbon, choose Modeling tab→Entity Level group→Set Preserved Object .
A key icon is added to the SprayPattern1 cone in the Object Tree. You can now individually select
and blank/display the cone after you end modeling.

567 plmx.com.br
suporte@plmx.com.br
11 3565 3808
4: Create a paint brush

1. (Create a New Continuous Feature Operation Paint_user_Robot_Op). In the Operation Tree,

right-click the Paint_user_Robot_Op continuous operation and choose Operation Properties.
2. In the Properties dialog box, click the Process tab.
3. For the Robot, select the fanuc_p200e_12 paint robot (the gun is automatically selected).
4. For the Gun, select the paint gun.

5. Click OK.
6. Select the fanuc_p200e_12 paint robot.
7. After selecting a robot (optionally with a mounted paint gun), choose Process tab→Paint and
Coverage group→Paint Brush Editor .
The Paint Brush Editor command becomes available after a robot is selected, since this command
associates a list of brushes to the selected robot instance.

8. In the Paint Brush Editor dialog box, click Create Brush .

The Create Brush dialog box appears.

9. On the Graphic Viewer toolbar, verify that the Pick Level is set the Entity .

568 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 10. The Create Brush dialog box, select Solid and select the SprayPattern1 cone created earlier.
11. For Origin Frame, pick the yellow paint_gun_tip frame, and click OK.

12. In the Paint Brush Editor dialog box, click Close.

5: Create a mesh on the part to be painted

1. From the Object Tree, click the display status square for the FRONT_whitehouse_weldpart
to display it.
2. Select the FRONT_whitehouse_weldpart part.
3. From the ribbon choose Process tab→Paint and Coverage group→Create Mesh . The
Create Mesh dialog box appears and the selected part populates the Parts list.
4. The dialog tells you that the selected part is Exact, but there is no Mesh created for it yet.
The Exact column indicates if the part has at least one entity with XTBRep exact geometry.

The Mesh column indicates if a mesh already exists for the part. Creating a mesh again for this part
overwrites the previous mesh.

5. Click Preview to view the mesh.

The default mesh with a Distance of 100, a Deviation of 0.5, and an Angle of 15 might not produce
the desired mesh.

6. Change the Distance to 20.

7. Click Preview to view the mesh.
The mesh looks better.

569 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 8. Click OK twice to close the Create Mesh dialog box.
The mesh is created and still exists, but is hidden.

9. Select the FRONT_whitehouse_weldpart part.

10. From the ribbon choose Process tab→Paint and Coverage group→Create Mesh . The
Create Mesh dialog box appears and the selected part populates the Parts list.
11. The dialog tells you that the selected part is Exact, and a Mesh is created for it.
12. Click Cancel to close the Create Mesh dialog box without making changes to the mesh.
Later in the training you learn how to display and blank the mesh. However, the mesh is not shown in
the Object Tree and is hidden in Graphic Viewer by default.

6: Save your study

1. From the Quick access toolbar, choose Save .

570 plmx.com.br
suporte@plmx.com.br
11 3565 3808
15.3. Create and project paint manufacturing
features

Paint manufacturing features for the whitehouse

part
Estimated time to complete: 4–8 minutes
In this activity, you create and project a paint manufacturing feature using Continuous Process

Generator .

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\other_selected

Study used in this activity: arc_multi_axis.psz

1: Load the “arc multi axis”

Note:
Now perform the activity by first loading the arc multi axis study.

1. From the Quick access toolbar choose Open in Standard Mode .

2. Browse into your .\\Projects\Robotics Sim Begin

(userUSERNUMBER_UNDEFINED)\Other selected\Line USERNUMBER_UNDEFINED
folder.
3. Choose the arc multi axis.psz file and click Open.

4. From the Graphic Viewer toolbar, choose Display All .

571 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Get the view setup
Get the view setup to create the paint manufacturing feature.

1. In the Object Tree, expand two levels into the Parts and Resources folders.
2. From the Parts folder, select the FRONT_whitehouse_weldpart part in the Arc multi
axis compoundPart (the product assembly sitting on the positioner).
3. Hold down the Ctrl key.
4. Select the BOTTOM_whitehouse_weldpart part.
5. From the Resources folder, select the st_gun3_30 gun (the arc weld torch at the end of
the robot's wrist) in the Arc multi axis compoundResource.
6. Release the Ctrl key.

7. From the Graphic Viewer toolbar, choose Display Only .

572 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 8. Deselect the objects by selecting nothing in the Graphic Viewer.
9. Hold down the Ctrl key.
10. In the Object Tree, select the FRONT_whitehouse_weldpart part and the
BOTTOM_whitehouse_weldpart part.

11. From the Graphic Viewer toolbar, choose Zoom to Selection .

12. Release the Ctrl key.

13. (Optional) To add in visualization: From the Graphic Viewer toolbar, set the View Style to

Feature Lines Over Solid .

573 plmx.com.br
suporte@plmx.com.br
11 3565 3808
3: Create paint manufacturing features

1. With nothing selected, from the ribbon choose Process tab→Continuous group→Continuous

Process Generator

The Continuous Process Generator dialog box is shown with the Face sets section expanded and the
Face Pick Level is automatically selected.

2. In the Continuous Process Generator dialog box for Process, select Coverage Pattern.
3. For Faces, select the far left front face of the FRONT_whitehouse_weldpart part.

One face is selected.

4. Continue selecting the front faces of the FRONT_whitehouse_weldpart part.

Note:
(Optional) You can click to cancel the selection of all the faces.

574 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Five faces are selected.

5. From the Graphic Viewer toolbar, set the Pick Level to Snap.
6. In the dialog box, select the Start point box.
7. For the Start point, select the middle of the left edge of the selected faces.
8. For the End point, select the middle of the right edge of the selected faces.

9. For the Spacing, type 50.

10. For Strokes before, type 1.
A stroke is added when you change boxes in the dialog box.

11. For Strokes after, type 1.

A stroke is added when you change boxes in the dialog box.

575 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 12. In the Continuous Process Generator dialog box, expand the Operation section.
Note:
The Operation name and Scope boxes already have values. The robot and tool are not automatically
populated since there is more than one.

13. For the Operation name, enter Front_Paint_userUSERNUMBER_UNDEFINED_Op.

14. For the Tool, select paint_gun1.
15. For the Scope, select arc multi axis in the Operation Tree.

576 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 16. In the Continuous Process Generator dialog box, expand the Mfg feature section.
17. Select the Mfg type, such as ContinuousMfg or PaintContinuousMfg.
18. For 3D folder location, click Browse and choose the .\sysroot\Libraries\mfgs folder.
Note:
In production, the exact folder name could be anything under the system root folder. However, you
should create a standard for what to name the manufacturing features and where they should be placed.

Note:
This command creates a new .JT file (in a .COJT folder) that contains the curve. This .COJT is
associated to a new manufacturing feature which is shown in the MFG Viewer.

19. Select the Projection Continuous Mfg check box.

20. Expand the Projection Parameters section and the Locations Distribution section.
21. For Location orientation, select Tanget ZigZag.
22. Set the Maximal tolerance to 0.50 (mm).
23. Deselect the Optimize locations creation for arc and line segments check box.

577 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 24. Click OK.

Note:
Locations are created on the curve based on Maximal tolerance. After completing the projection, the
system sets the motion type of each location as linear. If you look at the path in the Path Editor, it only
shows for the general motion type as Linear. It does not show in the Default controller motion type as
LIN until you assign a robot.

25. To see the manufacturing feature just created: From the ribbon, choose View tab→Screen
Layout group→Viewer→Mfg Viewer. Look at it in the Mfg Viewer.

578 plmx.com.br
suporte@plmx.com.br
11 3565 3808
4: Save your study

1. From the Quick access toolbar, choose Save .

579 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Modifying paint operations and seams
Estimated time to complete: 12–24 minutes
The objective of this activity is to fine tune the seams for a specific application.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\other_selected

Study used in this activity: arc_multi_axis.psz

1: Rotate multiple locations in a paint path

1. From the Operation Tree, display the Paint_user_Robotic_Op if it is not already displayed.
2. Select the Paint_user_Robotic_Op continuous feature operation.

3. From the Graphic Viewer toolbar, choose Location Manipulator .

If you select one location and click this command only one location is rotated. If you select the
path and pick this command, all the locations in the path are rotated.

4. In the Multiple Location Manipulation notice the S column shows .that the location positions
are reachable, but not the orientations.

Note:

You may see either a red X (not reachable), brown/orange (only position reachable), or a
green (reachable) to the right the location names S column.

5. In the Multiple Locations Manipulation dialog box, deselect Limit locations manipulation
according to options if it is already checked (the default is deselected).

580 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. Drag the bottom of the dialog box down to show more of the locations in the Locations area of
the dialog box.
7. Select the second location in the seam in the Locations area of the dialog box.
8. In the Multiple Locations Manipulation dialog box, click Follow Mode .
9. In the Multiple Locations Manipulation dialog box, select a location where you would like the
gun to the be shown in the Graphic Viewer (even though all the locations are manipulated).
10. Click Rz, type 90, and press the Enter key.

You need to rotate the locations around the Z-axis. You can either rotate them all at once by
typing in the value and pressing the Enter key, or you can enter a step size such as 45 and use
the arrow keys to rotate the location visually to the orientation you want.

11. Click Rz, type 180, and press the Enter key.

12. Click Close.

13. Repeat to modify the Rz values for the other paint paths.

2: Modifying the paint path (adding vias at the end of each path)

1. In the Operation Tree or the Sequence Editor, select the Paint_user_Robotic_Op_1 seam
in the Paint_user_Robotic_Op.

2. From the ribbon, choose Operation tab→Add Location group→Add Location Before .

581 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. In the Placement Manipulator dialog box, click X.

If you click Add Location Before for a continuous operation with a robot assigned, the
Robot Jog dialog box is opened. However, if no robot is assign (and only a gun), the Placement
Manipulator dialog box is opened.

4. Type -50 and press Enter. The location is placed off the part to the right of the first location in
the first seam, since it is based on the orientation of the seam location.
5. Close the Placement Manipulator dialog box.
6. In the Operation Tree or the Sequence Editor, select the Paint_user_Robotic_Op_1 seam
in the Paint_user_Robotic_Op.

7. From the ribbon, choose Operation tab→Add Location group→Add Location After .

8. In the Placement Manipulator dialog box, click X.

9. Enter 50 and press Enter. The location is placed off the part to the left of the last location in the
first seam.
10. Close the Placement Manipulator dialog box.
11. In the Operation Tree or the Sequence Editor, select the Paint_user_Robotic_Op_1 seam
in the Paint_user_Robotic_Op.
12. Important: Follow a similar process for the Paint_user_Robotic_Op_2 seam. This time
create a location before at X= 50 and the one after at X= -50.
13. Important: Follow a similar process for the Paint_user_Robotic_Op_3 seam. This time
create a location before at X= -50 and the one after at X= 50.

582 plmx.com.br
suporte@plmx.com.br
11 3565 3808
3: Turn the paint gun on and off

1. Right-click the paint continuous operation and choose Operation Properties .

2. Click the Process tab.
3. Remove the entry for the Gun.
4. Select the Robot box and select the paint robot.
If you selected a robot with a mounted gun, the Gun box should also get populated.

5. Click OK.
6. Select the first via location in the paint continuous operation.

7. From the ribbon, choose Robot tab→OLP group→Teach Pendant .

8. Click Add, choose Standard Commands→Paint→OpenPaintGun .
#OpenPaintGun is added to the list of OLP commands for this location.

9. Click Add, choose Standard Commands→Paint→ChangeBrush .

#ChangeBrush is added to the list of OLP commands for this location.

10. In the ChangeBrush dialog box for the Brush Name, enter Brush_1, and click OK.
This is the brush that you defined for this robot earlier in this training.

11. Click Browse to Last Location .

12. Click Add, choose Standard Commands→Paint→ClosePaintGun .
#ClosePaintGun is added to the list of OLP commands for this location.

583 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 13. Close the teach pendant dialog box.

4: Finish up

1. From the Quick access toolbar choose Save .

2. Click OK.
3. Click OK.

584 plmx.com.br
suporte@plmx.com.br
11 3565 3808
15.5. Simulate paint coverage and more

Simulating paint coverage and more

Estimated time to complete: 4–8 minutes
In this activity, you simulate paint coverage.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\other_selected

Study used in this activity: arc_multi_axis.psz

1: Turn on the calculation of paint coverage

1. From the ribbon choose Process tab→Paint and Coverage group→Cover During Simulation

to turn on paint coverage.

2. From the Operation Tree, right-click Paint_user_Robotic_Op and choose Set Current
Operation .
3. In the Sequence Editor, to the right of the Simulation Speed Slider, in the Simulation Time
Interval box, enter 0.01, and press Enter.
4. In the Sequence Editor, move the Simulation Speed Slider to the middle for real-time
simulation.
5. In the Sequence Editor, click Play Simulation Forward .

2: Show and delete paint coverage

1. From the ribbon, choose Process tab→Paint and Coverage group→Paint/Coverage Settings
.
The Paint & Coverage Settings dialog box appears.

2. Notice the paint colors on the part correspond to this key. Each color represents one pass (stoke)
on the part.
3. In the Sequence Editor, click Play Simulation Forward .
More paint is added to the part.

585 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. In the Paint & Coverage Settings, click Delete coverage.
The paint coverage is removed from the parts.

5. Close the Paint & Coverage Settings.

6. From the ribbon choose Process tab→Paint and Coverage group→Cover During Simulation

to turn off paint coverage.

7. In the Sequence Editor, click Play Simulation Forward .
No coverage is applied to the part.

3: Save your study

1. From the Quick access toolbar, choose Save .

586 plmx.com.br
suporte@plmx.com.br
11 3565 3808
16. Other continuous feature applications

587 plmx.com.br
suporte@plmx.com.br
11 3565 3808
16.1. Overview of continuous feature
applications
No activities for this lesson

16.2. Create continuous manufacturing features

Debur manufacturing features for the

whitehouse part
Estimated time to complete: 4–8 minutes
The objective of this activity is to create the manufacturing features needed in order to create the
continuous manufacturing features to be used for debur paths. A similar process could be followed to
create glue paths.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\other_selected

Study used in this activity: arc_multi_axis.psz

1: Load the “arc multi axis” study

Note:
Only perform this page of the activity if the data is not already opened in Process Simulate.

1. From the Quick access toolbar choose Open in Standard Mode .

2. Browse into your .\\Projects\Robotics Sim Begin

(userUSERNUMBER_UNDEFINED)\Line USERNUMBER_UNDEFINED
StudyFolder\Other selected .
3. Choose the arc multi axis.psz file and click Open.

4. From the Graphic Viewer toolbar, choose Display All .

588 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Debur continuous manufacturing feature geometry
Note:
More is described on modeling objects earlier in the training.

1. Continue from where the last whitehouse part activity left off.
2. Change your view point so that you are looking at the top of the part.

Note:

This can be done by hold down the right and middle mouse buttons and moving your hand in a
circle; or by clicking the [up arrow] key about three times.

589 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

You are still modeling the part from the previous activity and the Pick Level is still set to
Entity .

3. From the Graphic Viewer toolbar, change the Pick Intent to Where Picked .

4. From the ribbon , choose Modeling tab→Geometry group→Curves→Curve on Borders .

5. In the Curve on Borders dialog box for Name, type

Front_Whitehouse_Debur_userUSERNUMBER_UNDEFINED.
6. In the Curve on Borders dialog box, select the Entity box.

590 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 7. For Entity, select the top face of the solid not near an edge.

8. Click Preview.

Warning:

If the curve is not created along the front face of this solid, select it again and click Preview.

9. In the Graphic Viewer, right-click the front face of the Whitehouse part and choose Blank .
10. Hold down the Ctrl key and select the five curves across the top front of the Whitehouse part.
11. Choose Merge Curves .
12. From the ribbon , choose Modeling tab→Geometry group→Curves→Merge Curves .

13. For the Name, type Front_Whitehouse_Debur_userUSERNUMBER_UNDEFINED.

14. Click OK.

Note:

The new Front_Whitehouse_Debur_userUSERNUMBER_UNDEFINED curve is created in

the FRONT_whitehouse weldpart. However, you do not store this change permanently in this

591 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 part. Instead, you store this geometry into a separate .COJT related to a continuous
manufacturing feature (in the next page of this activity).

15. Display the blanked Whitehouse part from the Object Tree.
16. From the Graphic Viewer toolbar, change the Pick Intent to Snap .

Note:

In this activity you could have used the From the ribbon , choose Modeling tab→Geometry
group→Curves→Intersection Curve command to create the curve. Other commands could
have been used to create the curve as well. Or the curves could have been created in a CAD
system, converted to a .COJT, and associated to an existing manufacturing feature.

3: Debur continuous manufacturing features

1. From the Object Tree or Graphic Viewer, select the
Front_Whitehouse_Debur_userUSERNUMBER_UNDEFINED curve.
2. From the ribbon, choose Process tab→Continuous group→Create Continuous Mfg from
Curve .

3. In the Create Continuous Mfg from Curve dialog box, select the Assign to part box.
4. Select the FRONT_whitehouse_weldpart part.

Note:

In this case, the manufacturing feature is only associated with one part (not like the arc-weld
seam that is associated to two parts).

592 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 5. For 3D folder location, click Browse and select the .\Libraries\mfgs folder.

Note:

In production, the exact folder name could be anything under the system root folder. However,
you should create a standard for what to name the manufacturing features and where they
should be placed.

6. Leave the Mfg type as ContinuousMfg.

7. Click OK.

Note:

This command creates a new .JT file (in a .COJT folder) that contains this curve. This .COJT is
associated to a new manufacturing feature which is shown in the MFG Viewer. After executing
this command you can either delete this curve from the original part
(FRONT_whitehouse_weldpart) or just reload the original part. you do this later.

8. From the ribbon, choose View tab→Screen Layout group→Viewers →Mfg Viewer.

593 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 9. Continue to the next whitehouse part activity to create the paint manufacturing features.

4: Save your study

1. From the Quick access toolbar, choose Save .

594 plmx.com.br
suporte@plmx.com.br
11 3565 3808
16.3. Project continuous manufacturing features

Creating deburring paths

Estimated time to complete: 10–20 minutes
The objective of this activity is to create deburring paths using the manufacturing features created in
the previous activity.

Warning:
This activity uses the deburring robot and gun in the Arc multi axis data.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\other_selected

Study used in this activity: arc_multi_axis.psz

1: Load the “arc multi axis” study

Note:
Only perform this page of the activity if the data is not already opened in Process Simulate.

1. From the Quick access toolbar choose Open in Standard Mode .

2. Browse into your .\\Projects\Robotics Sim Begin

(userUSERNUMBER_UNDEFINED)\Line USERNUMBER_UNDEFINED
StudyFolder\Other selected .
3. Choose the arc multi axis.psz file and click Open.

4. From the Graphic Viewer toolbar, choose Display All .

595 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Setup continuous features
1. Continue using the same data loaded in Process Simulate.

2. Choose File→Options .
3. In the Options dialog box, click the Continuous tab.

596 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. For the Movement Vector, select X.
5. Click OK.

3: Create the simulative operation and seam

Note:
A simulative operation is a generic term for the operations created by to represent a simulation. In this
case, the simulative operation is a robot operation.

1. From the Object Tree, display the FRONT_whitehouse_weldpart part by clicking its display
status square .
2. From the Mfg Viewer, select the
Front_Whitehouse_Debur_userUSERNUMBER_UNDEFINED_Mfg manufacturing
feature.
3. Hold down the Ctrl key and select Arc multi axis in the Operation Tree.
4. Release the Ctrl key.

5. From the ribbon, choose Operation tab→Create Operation group→New Operation

→New Continuous Feature Operation .

597 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. For the Name, type Front_Debur_Op.
7. Click OK.

Note:

An “empty” (but special) compound operation is created named Front_Debur_Op.

8. From the Operation Tree, select the Front_Debur_Op operation.

9. From the ribbon, choose Process tab→Continuous group→Project Continuous Mfg

Features .

598 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 10. In the Project Continuous Mfgs dialog box, select Indicate projection direction in the
graphics (if defined) check box.
11. Select the curve to see the direction indication in the Graphic Viewer.

A green cone is displayed on the curve.

12. For Projection Parameters, select Tolerance Based Spacing.

13. Set the Maximal tolerance to 0.50 (mm).
14. Deselect Optimize locations creation for arc and line segments.

15. Click Project.

16. Click Close.
17. Expand into the Front_Debur_Op operation.

4: Split off the seam along the top front edge (You don’t need to do if the Seam was
create only in the front face.)

1. Make sure nothing is selected, by selecting out in space in the Graphic Viewer.
2. From the ribbon, choose Process tab→Continuous group→ Split Seam Operation .

599 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. In the Split Seam Operation dialog box for Operation, select the
Front_Whitehouse_Debur_userUSERNUMBER_UNDEFINED_Mfg_op just created.
4. For Split location, select the location in the Graphic Viewer along the top front edge on the
opposite end from the start point.

Note:

Even though there is a list of values for these box you don’t need to use it. You can just select
the desired location the Graphic Viewer or Operation Tree.

Note:

The split location is added to both seams resulting from the split. The location you select may,
or may not, have the same name as shown in the picture above.

5. Click OK.

Note:

Now there are two seams in the Front_Debur_Op.

6. Follow a similar process to split the Front_Debur_Op into four seams (front seam, right
side seam, back seam, and left side seam).

600 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5: Save your study

1. From the Quick access toolbar, choose Save .

601 plmx.com.br
suporte@plmx.com.br
11 3565 3808
16.4. Modify continuous manufacturing
features

Modifying debur operations and seams

Estimated time to complete: 6–12 minutes
The objective of this activity is to fine tune the seams for a specific application

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\other_selected

Study used in this activity: arc_multi_axis.psz

1: Check the debur path with a robotic tool

1. In the Resources folder of the Object Tree, verify that the rc_b_24033_deburring_tool
resource display status square is checked .
2. In the Operation Tree, verify that the Front_Whitehouse_Debur_user1_Mfg_op seam
display status square is checked .

3. In the Operation Tree, right-click on the Front_Debur_Op and choose Operation Properties
.

Note:

You could have assigned the tool when you defined this operation instead of doing it now.

602 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. In the Properties dialog box, click the Process tab.
5. Select in the Tool box and select the rc_b_24033_deburring_tool resource from the Object
Tree or Graphic Viewer.
6. Click OK.

2: Multiple shift locations in seams (deburring example)

1. Select the first location of the Front_Whitehouse_Debur_user1_Mfg_op seam.

2. From the Graphic Viewer toolbar choose Single or Multiple Location Manipulation .

3. In the Multiple Locations Manipulation dialog box, deselect Limit locations manipulation
according to options, if it is checked (the default is deselected).
4. Drag the bottom of the dialog box down to show all the locations in the Locations area of the
dialog box.

Note:

The S column for all locations is now green .

5. Select the first location in the seam in the Locations area of the dialog box.
6. In the Multiple Locations Manipulation dialog box, click Follow Mode (the button is
shown depressed).
7. In the Multiple Locations Manipulation dialog box, select a location where you would like the
gun to the be shown in the Graphic Viewer.

603 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 8. Click the Y axis.

Note:

Shift the path away from the part in this direction to compensate for the diameter of the
deburring tool. Each location is moved normal to the curve (surface).

9. In the Translate box, type the desired amount of –10 and press Enter.

Note:

The locations should be moved to be 10 mm away from the part in the Y-axis.

10. Click the Z axis.

Note:

Shift the path in this direction to position the deburring tool farther down the edge of the part.

11. In the Translate box, type the desired amount of –5 and press Enter.

Note:

The locations should be moved to be 5 mm into the part in the Z-axis.

604 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 12. In the Multiple Locations Manipulation dialog box, click Follow Mode (the button is
shown not depressed).
13. Close the Multiple Locations Manipulation dialog box.

3: Finish up

1. From the Quick access toolbar choose Save .

2. Click OK.
3. Click OK.

605 plmx.com.br
suporte@plmx.com.br
11 3565 3808
17. Finalize path development

606 plmx.com.br
suporte@plmx.com.br
11 3565 3808
17.1. Test robot’s reachability to the locations

Spot — Testing reachability (method 2)

Estimated time to complete: 10–20 minutes
The objective of this activity is to test the robot's reachability to the locations in its assigned robotic
operation/path using another method.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Study used in this activity: station02.psz

1: Mount the weld gun to the robot, if it is not already

Warning:
This activity uses the spot-weld robot in the station02 data.

1. Open the station02 data, if it is not already opened.

2. Look at the Attachments column in the Object Tree to see if the gun is already mounted onto
the TCPF of the robot.

Note:

If this column is not already displayed, click Customize Columns to display it.

3. From the Object Tree, deselect the display status square for S420_1 (robot which is the one
closed to the “bottom” of the car door frame) and gun1_2 objects.

Note:

This helps avoid a false collision between the two robots by the Smart Place dialog box, since
the second robot is current in the zone. You use other techniques to avoid collisions between
the two simultaneously simulating robots later in this course.

4. Select the S420_1_1 robot which is the one closest to the “top” of the car door frame.

Note:

This is the robot that is used to perform WeldOperation 1 .

607 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 5. From the ribbon, choose Robot tab→Tool and Device group→Mount Tool .

6. In the Mount Tool dialog box for Tool, select gun1.

Note:

This is the gun that is used to perform WeldOperation 1 .

7. In the Mounted Tool section for Frame on the tool, select Self (default).
8. In the Mounting Tool section for Frame on the robot, select TOOLFRAME (the default).

9. Click Apply.
10. Select the down arrow to the right of Flip Tool and select Flip Tool (Z).
11. Click Close.

2: Open smart place and select the locations to check

1. In the Operation Tree, right-click the WeldOperation 1 simulative operation and choose
Operation Properties.
2. In the Properties dialog box, click the Process tab and verify the Robot and Tool are set (if
not, set them).
3. Click OK.

608 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. Select the robot.
5. From the Graphic Viewer toolbar, change the Pick Level back to Component , if it is not
already.
6. From the ribbon, choose Robot tab→Reach group→ Smart Place .

Note:

The default mode for the Smart Place dialog box is Robot Placement instead of Fixture
Placement.

7. On the Operation Tree, select the pink WeldOperation 1 simulative operation.

Note:

A simulative operation is a generic term for the operations created by Process Simulate to
represent a simulation. In this case, the simulative operation is a robot operation.

3: Define an area for checking

1. Pan out a little to see the yellow box on the floor around the checking area (the robot’s current
position is in the middle of the box to check).

609 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

610 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 The definition of the grid area can be changed by dragging the sliders or by using
the Grid Area Definition dialog box

2. In this case, select one of the values for the grid shown in the Search Area to open the Grid
Area Definition dialog box.
3. In the Grid Area Definition dialog box, type 10 for the X Axis Range section Grid and Y Axis
Range section Grid, if it is not already.

Note:

In the Grid Area Definition dialog box, the Grid box specifies how many lines is along an axis.
It does not refer to the step size (like in Robcad).

4. Click OK.

4: Test robot reach to all locations from each grid point

1. In the Smart Place dialog box, click Start.
2. A grid is displayed in the lower right corner of the Smart Place dialog box. Blue squares
signify positions where the robot can be placed.

611 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

Your grid may differ slightly, depending on where your robot is currently located, how the gun
was mounted, and the orientation of the locations.

3. Select the Partial Reach check box.

Note:

In the activity, you do not check Collision, as the picture shows. However, before checking
Collision in the Smart Place dialog box, an applicable collision set should be created and
Collision Mode should be on.

Note:

If the Indicate joint working limits option was activated before running Smart Place, you also
see blue grid points with light and dark purple borders.

612 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. Click Start again.

Note:

Your grid may differ slightly, depending on where your robot is currently located, how the gun
was mounted, and the orientation of the locations.

5: Jump the robot to one of the other reachable positions

Note:
If a grid was created with grid points along the Z-axis, use the Results for Level to select the desired
level before double-clicking a grid point.

613 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 1. In the Smart Place dialog box, double-click a blue colored box in the lower right corner of the
Smart Place dialog box.
2. Click Reset to undo the robot placement.
3. Close the Smart Place dialog box when finished.

614 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Drill/Rivet — Testing reachability
Estimated time to complete: 18–36 minutes
The objective of this activity is to test the robot's reachability to the locations in its assigned robotic
operation/path.

Project used in this activity: .\\Projects\Airplane Project\LineUSERNUMBER_UNDEFINED

Study opened in this activity: Workcenter 50 Drill Study.psz

1: Mount the drill/rivet gun to the robot, if it is not already

Warning:
This activity uses the drill/rivet robot in the Workcenter 50 Drill data.

1. Open the Workcenter 50 Drill data, if it is not already opened.

2. From the Object Tree, make sure that all objects are displayed in the Parts folder:
3. From the Object Tree, make sure that only these objects are displayed in the Resources
folder: rivet_drill_gun, riser, and fanuc_r2000ia_165f_if (robot mounted on the riser).
4. Look at the Attachments column in the Object Tree to see if the gun is already mounted onto
the TCPF of the robot.

Note:

If this column is not already displayed, click Customize Columns to display it.

5. Right-click the drill/rivet robot and choose Mount Tool .

6. In the Mount Tool dialog box for Tool, select the rivet_drill_gun near the robot's wrist (or it
could be on the part).
7. For Frame on the tool (the second box in this dialog box), select Self.
8. For the Frame on the robot (the fourth box in this dialog box), select TOOLFRAME (the
default).
9. Click Apply and Close.

2: Test the robot’s reachability to the locations

Warning:
This activity uses the drill/rivet robot in the Workcenter 50 Drill data.

1. From the ribbon, choose Modeling tab→Scope group→Set Working Frame .

615 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. From the Graphic Viewer toolbar, change the Pick Intent to Self Origin .

3. Select the fanuc_r2000ia_165f_if drill/rivet robot mounted on the riser on the floor.
4. Click OK.
5. Change the Pick Intent back to Snap (default).
6. In the Operation Tree, right-click the Rivet_Op2 simulative operation and choose
Operation Properties .
7. In the Properties dialog box, click the Process tab and verify the Robot and Tool are set (if
not, set them).
8. Click OK.
9. Repeat these steps for Rivet_Op3 , Rivet_Op4 , and Rivet_Op5 .
10. Right-click fanuc_r2000ia_165f_if and choose Placement Manipulator .

Note:

It is very common in Process Simulate to open two or three dialog boxes and use them
simultaneously. The two most common second and third dialog boxes are the Placement
Manipulator and Relocate . Normally you would open these dialog boxes first, but if
you are in the middle of a command and want to open them, click in the currently opened
dialog box somewhere not in a box. Then you’ll be able to right-click the object and open the
desired placement tool.

11. From the ribbon, choose Robot tab→Reach group→Reach Test .

12. From the Operation Tree, select the Rivet Barrel compound operation.

616 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 13. Check if the locations are reachable.

Note:

Locations colored blue are reachable (for example have a full inverse), yellow are partially
reachable (for example have a partial inverse; meaning the robot can reach the location's the
position but not its orientation), and red locations are not reachable (for example have no
inverse).

14. If they are not all blue, use the manipulator frame to move the robot to a position in which all
locations are reachable by the robot: Most likely if you move the robot toward the part in the X,
Y, Z axes, you eventually get some blue locations, but it may be difficult.

Note:

you try another method which may work better later in this activity.

15. In the Placement Manipulator dialog box, click Reset (to undo your placement of the robot and
click Close
16. Close the Reach Test dialog box.

3: Open smart place and select the locations to check

Warning:
This activity uses the drill/rivet robot in the Workcenter 50 Drill data.

1. Select the drill/rivet robot.

2. From the Graphic Viewer toolbar, change the Pick Level to Component .

3. From the ribbon, choose Robot tab→Reach group→Smart Place .

4. On the Operation Tree, select the four weld operations: Rivet_Op2, Rivet_Op3, Rivet_Op4,
and Rivet_Op5.
5. Click Auto Create Collision Set .

617 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. In the Collision Viewer, click Collision Mode On/Off to turn it on

4: Define an area for checking

Warning:
This activity uses the drill/rivet robot in the Workcenter 50 Drill data.

1. Pan out a little to see the yellow box around the checking area (the robot’s current position is in
the middle of the box to check).

Note:

The definition of the grid area can be changed by dragging the sliders or by using
the Grid Area Definition dialog box

2. In this case, select one of the values for the grid shown in the Search Area to open the Grid
Area Definition dialog box.
3. For X Axis Range, type a Min of –1000 and a Max of 1000.
4. For Y Axis Range, type a Min of –2000 and a Max of 2000.
5. For Z Axis Range, type a Min of -500 and a Max of 500.
6. In the Grid Area Definition dialog box, type 10 for the X Axis Range Grid, Y Axis Range
Grid, Z Axis Range Grid, if it is not already.

Note:

In the Grid Area Definition dialog box, the Grid box specifies how many lines is along an axis.
It does not refer to the step size (like in Robcad).

7. Click OK.

5: Test robot reach to all locations from each grid point

1. In the Smart Place dialog box, click Start.

2. A grid is displayed in the lower right corner of the Smart Place dialog box. Blue squares
signify positions where the robot can be placed.

618 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

Your grid may differ slightly, depending on where your robot is currently located, how the gun
was mounted, and the orientation of the locations.

3. Select the Partial Reach check box.

Note:

In the activity, you do not check Collision, as the picture shows. However, before checking
Collision in the Smart Place dialog box, an applicable collision set should be created and
Collision Mode should be on.

Note:

If the Indicate joint working limits option was activated before running Smart Place, you also
see blue grid points with light and dark purple borders.

619 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. Click Start again.

Note:

Your grid may differ slightly, depending on where your robot is currently located, how the gun
was mounted, and the orientation of the locations.

6: Jump the robot to one of the other reachable positions

Warning:
This activity uses the drill/rivet robot in the Workcenter 50 Drill data.

1. For Results for Level, click through the 10 levels.

620 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

If a grid was created with grid points along the Z-axis, use the Results for Level to select the
desired level before double-clicking a grid point.

2. Go to level 2.
3. In the Smart Place dialog box, double-click a blue colored box in the lower right corner of the
Smart Place dialog box.
4. A suggested grid point is point 6–4–2 (which is 6th along the red axis {left/right in the
picture}, 4th along the green axis {up/down in the picture}, and on level 2)
5. Close the Smart Place dialog box when finished.
6. Right-click the robot and choose Placement Manipulator .
7. In the Placement Manipulator dialog box, click Expand Dialog .
8. For Location Relative, choose Working Frame and look at the coordinates.

Note:

This grid point is at these approximate coordinates: X=670, Y=–1320, Z=200, when the
working frame is at the gantry TCPF (for example, its machine coordinate system or MCS).
These coordinates could be copied and pasted from this dialog box if needed.

9. Close the Placement Manipulator dialog box when finished.

10. Select the fanuc_r2000ia_165f_if robot
11. From the ribbon, choose Modeling tab→Layout group→Restore Object Initial Position .

Note:

The fanuc_r2000ia_165f_if robot is back where it started (at the end of the gantry).
However if for some reason this does not work (for example because you already saved the cell
with the robot in another position), right-click the robot and choose Relocate , select
Working Frame for the To Frame, click Apply, and Close.

7: Attach the robot to the end of the riser

1. Select the fanuc_r2000ia_165f_if arc-weld robot.

621 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. From the ribbon, choose Home tab→Tools group→Attachment →Attach .

3. From the Graphic Viewer toolbar, change the Pick Level to Entity .

4. Select the end of the riser near the robot named lnk2.
5. For Store attachment, select Local (In current study).
6. Click OK.
7. From the Graphic Viewer toolbar, change the Pick Level back to Component .

8: Set the riser as an external axis of the robot

1. Select the fanuc_r2000ia_165f_if robot.

2. From the ribbon, choose Robot tab→Setup group→Robot Properties .

3. In the Robot Properties dialog box, click the External Axes tab.
4. Click Add.
5. In the Add External Axis dialog box, select the riser object for the Device.
6. In the Add External Axis dialog box, select j1 for the Joint.
7. Click OK.

622 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 8. In the Robot Properties dialog box, click Close.

9: Jog the external axes so that the robot is in a good position

1. From the Graphic Viewer toolbar, change the Pick Level back to Component , if it is not
already.

2. Right-click the robot and choose Joint Jog .

623 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. From the Joint Jog dialog box for the j1 (riser) value, type -300 and press Enter.

Note:

You could use Reachability Test while having the Joint Jog dialog box

4. From the Joint Jog dialog box for the j1 (riser) value, type 0 and press Enter.
5. Close the Joint Jog dialog box.

624 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Arc — Testing reachability
Estimated time to complete: 18–36 minutes
The objective of this activity is to test the robot's reachability to the locations in its assigned robotic
operation/path.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\other_selected

Study used in this activity: arc_multi_axis.psz

1: Mount the arc gun to the robot, if it is not already

Warning:
This activity uses the arc weld robot in the arc multi axis data.

1. Open the arc multi axis data, if it is not already opened.

2. From the Object Tree, make sure that only these objects are displayed in the Parts folder:
Arc Multi Axis.
3. From the Object Tree, make sure that only these objects are displayed in the Resources
folder: st_gun3_30, gantry, positioner, and arcmate_120 (ceiling mounted on the gantry).
4. Look at the Attachments column in the Object Tree to see if the gun is already mounted onto
the TCPF of the robot.

Note:

If this column is not already displayed, click Customize Columns to display it.

5. Right-click the arc-weld robot and choose Mount Tool .

6. In the Mount Tool dialog box for Tool, select the arc-weld torch near the robot's wrist (or it
could be on the weld part).
7. For Frame on the tool (the second box in this dialog box), select Self.
8. For the Frame on the robot (the fourth box in this dialog box), select TOOLFRAME (the
default).
9. Click Apply and Close.

2: Test the robot’s reachability to the locations

1. From the ribbon, choose Modeling tab→Scope group→Set Working Frame .

625 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. From the Graphic Viewer toolbar, change the Pick Intent to Self Origin .

3. Select the fanuc_arcmate_120 arc-weld robot mounted on the gantry on the ceiling.

Note:

Currently the robot’s self origin is sitting at the TCPF (or MCS — machine coordinate system)
of the gantry and the gantry is at its HOME pose. After you find a place for the robot, the
position of the robot relative to the working frame is the joint values you type for the gantry
(when it is defined as three external axes of the robot).

4. Click OK.
5. From the Graphic Viewer toolbar, change the Pick Intent back to Snap (default).

626 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. In the Operation Tree, right-click the Front_ArcSeams_Op simulative operation and choose
Operation Properties .
7. In the Properties dialog box, click the Process tab and verify the Robot and Tool are set (if
not, set them).
8. Click OK.
9. Select the fanuc_arcmate_120 robot which is the yellow ceiling mounted one.

Note:

This is the robot that is used to perform Front_ArcSeams_Op.

10. Right-click it and choose Placement Manipulator .

Note:

It is very common in Process Simulate to open two or three dialog boxes and use them
simultaneously. The two most common second and third dialog boxes are the Placement
Manipulator and Relocate . Normally you would open these dialog boxes first, but if
you are in the middle of a command and want to open them, click in the currently opened
dialog box somewhere not in a box. Then you’ll be able to right-click the object and open the
desired placement tool.

11. From the ribbon, choose Robot tab→Reach group→Reach Test .

12. From the Operation Tree, select the Front_ArcSeams_Op simulative operation.
13. Check if the locations are reachable.

Note:

Locations colored blue are reachable (for example have a full inverse), yellow are partially
reachable (for example have a partial inverse; meaning the robot can reach the location's the
position but not its orientation), and red locations are not reachable (for example have no
inverse).

627 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 14. If they are not all blue, use the manipulator frame to move the robot to a position in which all
locations are reachable by the robot: Most likely if you move the robot toward the part in the X,
Y, Z axes, you eventually get some blue locations, but it may be difficult.

Note:

you try another method which may work better later in this activity.

15. In the Placement Manipulator dialog box, click Reset (to undo your placement of the robot and
click Close
16. Close the Reach Test dialog box.

3: Open smart place and select the locations to check

Warning:
This activity uses the arc-weld robot in the Arc multi axis data.

1. Select the arc-weld robot.

2. From the Graphic Viewer toolbar, change the Pick Level to Component .

3. From the ribbon, choose Robot tab→Reach group→Smart Place .

4. On the Operation Tree, select the pink Front_ArcSeams_Op simulative operation.

Note:

A simulative operation is a generic term for the operations created by Process Simulate to
represent a simulation. In this case, the simulative operation is a robot operation.

5. Click Auto Create Collision Set .

6. In the Collision Viewer, click Collision Mode On/Off to turn it on

628 plmx.com.br
suporte@plmx.com.br
11 3565 3808
4: Define an area for checking
Warning:
This activity uses the arc-weld robot in the Arc multi axis data.

1. Pan out a little to see the yellow box around the checking area (the robot’s current position is in
the middle of the box to check).

Note:

The definition of the grid area can be changed by dragging the sliders or by using
the Grid Area Definition dialog box

2. In this case, select one of the values for the grid shown in the Search Area to open the Grid
Area Definition dialog box.
3. For X Axis Range, type a Min of –1000 and a Max of 2000.
4. For Y Axis Range, type a Min of –2000 and a Max of 0.
5. For Z Axis Range, type a Min of 0 and a Max of 2000.
6. In the Grid Area Definition dialog box, type 10 for the X Axis Range Grid, Y Axis Range
Grid, Z Axis Range Grid, if it is not already.

Note:

In the Grid Area Definition dialog box, the Grid box specifies how many lines is along an axis.
It does not refer to the step size (like in Robcad).

7. Click OK.

5: Test robot reach to all locations from each grid point

1. In the Smart Place dialog box, click Start.
2. A grid is displayed in the lower right corner of the Smart Place dialog box. Blue squares
signify positions where the robot can be placed.

629 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

Your grid may differ slightly, depending on where your robot is currently located, how the gun
was mounted, and the orientation of the locations.

3. Select the Partial Reach check box.

Note:

In the activity, you do not check Collision, as the picture shows. However, before checking
Collision in the Smart Place dialog box, an applicable collision set should be created and
Collision Mode should be on.

Note:

If the Indicate joint working limits option was activated before running Smart Place, you also
see blue grid points with light and dark purple borders.

630 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. Click Start again.

Note:

Your grid may differ slightly, depending on where your robot is currently located, how the gun
was mounted, and the orientation of the locations.

6: Jump the robot to one of the other reachable positions

Warning:
This activity uses the arc-weld robot in the Arc multi axis data.

1. For Results for Level, click through the 10 levels.

631 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

If a grid was created with grid points along the Z-axis, use the Results for Level to select the
desired level before double-clicking a grid point.

2. Go to level 2.
3. In the Smart Place dialog box, double-click a blue colored box in the lower right corner of the
Smart Place dialog box.
4. A suggested grid point is point 6–4–2 (which is 6th along the red axis {left/right in the
picture}, 4th along the green axis {up/down in the picture}, and on level 2)
5. Close the Smart Place dialog box when finished.
6. Right-click the robot and choose Placement Manipulator .
7. In the Placement Manipulator dialog box, click Expand Dialog .
8. For Location Relative, choose Working Frame and look at the coordinates.

Note:

This grid point is at these approximate coordinates: X=670, Y=–1320, Z=200, when the
working frame is at the gantry TCPF (for example, its machine coordinate system or MCS).
These coordinates could be copied and pasted from this dialog box if needed.

9. Close the Placement Manipulator dialog box when finished.

10. Select the arcmate_120 arc-weld robot
11. From the ribbon, choose Modeling tab→Layout group→Restore Object Initial Position .

Note:

The arcmate_120 arc-weld robot is back where it started (at the end of the gantry). However
if for some reason this does not work (for example because you already saved the cell with the
robot in another position), right-click the robot and choose Relocate , select Working
Frame for the To Frame, click Apply, and Close.

7: Attach the robot to the end of the gantry

1. Select the arcmate_120 arc-weld robot.

632 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. From the ribbon, choose Home tab→Tools group→Attachment →Attach .

3. From the Graphic Viewer toolbar, change the Pick Level to Entity .
4. Select the end of the gantry near the robot named lnk4.
5. For Store attachment, select Local (In current study).
6. Click OK.
7. From the Graphic Viewer toolbar, change the Pick Level back to Component .

8: Set the gantry as an external axis of the robot

1. Select the arcmate_120 arc-weld robot.

2. From the ribbon, choose Robot tab→Setup group→Robot Properties .

3. In the Robot Properties dialog box, click the External Axes tab.
4. Click Add.
5. In the Add External Axis dialog box, select the gantry object for the Device.
6. In the Add External Axis dialog box, select x for the Joint.
7. Click OK.
8. In the same way, add the y and z axes of the gantry as external axes to the robot.

633 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 9. In the Robot Properties dialog box, click Close.

9: Jog the external axes so that the robot is close to the path
1. From the Graphic Viewer toolbar, change the Pick Level back to Component , if it is not
already.
2. Right-click the arc-weld robot and choose Joint Jog .

634 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. From the Joint Jog dialog box for the x (gantry) value, type 670 and press Enter.
4. From the Joint Jog dialog box for the y (gantry) value, type –1320 and press Enter.
5. From the Joint Jog dialog box for the zx (gantry) value, type 200 and press Enter.

Note:

You could use Reachability Test while having the Joint Jog dialog box

6. Close the Joint Jog dialog box.

635 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Paint — Testing reachability
Estimated time to complete: 12–24 minutes
The objective of this activity is to test the robot's reachability to the locations in its assigned robotic
operation/path.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\other_selected

Study used in this activity: arc_multi_axis.psz

1: Mount the paint gun to the robot, if it is not already

Warning:
This activity uses the paint robot in the arc multi axis data.

1. Open the arc multi axis data, if it is not already opened.

2. From the Object Tree, make sure that only these objects are displayed in the Parts folder:
Arc Multi Axis.
3. From the Object Tree, make sure that only these objects are displayed in the Resources
folder: paint_gun1, positioner, and fanuc_p200e12l (the gray robot).
4. Look at the Attachments column in the Object Tree to see if the gun is already mounted onto
the TCPF of the robot.

Note:

If this column is not already displayed, click Customize Columns to display it.

5. Select the fanuc_p200e12l robot which is the gray one.

Note:

This is the robot that is used to perform Front_Paint_Op.

6. From the ribbon, choose Robot tab→Tool and Device group→Mount Tool .

7. In the Mount Tool dialog box for Tool, select paint_gun1 gun.

636 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

This is the gun that is used to perform Front_Paint_Op.

8. For Frame on the tool (the second box in this dialog box), select Self.
9. For the Frame on the robot (the fourth box in this dialog box), select TOOLFRAME (the
default).
10. Click Apply.
11. Click Close.

2: Test the robot’s reachability to the locations

Warning:
This activity uses the paint robot in the arc multi axis data.

1. In the Operation Tree, right-click the Front_Paint_Op simulative operation and choose
Operation Properties .
2. In the Properties dialog box, click the Process tab and verify the Robot and Tool are set (if
not, set them).
3. Click OK.
4. Select the fanuc_p200e12l robot which is the gray one.

Note:

This is the robot that is used to perform Front_Paint_Op.

5. Right-click it and choose Placement Manipulator .

Note:

It is very common in in open two or three dialog boxes and use them simultaneously. The two
most common second and third dialog boxes are the Placement Manipulator and Relocate
. Normally you would open these dialog boxes first, but if you are in the middle of a
command and want to open them, click in the currently opened dialog box somewhere not in a
box. Then you’ll be able to right-click the object and open the desired placement tool.

6. From the ribbon, choose Robot tab→Reach group→Reach Test .

637 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 7. From the Operation Tree, select the Front_Paint_Op simulative operation.
8. Check if the locations are reachable.

Note:

Locations colored blue are reachable (for example have a full inverse), yellow are partially
reachable (for example have a partial inverse; meaning the robot can reach the location's the
position but not its orientation), and red locations are not reachable (for example have no
inverse).

9. If they are not all blue, use the manipulator frame to move the robot to a position in which all
locations are reachable by the robot: Most likely, if you move the robot –100 mm along X all
the locations is reachable.

Note:

You could either have selected to move the part to the robot, or the robot to the part.

10. Close the Placement Manipulator dialog box.

11. Close the Reach Test dialog box.

3: Open smart place and select the locations to check

Warning:
This activity uses the paint robot in the Arc multi axis data.

1. Select the robot with the gun mounted on it.

2. From the Graphic Viewer toolbar, change the Pick Level back to Component , if it is not
already.

3. From the ribbon, choose Robot tab→Reach group→ Smart Place .

638 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. On the Operation Tree, select the pink Front_Paint_Op simulative operation.

Note:

A simulative operation is a generic term for the operations created by Process Simulate to
represent a simulation. In this case, the simulative operation is a robot operation.

4: Define an area for checking

Warning:
This activity uses the paint robot in the Arc multi axis data.

1. Pan out a little to see the yellow box on the floor around the checking area (the robot’s current
position is in the middle of the box to check).

Note:

The definition of the grid area can be changed by dragging the sliders or by using
the Grid Area Definition dialog box

2. In this case, select one of the values for the grid shown in the Search Area to open the Grid
Area Definition dialog box.
3. In the Grid Area Definition dialog box, type 10 for the X Axis Range section Grid and Y Axis
Range section Grid, if it is not already.

639 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

In the Grid Area Definition dialog box, the Grid box specifies how many lines is along an axis.
It does not refer to the step size (like in Robcad).

4. In the Grid Area Definition dialog box, type -1000 for the X Axis Range Min and -1000 for
Max, if it is not already.
5. Click OK.

5: Test robot reach to all locations from each grid point

1. In the Smart Place dialog box, click Start.
2. A grid is displayed in the lower right corner of the Smart Place dialog box. Blue squares
signify positions where the robot can be placed.

Note:

Your grid may differ slightly, depending on where your robot is currently located, how the gun
was mounted, and the orientation of the locations.

3. Select the Partial Reach check box.

Note:

In the activity, you do not check Collision, as the picture shows. However, before checking
Collision in the Smart Place dialog box, an applicable collision set should be created and
Collision Mode should be on.

640 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

If the Indicate joint working limits option was activated before running Smart Place, you also
see blue grid points with light and dark purple borders.

4. Click Start again.

Note:

641 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Your grid may differ slightly, depending on where your robot is currently located, how the gun
was mounted, and the orientation of the locations.

6: Jump the robot to one of the other reachable positions

Note:
If a grid was created with grid points along the Z-axis, use the Results for Level to select the desired
level before double-clicking a grid point.

1. In the Smart Place dialog box, double-click a blue colored box in the lower right corner of the
Smart Place dialog box.
2. Click Reset to undo the robot placement.
3. Close the Smart Place dialog box when finished.

642 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Debur — Testing reachability
Estimated time to complete: 18–36 minutes
The objective of this activity is to test the robot's reachability to the locations in its assigned robotic
operation/path.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\other_selected

Study used in this activity: arc_multi_axis.psz

1: Attach the part to the top of the positioner

Warning:
This activity uses the debur robot in the arc multi axis data.

1. Open the arc multi axis data, if it is not already opened.

2. From the Object Tree Parts folder, select the arc multi axis compound part.
3. Hold down the Ctrl key.
4. Select the clamps in the Resources folder.

5. From the ribbon, choose Home tab→Tools group→Attachment →Attach .

6. From the Graphic Viewer toolbar, change the Pick Level back to Entity , if it is not
already.

7. Select the red cylinder of the positioner named zz.

8. For Store attachment, select Local (In current study).
9. Click OK.
10. From the Graphic Viewer toolbar, change the Pick Level back to Component , if it is not
already.

643 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Set the positioner as an external axis of the robot
1. Select the arcmate_120_1 debur robot (the floor mounted yellow robot).

2. From the ribbon, choose Robot tab→Setup group→Robot Properties .

3. In the Robot Properties dialog box, click the External Axes tab.
4. Click Add.
5. In the Add External Axis dialog box, select the positioner object for the Device.
6. In the Add External Axis dialog box, select j2 for the Joint.
7. Click OK.
8. In the Robot Properties dialog box, click Close.

3: Jog the external axes so that the robot is close to the path
1. From the Graphic Viewer toolbar, change the Pick Level back to Component , if it is not
already.

2. Right-click the debur robot and choose Joint Jog .

644 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. From the Joint Jog dialog box for the j2 (positioner) value, type 180 and press Enter.
4. Close the Joint Jog dialog box.

4: Mount the debur tool to the robot, if it is not already

Warning:
This activity uses the debur robot in the Arc multi axis data.

1. From the Object Tree, make sure that only these objects are displayed: Arc Multi Axis
compound part, rc_b_24033_deburring_tool, positioner, and arcmate_120_1 (the floor
mounted yellow robot).
2. Check the Attachments column in the Object Tree to see if the gun is already mounted onto
the TCPF of the robot.

Note:

If this column is not already displayed, click Customize Columns to display it.

3. Select the arcmate_120_1 robot which is the floor mounted yellow robot.

Note:

This is the robot that is used to perform Front_Debur_Op.

4. From the ribbon, choose Robot tab→Tool and Device group→Mount Tool .

645 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 5. In the Mount Tool dialog box for Tool, select gun gun.

Note:

This is the gun that is used to perform Front_Debur_Op.

6. For Frame on the tool (the second box in this dialog box), select mnt.
7. For the Frame on the robot (the fourth box in this dialog box), select TOOLFRAME (the
default).
8. Click Apply.
9. Click Close.

5: Test the robot’s reachability to the locations

Warning:
This activity uses the debur robot in the arc multi axis data.

1. In the Operation Tree, right-click the Front_Debur_Op simulative operation and choose
Operation Properties .
2. In the Properties dialog box, click the Process tab and verify the Robot and Tool are set (if
not, set them).
3. Click OK.
4. Select the arcmate_120_1 robot which is the floor mounted yellow robot.

Note:

This is the robot that is used to perform Front_Debur_Op.

5. Right-click it and choose Placement Manipulator .

Note:

It is very common in Process Simulate in open two or three dialog boxes and use them
simultaneously. The two most common second and third dialog boxes are the Placement
Manipulator and Relocate . Normally you would open these dialog boxes first, but if
you are in the middle of a command and want to open them, click in the currently opened
dialog box somewhere not in a box. Then you’ll be able to right-click the object and open the
desired placement tool.

646 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. From the ribbon, choose Modeling tab→Reach group→ Reach Test .

7. From the Operation Tree, select the Front_Whitehouse_Debur_user_Op simulative

operation.
8. Check if the locations are reachable.

Note:

Locations colored blue are reachable (for example have a full inverse), yellow are partially
reachable (for example have a partial inverse; meaning the robot can reach the location's the
position but not its orientation), and red locations are not reachable (for example have no
inverse).

9. If they are not all blue, use the manipulator frame to move the robot to a position in which all
locations are reachable by the robot: Most likely if you only selected the first seam in the
Front__Debur_Op, they should already be reachable.
10. Close the Placement Manipulator dialog box.
11. Close the Reach Test dialog box.

6: Open smart place and select the locations to check

Warning:
This activity uses the debur robot in the Arc multi axis data.

1. Select the robot with the gun mounted on it.

2. From the Graphic Viewer toolbar, change the Pick Level back to Component , if it is not
already.

3. From the ribbon, choose Robot tab→Reach group→Smart Place .

647 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. On the Operation Tree, select the pink Front_Whitehouse_Debur_user_Op simulative
operation.

Note:

A simulative operation is a generic term for the operations created by Process Simulate to
represent a simulation. In this case, the simulative operation is a robot operation.

7: Define an area for checking

Warning:
This activity uses the debur robot in the Arc multi axis data.

1. Pan out a little to see the yellow box on the floor around the checking area (the robot’s current
position is in the middle of the box to check).

Note:

The definition of the grid area can be changed by dragging the sliders or by using
the Grid Area Definition dialog box

2. In this case, select one of the values for the grid shown in the Search Area to open the Grid
Area Definition dialog box.
3. In the Grid Area Definition dialog box, type 10 for the X Axis Range section Grid and Y Axis
Range Grid, if it is not already.

648 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

In the Grid Area Definition dialog box, the Grid box specifies how many lines is along an axis.
It does not refer to the step size (like in Robcad).

4. In the Grid Area Definition dialog box, type –1000 for the X Axis Range section Min and –
1000 for Max, if it is not already.
5. Click OK.

8: Test robot reach to all locations from each grid point

1. In the Smart Place dialog box, click Start.
2. A grid is displayed in the lower right corner of the Smart Place dialog box. Blue squares
signify positions where the robot can be placed.

649 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

Your grid may differ slightly, depending on where your robot is currently located, how the gun
was mounted, and the orientation of the locations.

3. Select the Partial Reach check box.

Note:

In the activity, you do not check Collision, as the picture shows. However, before checking
Collision in the Smart Place dialog box, an applicable collision set should be created and
Collision Mode should be on.

Note:

If the Indicate joint working limits option was activated before running Smart Place, you also
see blue grid points with light and dark purple borders.

650 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. Click Start again.

Note:

Your grid may differ slightly, depending on where your robot is currently located, how the gun
was mounted, and the orientation of the locations.

9: Jump the robot to one of the other reachable positions

Note:
If a grid was created with grid points along the Z-axis, use the Results for Level to select the desired
level before double-clicking a grid point.

651 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 1. In the Smart Place dialog box, double-click a blue colored box in the lower right corner of the
Smart Place dialog box.
2. Click Reset to undo the robot placement.
3. Close the Smart Place dialog box when finished.

652 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Reaching locations
Estimated time to complete: 6–12 minutes
The objective of this activity is to view the robot reach locations.

Spot: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Spot: Study used in this activity: station02.psz

Drill/Rivet: Project used in this activity: .\\Projects\Airplane Project\Line

USERNUMBER_UNDEFINED

Drill/Rivet: Study opened in this activity: Workcenter 50 Drill Study.psz

Material Handling: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Material Handling: Study used in this activity: pnp.psz

Arc, Paint, Debur: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Arc, Paint, Debur: Study used in this activity: arc_multi_axis.psz

1: Show the joint values for the robot

1. Continue using the same data loaded in Process Simulate.
2. Select the robot used so far in class.

3. From the ribbon, choose Robot tab→Play group→Robot Viewer .

4. Re-dock this viewer across the entire top of the window to make it more readable.
5. In the Robot Viewer, choose the down arrow to the right of the Panels button and deselect
everything except Joint Status.

653 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. Click Settings .
7. Select either Joint Values or Limits Percentages.
8. Select Show motion range.

When selected and a simulation run, the shaded area represents the range in which the joint has
moved, the black Joint Range markers mark the extremities of that range, and the Min and
Max columns note the values of those extremities.

9. Click OK.

2: Use jump robot to a location mode and move to location

1. Select the robot.
2. From the ribbon, choose Robot tab→Play group→Jump to Location .

3. From the Operation Tree, select a location.

4. Notice the joint values shown in the Joint Jog dialog box.
5. Select several other locations.
6. Notice the joint values shown in the Robot Viewer dialog box.
7. Choose Jump to Location again to stop jumping to locations.
8. Reset the robot position: Right-click the robot and choose Home .
9. Select a location.

Note:

654 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 In order for this button to work, you must select a location with a gun and robot assign, with
the gun mounted to the robot.

10. From the ribbon, choose Robot tab→Play group→Move to location .

11. Repeat these two steps a couple move times.

3: TCP Tracking
1. Select a robot with a preexisting path/robotic simulative operation.
2. From the ribbon, choose Robot tab→Analysis group→TCP Tracker .

The TCP Tracker dialog box is shown.

3. From the TCP Tracker dialog box, select the desired track color.
4. From the Sequence Editor, play the simulation.
5. From the Graphic Viewer toolbar, choose Curve Length .

6. Select the TCP track.

The length is shown in the Curve Length dialog box.

655 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 7. Click Close in the Curve Length dialog box.
8. Turn off TCP tracking by click Stop in the TCP Tracker dialog box.
9. Delete or blank the track lines.

Note:

The lines are shown as a modeled object in the Resources folder of the Object Tree and the
Graphic Viewer.

656 plmx.com.br
suporte@plmx.com.br
11 3565 3808
17.2. Dynamic and static collision detection
There are no activities for this lesson.

17.3. Edit location attributes

Editing location attributes

Estimated time to complete: 16–32 minutes
The objective of this activity is to edit location attributes using both the default teach pendant and the
Path Editor.

Spot: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Spot: Study used in this activity: station02.psz

Drill/Rivet: Project used in this activity: .\\Projects\Airplane Project\Line

USERNUMBER_UNDEFINED

Drill/Rivet: Study opened in this activity: Workcenter 50 Drill Study.psz

Material Handling: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Material Handling: Study used in this activity: pnp.psz

Arc, Paint, Debur: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Arc, Paint, Debur: Study used in this activity: arc_multi_axis.psz

1: Open the Teach Pendant

1. Continue using the same data loaded in Process Simulate.
2. Select a robotic simulative operation (a path).

657 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. From the ribbon, choose Robot tab→Teach group→ Teach Pendant .

4. In the Default Controller Teach Pendant, click Scroll Right to scroll through the locations.

Note:

Notice that the displayed location is also highlighted in all other viewers. Also note that
Selecting a location in the Operation Tree while the Default Controller Teach Pendant is open
change which location is displayed in the Default Controller Teach Pendant.

2: Add a path to the Path Editor

1. Select the Path Editor (viewer).
2. On the Path Editor, click Customize Columns .
3. In the Customize Columns dialog box, click << to remove the existing attributes from the list
on the right.
4. In the Customize Columns dialog box in the Available columns list, expand into the Default
group of attributes.
5. Choose Motion Type, Speed, and Zone; then click Add .
6. Click OK.
7. Select a robotic simulative operation (a path) from the Operation Tree.
8. From the Path Editor toolbar, click Add Operations to Editor .

Note:

658 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Another way to add an operation to the Path Editor is to drag and drop it here from the
Operation Tree.

3: Change the motion type of a location

1. In the Default Controller Teach Pendant for a specific location, select the box displaying its
Motion Type value.
2. Select Linear (LIN) from the drop down.

3. In the Default Controller Teach Pendant, click Scroll Right to scroll through the locations.
4. For another location, select the box displaying its Motion Type value.
5. Select Joint (PTP) from the drop down.
6. Close the Default Controller Teach Pendant.

4: Edit the attribute for a single location

Note:
Either the Path Editor and/or the Teach Pendant to do this step of this activity. However, you do it
with Path Editor in this case.

1. Select a location in the path.

2. View the location attributes in either the Path Editor or the Teach Pendant.
3. Set the Motion type to Joint (PTP).

4. Set the Zone to No Decel.

5. Set the Joint Speed to a speed of 100.

659 plmx.com.br
suporte@plmx.com.br
11 3565 3808
5: Edit the attribute for several locations
1. In the Path Editor, select some other locations using the Ctrl key.
2. In the Path Editor, click Set Location Parameters .

Note:

From the Set Locations Properties dialog box, either manually set the values for all selected, or
click Obtain from Location to use the properties of another location.

3. In the Set Locations Properties dialog box, click Obtain from Location .
4. For the Obtain Properties from Location box, select the one you just edited the attributes on.
5. Select the first attribute in the obtained properties list.
6. Hold down the Shift key and select the last attribute in the obtained properties list.
7. Push it over to the list at right by clicking .
8. Click Close.
9. Repeat this process for another group of locations, as desired (for example set the Motion type
to Linear (LIN) and set the Speed to a linear speed of 1600).

6: Rename locations in a path

1. Select a robotic operation from the Operation Tree or Graphic Viewer.

Note:
Multiple robotic operations could be selected simultaneously.

2. From the ribbon, choose Home tab→Edit group→Rename Objects Tool

3. In the Rename Objects Tool for Apply to, select All descendents.
4. Choose Filter and select the desired location types such as via (deselect the undesired types).
5. Click OK.
6. In the Rules area of the dialog box, choose Add Rule, and select Search and Replace.
Note:
Leave Search for set to Entire name.

660 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 7. In the Search and Replace dialog box for Text, type loc[10,1] and click OK.
8. Choose Apply and Close.

7: Output the contents of Viewers to Excel

1. From the ribbon, choose File→Import Export →Export All Views to Excel .

Note:

Excel opens a new spreadsheet named Sheet1 with two tabs: Sequence Editor and Path &
Locations.

2. In Excel, click the Paths & Locations tab.

3. In Excel, choose File→Save as.
4. For Name, type ViewerOutput_userUSERNUMBER_UNDEFINED.
5. Click Save.

8: Save your study

1. From the Quick access toolbar, choose Save .

661 plmx.com.br
suporte@plmx.com.br
11 3565 3808
17.4. Introduction to path modification (via
locations)

Adding start/end and approach/retract via

locations
Estimated time to complete: 10–20 minutes
Objective: To create additional via locations in the path.

Note:
This activity is not for drilling and riveting. In that situation you create waypoints instead of via
locations.

1: Create a location in the path before the first location

Note:
Add the first and last locations to the path. The robot should start and stop at a location that allows the
part to be moved in and out. Do not worry about the gun colliding with the part right now. We’ll take
care of that later.

1. Continue using the same data loaded in .

2. From the Operation Tree, select the first location in the WeldOperation 1.

3. From the ribbon, choose Operation tab→Add Location group→Add Location Before .

4. Drag the location using the manipulator frame to the desire pounce.

Note:

A pounce location is a place where the robot is clear from the part and allows other robots or
processes to access the part.

662 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 5. Close the Robot Jog dialog box.

2: Create a location in the path after the last location

1. Select the via location just created.
2. From the ribbon, choose Home tab→Edit group→Copy .

3. Select the WeldOperation 1.

4. From the ribbon, choose Home tab→Edit group→Paste .

Note:

Instead of doing a Copy and Paste , you could have used Add Location After .

5. From the Operation Tree, select the first via location created.
6. Press the F2 key and name it pounce.
7. Follow the same process to rename the second via to retract.

3: Create locations before the locations on the part a different way

1. Start creating a location before the first location on the part using Add Location Before
to avoid colliding with the part.

Tip:

In order to add a via location before the first location in a seam of a continuous feature
operation, you must select the seam instead of the location.

2. Use TCPF as the reference frame and jog along X and Z to create the approach location.

3. Start creating a location after the last location on the part using Add Location After to
avoid colliding with the part.

663 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. Use TCPF as the reference frame and jog along X and Z to create the approach location.
5. Close the Robot Jog dialog box.

4: Simulate the robot along the path

1. In the Operation Tree, right-click the desired simulative operation and choose Set Current
Operation .
2. Select the pounce location in the desired simulative operation.
3. From the ribbon, choose Robot tab→Reach group→ Jump Assigned Robot .

Note:

This sets the “deep reset” position for the simulation.

4. From the Sequence Editor, click Play Simulation Forward .

5. From the Sequence Editor, click Jump Simulation to Start .

5: Save your study

1. From the Quick access toolbar, choose Save .

664 plmx.com.br
suporte@plmx.com.br
11 3565 3808
17.5. Creating collisions lists

Creating collisions lists

Estimated time to complete: 8–16 minutes
The objective of this activity is to create a couple collision lists.

1: Define a collision list pair

1. Continue using the same data loaded in Process Simulate.
2. Choose Collision Viewer.
3. From the Collision Viewer, choose New Collision Set .
4. Press the F12 key until Pick Level is set to Component .

5. For the Check list, select the gun and the robot.
6. Select in the With list.
7. Select surf_part.
8. Select door_frame.
9. Click OK.
10. Name it Gun_to_workpiece.

2: Create another collision list pair

1. Create another collision list pair with the clamps in one list and the robot/gun in the other.
2. Name it gun_to_clamps.

3: Make it beep at every collision

1. In the Collision Viewer, click Collision Options .

2. Select the Play a Sound when a Collision is Detected check box.
3. Click OK.
4. In the Collision Viewer, click Collision Mode On/Off .

665 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

If objects are blanked, they are not detected in a collision

4: Save your study

1. From the Quick access toolbar, choose Save .

666 plmx.com.br
suporte@plmx.com.br
11 3565 3808
17.6. Location modification tools

Simulating a segment of a path

Estimated time to complete: 6–12 minutes
In this activity, you learn to simulate a segment of a path.

1: Add a path to the Path Editor

1. In Process Simulate, select the Path Editor.
2. In the Operation Tree, locate the desired simulative operation (either robotic path or object
flow path).

Note:

The path should have more than two locations (preferably four or more), otherwise there is no
reason to use the functionality described in this activity.

3. Drag and drop it into the Path Editor.

2: Select the desired path segment

1. From the Path Editor, expand the path.
2. Select a location.
3. Hold down the Ctrl key.
4. Select the next two or three locations.
5. From the Path Editor, click Path Segment Simulate .

3: Play the path segment

1. From thePath Editor, click Play Simulation Forward .

667 plmx.com.br
suporte@plmx.com.br
11 3565 3808
(Optional) Using Manipulate Location
Estimated time to complete: 10–20 minutes
The objective of this activity is to use these commands.

1: Create a snapshot and name it Start

1. Continue using the same data loaded in Process Simulate.
2. Using the Snapshot Editor, create a snapshot and name it Start.

Note:

Instructor: If a student’s study layout gets messed up, use the Restore Object Initial Position
command from the Modeling ribbon to restore the object positions.

2: Simulate the robot along the path

1. Turn off collision detection, if it is on.
2. From the Sequence Editor, click Play Simulation Forward .
3. Click Jump Simulation to Start .

3: Manipulate a via location or waypoint to a new position

1. Select a via location or waypoint in the path whose position needs to be adjusted.

2. From the ribbon, choose Operation tab→Edit Path group→Manipulate location .

668 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. Click Y or Z.
4. Select TCPF for the reference.
5. Use the arrows to modify the location’s position (not dragging on the screen).

4: Jump to a certain point in the simulation

1. Click Play Simulation Forward and Pause half way through.

2. Drag the red line around on the Gantt chart of the Sequence Editor.

5: Save your study

1. From the Quick access toolbar, choose Save .

669 plmx.com.br
suporte@plmx.com.br
11 3565 3808
(Optional) Using the Automatic Approach Angle
dialog box
Estimated time to complete: 4–8 minutes
The objective of this activity is to use the Automatic Approach Angle tool.

Spot: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Spot: Study used in this activity: station02.psz

Drill/Rivet: Project used in this activity: .\\Projects\Airplane Project\Line

USERNUMBER_UNDEFINED

Drill/Rivet: Study opened in this activity: Workcenter 50 Drill Study.psz

Material Handling: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Material Handling: Study used in this activity: pnp.psz

Arc, Paint, Debur: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Arc, Paint, Debur: Study used in this activity: arc_multi_axis.psz

1: Use the Automatic Approach Angle dialog box

1. Continue using the same data loaded in Process Simulate.

2. From the Graphic Viewer toolbar, use Blank to hide any objects that you do not want to
check collisions with the gun/robot (for example 7th axis or riser).

Note:

The Automatic Approach Angle dialog box checks the robot/gun for collisions with everything
else that is displayed in the study.

3. Select the first weld location.

4. Hold down the Ctrl key and select a couple other weld locations in the same weld operation.

670 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 5. From the ribbon, choose Process tab→Discrete group→Automatic Approach Angle .

Note:

The Robot, Tool, and Pose (CLOSED) are automatically selected.

671 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. Click Execute.

Note:

Process Simulate rotates the locations around their perpendicular axes to find an orientation
with collision free readability of the robot with a closed gun.

7. The results are shown.

Note:

A red X in the R (Reachability) column means that no solution was found that met the criteria.
A blue check means that a fully reachable, collision free solution was found.

8. Click Close.

2: Save your study

1. From the Quick access toolbar, choose Save .

672 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Spot/Drill/Rivet — (Optional) Modify locations
Estimated time to complete: 4–8 minutes
The objective of this activity is to modify the orientation of a location based on the gun, robot, and
collision constrains.

Spot: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Spot: Study used in this activity: station02.psz

Drill/Rivet: Project used in this activity: .\\Projects\Airplane Project\Line

USERNUMBER_UNDEFINED

Drill/Rivet: Study opened in this activity: Workcenter 50 Drill Study.psz

1: Look at the pie chart for location that is not reachable

1. Continue using the same data loaded in Process Simulate.
2. If collision detection is not on, click Collision Mode On/Off on the Collision Viewer
toolbar.

Note:

Collision detection is turned on when this button is depressed.

3. Select a location that is not reachable. If they are all reachable select any location.

4. From the ribbon, choose Process tab→Discrete group→Pie Chart .

5. On the Location Pie Chart dialog box, check Close Gun for collision checking.
6. On the Location Pie Chart dialog box, use the slider to rotate the location around the
Perpendicular Axis (Z-axis by default). Rotate the location so that the long axis of the
location (x axis) is in a blue section of the pie.

673 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 7. Close this dialog box when finished with this location. Other locations could be checked in the
same way.

2: Save your study

1. From the Quick access toolbar, choose Save .

674 plmx.com.br
suporte@plmx.com.br
11 3565 3808
17.7. Path modification

(Instructor Demo) Using Copy Location

Orientation
Estimated time to complete: 4–8 minutes
In this activity you use the Copy Location Orientation command.

1: Copy the orientation of a location

1. Select a via location.
2. Hold down the Ctrl key and select another via location.
3. From the ribbon, choose Operation tab→Edit Path group→Copy Location Orientation .

4. For the Reference Location, select a nearby weld location in the path.
5. Click OK.
6. Notice the affect on the path.

2: Finish up and play the simulation

1. (Optional) Click Jump Simulation To Start .

This command is not available if the simulation is already at the beginning.

2. Click Play Simulation Forward on the Sequence Editor toolbar and watch the simulation in
the Graphic Viewer.
3. Watch the simulation.
4. Do not update the database.

675 plmx.com.br
suporte@plmx.com.br
11 3565 3808
(Instructor Demo) Using Interpolate Locations
Orientation
Estimated time to complete: 4–8 minutes
In this activity you use the Interpolate Locations Orientation command.

Spot: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Spot: Study used in this activity: station02.psz

Drill/Rivet: Project used in this activity: .\\Projects\Airplane Project\Line

USERNUMBER_UNDEFINED

Drill/Rivet: Study opened in this activity: Workcenter 50 Drill Study.psz

Material Handling: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Material Handling: Study used in this activity: pnp.psz

Arc, Paint, Debur: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Arc, Paint, Debur: Study used in this activity: arc_multi_axis.psz

1: Interpolate all the locations of the path

1. Select a via location.
2. Hold down the Ctrl key and select another via location.
3. From the ribbon, choose Operation tab→Edit Path group→Interpolate Locations
Orientation .

4. For the first References Location, select a weld location before the via locations in the path.
5. For the last References Location, select a weld location after the via locations in the path.
6. Click OK.

676 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 7. Notice the affect on the path.

2: Reset and play the simulation

1. (Optional) Click Jump Simulation To Start .

This command is not available if the simulation is already at the beginning.

2. Click Play Simulation Forward on the Sequence Editor toolbar and watch the simulation in
the Graphic Viewer.
3. Watch the simulation.
4. Do not update the database.

677 plmx.com.br
suporte@plmx.com.br
11 3565 3808
(Optional) Mini putting it all together
Estimated time to complete: 4–8 minutes

1: Avoid collisions along the channel of the surface part

Note:
Avoid collisions along the channel of the surface part (for example in between the welds)

1. From the Graphic Viewer toolbar, set the Pick Intent to Where Picked .

2. Select the path.

3. From the Operation tab of the ribbon, use Add Location By Pick to add a location in
between two weld locations where a collision is occurring.

4. Use the Sequence Editor to move this location to the proper position in the path.

5. Use Manipulate Location or Interpolate Locations Orientation to adjust the via

location’s orientation.

6. Use Manipulate a location to adjust the weld location's orientation.

7. Play the simulation.
8. Continue with this process until all the collisions are removed.

678 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Save your study

1. From the Quick access toolbar, choose Save .

679 plmx.com.br
suporte@plmx.com.br
11 3565 3808
(Instructor Demo) Using Reverse Operation
Estimated time to complete: 6–12 minutes
The objective of this activity is to use the Reverse Operation command.

Spot: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Spot: Study used in this activity: station02.psz

Drill/Rivet: Project used in this activity: .\\Projects\Airplane Project\Line

USERNUMBER_UNDEFINED

Drill/Rivet: Study opened in this activity: Workcenter 50 Drill Study.psz

Material Handling: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Material Handling: Study used in this activity: pnp.psz

Arc, Paint, Debur: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Arc, Paint, Debur: Study used in this activity: arc_multi_axis.psz

1: Reverse the path direction and simulate it

1. Continue using the same data loaded in Process Simulate.
2. Select the path.
3. From the ribbon, choose Operation tab→Edit Path group→Reverse Operation .

4. Click Jump Simulation To End .

5. Click Jump Simulation To Start .
6. Click Play Simulation Forward on the Sequence Editor toolbar and watch the simulation in
the Graphic Viewer.

680 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Undo path changes
1. Select the path.
2. Reverse the path again: From the ribbon, choose Operation tab→Edit Path group→Reverse
Operation .

681 plmx.com.br
suporte@plmx.com.br
11 3565 3808
(Optional) Reordering locations
Estimated time to complete: 4–8 minutes
The objective of this activity is to reorder some of the locations in the path.

Spot: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Spot: Study used in this activity: station02.psz

Drill/Rivet: Project used in this activity: .\\Projects\Airplane Project\Line

USERNUMBER_UNDEFINED

Drill/Rivet: Study opened in this activity: Workcenter 50 Drill Study.psz

Material Handling: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Material Handling: Study used in this activity: pnp.psz

Arc, Paint, Debur: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Arc, Paint, Debur: Study used in this activity: arc_multi_axis.psz

1: Optionally, add object notes to all the locations

1. Continue using the same data loaded in Process Simulate.
2. In the Operation Tree, select the first location in the path.
3. Hold down the Shift key and select the last location in the path.

4. From the ribbon, choose Modeling tab→Note group→Notes →Objects Notes .

5. Place the object notes either manually or from the ribbon, choose Modeling tab→Note

group→Notes →Automatic Note Flag Placement .

682 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Setup the Sequence Editor

1. Right-click on the flow operation and choose Set Current Operation .

2. From the Sequence Editor, right-click on nothing and choose Tree Filters Editor.
3. In the Tree Filters Editor dialog box, check all three deselected boxes.

4. Click OK.
5. Expand the tree in the Sequence Editor.

3: Reorder the locations

1. On the tree area of the Sequence Editor, drag and location (operation) and drop it in between
two other locations (operations).

2. Notice the affect on the path in the Graphic Viewer.

683 plmx.com.br
suporte@plmx.com.br
11 3565 3808
17.8. Additional path creation tools

Arc/Paint/Debur — (Instructor Demo) Using

Replicate Seam Operation
Estimated time to complete: 4–8 minutes
In this activity, you replicate an arc seam operation.

Arc, Paint, Debur: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Arc, Paint, Debur: Study used in this activity: arc multi axis.psz

1: Create a seam on the Left whitehouse weldpart

1. Display only the LEFT_whitehouse_weldpart, BOTTOM_whitehouse_weldpart, and

RIGHT_whitehouse_weldpart.
2. Using your knowledge of Process Simulate, create a curve along the bottom edge of the
LEFT_whitehouse_weldpart.
3. Name the curve Front_Whitehouse_ArcSeams_userUSERNUMBER_UNDEFINED.
4. Use the curve to create a continuous manufacturing feature named
Front_Whitehouse_ArcSeams_userUSERNUMBER_UNDEFINED.
5. Use the continuous manufacturing feature to create a continuous manufacturing feature
operation named Front_Whitehouse_ArcSeams_userUSERNUMBER_UNDEFINED_op.
6. Use Project Arc Seam to create a seam (robotic path) in the continuous manufacturing
feature operation. Set BOTTOM_whitehouse_weldpart as the base wall and
LEFT_whitehouse_weldpart as the side wall.

684 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Replicate the left whitehouse arc seam

1. Select the seam in the

Front_Whitehouse_ArcSeams_userUSERNUMBER_UNDEFINED_op.
2. From the ribbon, choose Operation tab→Continuous Edit Path group→Replicate Seam

Operation .

Note:
The base wall is highlighted in dark brown and the side wall is highlighted in light brown (beige). The
other objects display is changed to translucent gray.

3. Select RIGHT_whitehouse_weldpart as the new sidewall.

4. Choose Replicate.
Note:
A new seam is created on the RIGHT_whitehouse_weldpart.

5.Choose Close.

685 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Spot/Drill/Rivet — (Instructor Demo) Using
Duplicate Weld Operation
Estimated time to complete: 10–20 minutes
The objective of this activity is to use Duplicate Weld Operation . This command creates a new
weld operation by applying an existing weld operation definition to new weld points.

Spot: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Spot: Study used in this activity: station02.psz

Drill/Rivet: Project used in this activity: .\\Projects\Airplane Project\Line

USERNUMBER_UNDEFINED

Drill/Rivet: Study opened in this activity: Workcenter 50 Drill Study.psz

1: Open the Duplicate Robotic Operation dialog box

1. Continue using the same data loaded in Process Simulate.
2. Select the desired robotic operation, such as WeldOperation 1 found in the station 02
study.
3. From the ribbon, choose Process tab→Discrete group→Duplicate Weld Operation .

686 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

This interface only shows welds in the path. However, if the path contains vias (or only vias)
they is copied as well.

2: Define the search scope

1. Click Define Search Scope .
2. Browse into the Welds collection.
3. Browse and select the Spot Weld Library.
4. Click OK

3: Setup the application settings

687 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 1. Click Application Settings .

Note:

o Distance – mates each weld point in the original operation to the closest new weld
point within a given range.
o Name – Matches the new weld points to the original weld points with the same name.
2. Click OK.

4: Run match and replace

1. From the Duplicate Weld Operation dialog box, select the WeldOperation 1 weld
operation.
2. Click Match and Replace .

Note:

Existing welds from the weld library are matched to ones in the path, but if no match is found
(for example the positions of the new weld points must correspond to the welds defined in the
existing weld operation), that weld is skipped in the new path. Via locations are always
duplicated. In this data, you do not have any corresponding welds, so the new path do not
contain any welds (only the vias). Also note that the vias never show in the Duplicate Weld
Operation dialog box, but do show in the Operation Tree.

3. Select the same parent operation (for example station02) as the original weld operation from
the Target Process Scope drop-down list.
4. Click Apply and Close.
5. A new operation is created containing the duplicated weld locations.
6. Rename the new weld operation.
7. Check the location parameters of the new weld operation using the Path Editor.

688 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 8. Simulate the new weld operation by clicking Play Simulation Forward .

5: Reset the simulation and save your study

1. From the Sequence Editor, click Jump Simulation to Start .

2. From the Quick access toolbar choose Save .

689 plmx.com.br
suporte@plmx.com.br
11 3565 3808
17.9. Introduction to OLP commands

Driving and waiting for devices to move

Estimated time to complete: 10–20 minutes
The objective of this activity is to open clamps when robot has completed the robotic simulative
operation and to add attributes such that the robot waits until the clamps are closed before starting.

Spot: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Spot: Study used in this activity: station02.psz

Arc, Paint, Debur: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Arc, Paint, Debur: Study used in this activity: arc_multi_axis.psz

1: Create a location after the last weld or seam location

1. Continue using the same data loaded in Process Simulate.
2. Create a via location after the last weld or seam location in the path, if one does not already
exist. This point should be above the part and out of the way.

Tip:

Use Add Location After from the Operation tab of the ribbon.

690 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Look at the existing poses for the clamps
1. Select the clamps.
2. From the ribbon, choose Modeling tab→Kinematics group→Pose Editor .

3. Notice the poses named OPEN and CLOSE.

4. In the Pose Editor dialog box, double-click on the OPEN pose and see what it does.
5. Double-click on the CLOSE pose and see what it does.
6. Close the Pose Editor dialog box.

Note:

Pose names are case sensitive in Process Simulate.

3: Drive the clamps open at a specific location

1. Select the robotic simulative operation (a path).

2. From the ribbon, choose Robot tab→OLP group→Teach Pendant .

691 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. In the Default Controller Teach Pendant dialog box, click Jump to End to select the last
location (retract).
4. In the OLP Commands area of the dialog box, click Add and browse to the Tool Handling
sub-menu.
5. Choose Drive Device.

6. In the Drive Device dialog box for Device , select .clamps.

7. Choose OPEN from the Target Pose drop down.

Note:

An OPEN pose for the clamps needs to be defined first. Pose names are case sensitive.

8. Click OK.
9. Now let’s add attributes to the first location in the path (pounce) to close (for example drive
device to CLOSE) the clamp at the beginning of simulation. you follow a similar process that
you did above to open the clamp at the last location.
10. Close the Default Controller dialog box.

4: Wait for a device at a specific location

1. Select the path.

2. From the ribbon, choose Robot tab→OLP group→Teach Pendant .

692 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. In the Default Controller dialog box, click Jump to Beginning to select the first location
(pounce).
4. In the dialog box displaying various OLP commands starting with a pound sign #, select the
line containing the # Drive CLOSE line. .
5. In the OLP Commands area of the dialog box, click Add and browse to the Tool Handling
sub-menu.
6. Choose Wait Device from the drop down.

7. In the Wait for Device dialog box, type or select clamps for the Device name.
8. Choose CLOSE from the Target Pose drop down.
9. Click OK.

Note:

This step tells the robot to wait until the clamps are closed to start moving.

10. Close the Default Controller dialog box.

11. From the Sequence Editor, click Play Simulation Forward .

5: Reset the simulation, reset poses, and update the database

1. Click Jump Simulation to Start .

2. Right-click the robot and choose Home .
3. Right-click the clamps and choose Pose Editor .

693 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. In the Pose Editor, double-click OPEN.
5. From the Sequence Editor, click Play Simulation Forward .
6. Click Jump Simulation to Start .

Note:

Set the pose the objects, playing, and then resetting the simulation initializes the start pose for
the devices. From now on, when the simulation is played and reset, it the robot jumps to the
HOME pose and the clamps to the OPEN pose.

7. Choose Save .

8. Click OK.
9. Click OK.

694 plmx.com.br
suporte@plmx.com.br
11 3565 3808
17.10. Multiple robot interlocking

Adding a second robot

Estimated time to complete: 22–44 minutes
The objective of this activity is to add a second robot. It is somewhat of a review from what you did
earlier. However, you should not skip this activity.

Spot: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Spot: Study used in this activity: station02.psz

1: Project the WeldOperation 2 manufacturing features onto the parts

1. Continue using the same data loaded in Process Simulate.
2. From the Operation Tree, select WeldOperation 2.

3. From the ribbon, choose Process tab→Discrete group→ Project Weld Points .

Note:

The default approach and perpendicular axis are defined and can be modified by either clicking

Options or by Selecting File→Options and click the Weld tab.

4. Click Project on approximation only

5. Click Project, click OK, and Close.

695 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Graphically label the locations
1. From the Operation Tree, select the first location in the WeldOperation 2 simulative
operation.
2. Hold down the Shift key and select the last location in the path.

3. From the ribbon, choose Modelinig tab→Note group→Notes →Object Notes .

4. Place the notes into non-overlapping positions by dragging and dropping them in the Graphic
Viewer.

3: Reorder the locations in the path

1. From the Operation Tree, right-click WeldOperation 2 and choose Set Current Operation
.
2. From the Sequence Editor, expand the weld path to show all the locations.
3. Looking at the Graphic Viewer: Drag and drop the locations on the Sequence Editor so that
they are in sequential order from right to left.

4: Get the first approximation of gun

1. On the Operation Tree, right-click on WeldOperation 2 and choose Operation Properties

.
2. In Operation Properties, click the Process tab.
3. Select the Gun box.
4. Select the gun on the robot sitting near the bottom of the car door.
5. Click OK.

5: Orient the weld location approach vector

1. Select the first location in WeldOperation 2.

2. From the ribbon, choose Operation tab→Edit Path group→Manipulate a location .

696 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. In the Multiple Locations Manipulation dialog box, verify that Follow Mode is depressed
and select a weld location in WeldOperation 2.

Note:

A temporary gun is placed at the selected location.

4. Check Limit locations manipulation according to options and Rotate to maximum allowed
limitation.
5. Using the displayed Manipulator Frame, rotate the gun as needed.
6. Close the Multiple Locations Manipulation dialog box.

6: Align orientations of the other weld locations

1. Select the WeldOperation 2 weld operation.

2. From the ribbon, choose Operation tab→Edit Path group→Align Locations .

3. For Align selected Locations to, select the location you just rotated.
4. Click OK.
5. From the Sequence Editor, click Play Simulation Forward .

7: Reset the simulation and save your study

1. From the Sequence Editor, click Jump Simulation to Start .

2. From the Quick access toolbar choose Save .

697 plmx.com.br
suporte@plmx.com.br
11 3565 3808
8: Mount the weld gun to the second robot, if it is not already
Warning:
This activity use the Processing data.

1. Check the Attachments column in the Object Tree to see if the gun is already mounted onto
the TCPF of the robot.

Note:

If this column is not already displayed, click Customize Columns to display it.

2. Select the S420_1 robot which is the one closest to the “bottom” of the car door frame.

Note:

This is the robot that is used to perform WeldOperation 2.

3. From the ribbon, choose Robot tab→Tool and Device group→Mount Tool .

4. In the Mount Tool dialog box for Tool, select gun1_2 gun which is the one mounted to the
robot that is closest to the “bottom” of the car door frame.
5. For Frame on the tool (the second box in this dialog box), select Self (default).
6. For the Frame on the robot (the fourth box in this dialog box), select TOOLFRAME (the
default).
7. Click Apply.
8. For Flip Tool, select Flip Tool (Z).

Note:

Do not click Apply again, or it undoes your flip.

9. Click Close.

698 plmx.com.br
suporte@plmx.com.br
11 3565 3808
9: Test the robot’s reachability to the locations
Warning:
This activity uses the second spot-weld robot in the processing data.

1. Select the S420_1 robot which is the one closest to the “bottom” of the car door frame.

Note:

This is the robot that is used to perform WeldOperation 2.

2. Right-click it and choose Placement Manipulator .

Note:

It is very common in Process Simulate in open two or three dialog boxes and use them
simultaneously. The two most common second and third dialog boxes are the Placement
Manipulator and Relocate .

3. From the ribbon, choose Robotics tab→Reach group→Reach Test .

4. From the Operation Tree, select the WeldOperation 2 path.

5. Check if the locations are reachable.

Note:

Locations colored blue are reachable (for example have a full inverse), yellow are partially
reachable (for example have a partial inverse; meaning the robot can reach the location's the
position but not its orientation), and red locations are not reachable (for example have no
inverse).

6. If they are not all blue, use the manipulator frame to move the robot to a position in which all
locations are reachable by the robot.

Note:

You could either have selected to move the part to the robot, or the robot to the part.

699 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 7. Close the Placement Manipulator dialog box.
8. Close the Reach Test dialog box.

10: Move the robot along the welding path

1. From the Operation Tree, right-click on Weld Operation 2 , and choose Operation
Properties .
2. Click the Process tab.
3. Select the Robot box and select the S420_1 robot which is the one closest to the “bottom” of
the car door frame.

Note:

This is the robot that is used to perform WeldOperation 2.

4. Click OK.
5. From the Sequence Editor, click Play Simulation Forward .

11: Reset the simulation and save your study

1. From the Sequence Editor, click Jump Simulation to Start .

2. From the Quick access toolbar choose Save .

700 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Two robot simulation
Estimated time to complete: 8–16 minutes
The objective of this activity is to get two robots simulating in the study.

Spot: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Spot: Study used in this activity: station02.psz

1: Create the needed collision lists

Note:
You have 5 collision pairs defined after completing this activity:

Name First List Second List Near Miss

list1 Robot1, gun1 Surf_part, door_frame --
list2 Robot2, gun2 Surf_part, door_frame --
list3 Robot1, gun1 All three clamps 30 mm
list4 Robot2, gun2 All three clamps 30 mm
list5 Robot1, gun1 Robot2, gun2 100 mm
1. Continue using the same data loaded in Process Simulate.
2. Define a collision list between the second robot/gun and surf_part/clamps. Name it list2.
3. Define a collision list between the second robot/gun and clamps. Name it list4.
4. Make this last collision list inactive for now.

Note:

Counting the two you created in the previous topic, you should now have 5 collision lists.
Rename the two from the previous topic to list1 and list3, according to the chart above.

5. Set Station02 as the current operation.

Note:

The robots do not wait for each other (they start at the same time).

6. Add a pounce (at the beginning) and retract (at the end) via locations to this second path at the
HOME pose of this robot.
7. Jump the gun to an OPEN pose, using the Pose Editor .
8. Play the simulation and create via locations and rotate weld locations to avoid collisions.

701 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Edit the attribute for a single location
1. Drag the path from the Operation Tree and drop it into the Path Editor (if it is not already
there).

Note:

You could view the location attributes of a single location in either the Path Editor or the
Teach Pendant. However, you do it in the Path Editor here.

2. In the Path Editor, select a location in the path, (for example loc1).
3. Set the Motion type to Joint.
4. Set the Zone to No Decel.
5. Set the Joint Speed to a speed of 100.

3: Edit attributes for multiple locations and simulate it

1. In the Path Editor, select some other locations using the Ctrl key.
2. In the Path Editor, click Set Location Parameters .
3. Set the Motion type to Linear and set the Speed to a linear speed of 1600.
4. Click OK.
5. Repeat this process for anther group of locations, as desired.
6. From the Sequence Editor, click Play Simulation Forward .

4: Reset the simulation and save your study

1. From the Sequence Editor, click Jump Simulation to Start .

2. From the Quick access toolbar choose Save .

702 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Setting up robot signals using the Teach Pendant
Estimated time to complete: 16–32 minutes
The objective of this activity is to send signals between multiple robots in a .

Spot: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Spot: Study used in this activity: station02.psz

1: Open the Robot 1 path with the Teach Pendant

1. Continue using the same data loaded in Process Simulate.
2. Select the first robot’s path (the pink WeldOperation 1 simulative operation).

3. From the ribbon, choose Robot tab→OLP group→Teach Pendant .

2: Delete the open clamps from the end of the first path
Note:
you add it to the end of the second path later in this activity.

1. In the Default Controller Teach Pendant dialog box, click Jump to End to select the last
location (retract).
2. In the dialog box displaying various OLP commands starting with a pound sign #. select a line
and press the Delete key.
3. Select the other line and press the Delete key.

3: Send a signal at the end of the first path to the other robot to start

Note:
Send a signal at the end of the first path to the other robot to start (set signal go equal to 1).

703 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 1. In the OLP Commands area of the dialog box, click Add and browse to the Synchronization
sub-menu.
2. Select Send Signal from the drop down.

3. In the Send Signal dialog box, type go for the Signal Name.
4. For the Value, type 1.
5. For the Destination, select the other robot from the drop down (for example robot which is the
one closest to the “bottom” of the car door frame).

Note:

This is the robot that is used to perform WeldOperation 2.

6. Click OK.

4: Wait for the other robot to complete its path

Note:
Wait for the other robot to complete its path (Wait for go to equal 0).

1. In the OLP Commands area of the dialog box, click Add and browse to the Synchronization
sub-menu.
2. Select Wait Signal from the drop down.

704 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. In the Wait for Signal dialog box, type go for the Signal Name.
4. For the Value, type 0.
5. Click OK.
6. Close the Default Controller dialog box.

5: Open the Robot 2 path with the Teach Pendant

1. Select the second robot’s path (WeldOperation 2).

2. From the ribbon, choose Robot tab→Teach group→Teach Pendant .

6: Add some signals to the second path

1. In the Default Controller dialog box, jump to the first location in the second robot’s path and
type a wait signal for go to equal 1.
2. In the Default Controller dialog box, jump to the last location in the second robot’s path and
type a send signal to set go to equal 0.

7: Drive the clamps open (and simulate it)

1. In the OLP Commands area of the dialog box, click Add and browse to the ToolHandling
sub-menu.
2. Select Drive device from the drop down.

705 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. In the Drive Device dialog box, type or select clamps for the Device name.
4. Select OPEN from the Target Pose drop down.

Note:

An OPEN pose for the clamps needs to be defined first. Pose names are case sensitive.

5. Click OK.
6. Close the Default Controller dialog box.
7. When you click Play Simulation Forward again, you should see the robots waiting for
each other (starting and stopping during the simulation) and the clamps opening and closing.

8: Reset the simulation and save your study

1. From the Sequence Editor, click Jump Simulation to Start .

2. From the Quick access toolbar choose Save .

706 plmx.com.br
suporte@plmx.com.br
11 3565 3808
17.11. Simulation Monitor

Use Simulation Monitor

Estimated time to complete: 4–8 minutes
In this activity, you use Simulation Monitor.

1: Simulation Monitor

1. Continue using the same loaded robotic study.

2. From the ribbon choose View tab→Screen Layout group→Viewers →Simulation

Monitor.

In the Simulation Monitor dialog box, only the icons are selected.

3. In the Operation Tree, right-click the operation (or compound operation) you want to simulate
and choose Set Current Operation .
4. From the Sequence Editor, click Play Simulation Forward .
A tab is added to the simulation monitor for each robot that was just simulated.

5. In the Simulation Monitor dialog box,select the tab for a robot.

The column contains any that occurred during the simulation.

6. In the Simulation Monitor dialog box, on the tab for a robot, click Show Robot Instructions .
Robot instructions such as motion and OLP commands are shown with a in the column.

7. In the Simulation Monitor dialog box, on the tab for a robot, click Show Simulation Details .
In addition to , simulation details of robot instructions, such as signal value evaluation and
customized OLP/motion layer lines, are shown with a in the column..

707 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 8. In the Simulation Monitor dialog box, on the tab for a robot, click Show Trace .
In addition to and , trace information ,concerning robot instructions, are shown with a in the
column..

9. Close the Simulation Monitor

10 From the Sequence Editor, click Jump Simulation to Start .

708 plmx.com.br
suporte@plmx.com.br
11 3565 3808
17.12. Work with hard and soft limits

(Optional) Avoiding collisions with stationary

objects
Estimated time to complete: 6–12 minutes
The objective of this activity is to set the soft limits on a robot to avoid hitting other stationary objects.

Spot: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Spot: Study used in this activity: station02.psz

Drill/Rivet: Project used in this activity: .\\Projects\Airplane Project\Line

USERNUMBER_UNDEFINED

Drill/Rivet: Study opened in this activity: Workcenter 50 Drill Study.psz

Material Handling: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Material Handling: Study used in this activity: pnp.psz

Arc, Paint, Debur: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Arc, Paint, Debur: Study used in this activity: arc_multi_axis.psz

1: Look at the current robot limits

1. Continue using the same data loaded in Process Simulate.
2. Right-click a robot and choose Joint Jog .

709 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. Select the J1 joint and write down its hard limits.

Note:

Recall hard limits are what is set during modeling of the prototype, whereas soft limits are set
on an instance of the robot in the study.

Note:

For example for the robot (used for WeldOperation 1) the hard limits for J1 are –149.5 and
148.7.

Note:

Joints J2 and J3 have variable joint limits. So, jogging J2 affects the limits of J3, and visa
versa.

2: Enter a new soft limit and test it

1. In the Joint Jog dialog box, select the J1 joint.
2. Select in its Lower Limit box.
3. Decrease the range by about 20% by entering -120 for the Low Limit and 120 for the Upper
Limit.
4. Press Enter.
5. Jog J1 and see the affect.

Note:

This also affects the simulation and robot reachability.

710 plmx.com.br
suporte@plmx.com.br
11 3565 3808
3: Undo the soft limit

1. In the Joint Jog dialog box, click Reset All Soft Limits .
2. Click Close.

711 plmx.com.br
suporte@plmx.com.br
11 3565 3808
17.13. Robotic swept volumes and interference
zones

Using swept volumes

Estimated time to complete: 8–16 minutes
In this activity, you learn to create a swept volume for a robot.

Warning:
This activity does not work in a virtual machine.

Spot: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Spot: Study used in this activity: station02.psz

Drill/Rivet: Project used in this activity: .\\Projects\Airplane Project\Line

USERNUMBER_UNDEFINED

Drill/Rivet: Study opened in this activity: Workcenter 50 Drill Study.psz

Material Handling: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Material Handling: Study used in this activity: pnp.psz

Arc, Paint, Debur: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Arc, Paint, Debur: Study used in this activity: arc_multi_axis.psz

1: Optional step: Create precursor path segments

Note:
Follow the steps on this page if the object moving a long the path (either a robot moving along its path,
or an object moving along its flow path, are in a collision with other objects at the beginning or end of
the path.

Note:

712 plmx.com.br
suporte@plmx.com.br
11 3565 3808
When using the swept volumes to calculate interference zones, the first and last segments of paths
cannot be within the interference zone. In order to guarantee this, you can add an additional location to
the beginning and ending of both paths. Then first and last locations to a safe position.

1. Load the desired data into Process Simulate, if it is not already from the previous activity.

Note:

If you intend to make an interference volume, you need two simulative operations (paths).

2. Move the first location in the path to a safe position using Manipulate Location .

3. Use Relocate to move the last one to the same position as the first one.

4. Copy the first and last locations in the path

5. Repeat this process for the other path.

2: Create a swept volume

1. From the ribbon, choose Robot tab→Volumes group→Swept Volume .

713 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. Select the desired target simulative operations: In this case, two robotic operations.

Note:

Please leave the default Accuracy and do not set it below 10 mm, since this may slow down
the course and the computer may require additional configuration for lower settings to function
properly.

3. Click Create.

Warning:

This step does not work in a virtual machine.

4. Click Close.
5. Look at the results.

Note:

Your data may look different than what is shown depending on if you created a swept volume
for a robotic simulative operation or for an object flow simulative operation.

714 plmx.com.br
suporte@plmx.com.br
11 3565 3808
3: Create 2D outline of the swept volume

1. From the ribbon, choose Modeling tab→Scope group→New Resource .

2. In the New Resource dialog box for the Node type, select ToolPrototype and click OK.
3. From the ribbon, choose Modeling tab→Geometry group→Create 2D Outline .

4. Select the object being simulated (the robot) and the swept volume around it. You may have to
select them from the Object Tree.
5 In the Create 2D Outline dialog box, click OK.
The results are shown in the Object Tree and Graphic Viewer.

4: Create an interference volume

1. From the ribbon, choose Robot tab→Volumes group→Interference Volume .

715 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. Select the desired target values: In this case, the two paths you just generated.
3. Click Create.

Warning:

This step does not work in a virtual machine.

4. Click Close.
5. Look at the results.

5: Save your study

1. From the Quick access toolbar, choose Save .

716 plmx.com.br
suporte@plmx.com.br
11 3565 3808
17.14. Add events to a sequence of simulative
operations

(Instructor Demo) Adding an attach event

Estimated time to complete: 12–24 minutes
The objective of this activity is to demo the creation of an attach event.

Spot: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Spot: Study used in this activity: station02.psz

Drill/Rivet: Project used in this activity: .\\Projects\Airplane Project\Line

USERNUMBER_UNDEFINED

Drill/Rivet: Study opened in this activity: Workcenter 50 Drill Study.psz

Material Handling: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Material Handling: Study used in this activity: pnp.psz

Arc, Paint, Debur: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Arc, Paint, Debur: Study used in this activity: arc_multi_axis.psz

Object Flow Operation: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Object Flow Operation: Study used in this activity: DemoAddAttachEvent_Cap17.14.psz

717 plmx.com.br
suporte@plmx.com.br
11 3565 3808
1: Create flow operations
1. Continue using the same data loaded in Process Simulate.
2. Create a flow operation that moves a part (for example partA) to another part (for example
partB).

2: Sequence them
1. Sequence them so that the partA flow operation happens first and the partB flow operation
happens second.

Note:
One way to do this would be to selected the last location of the PartA path and Relocate it to the first
location of the PartB path. This would work if both partA and partB have the same self origin and
their paths were created using the Self origin as the grip frame.

3: Create another flow operation

1. Now make another flow operation to move partB (the assembly of PartA and PartB) to the
main assembly

4: Create an attach event

1. On the Sequence Viewer, right-click the end of the Gantt chart bar of the partA flow operation.
2. Choose Attach Event from the displayed popup menu.
3. In the Attach Objects dialog box, select in the Objects to Attach box.
4. Select partA from the Object Tree viewer. They are highlighted green in the Graphic Viewer.
5. Select in the To the Object box.
6. For the To the Object box, select partB.
7. In the Start Time box, set the time to 0
8. Select Before End of Task from the drop-down list in the lower right corner of the dialog box.
9. Click OK.

5: Reset and play the simulation

1. Click Jump Simulation To End .

2. Click Jump Simulation To Start .
3. Click Play Simulation Forward on the Sequence Editortoolbar and watch the simulation in
the Graphic Viewer.
4. From the Sequence Editor, click Jump Simulation to Start .

718 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 5. Select the simulated objects using either a selection window in the Graphic Viewer or from the
Object Tree.
6. From the ribbon choose Modeling tab→Layout group→Restore Object Initial Position .

6: Save your study

1. From the Quick access toolbar, choose Save .

719 plmx.com.br
suporte@plmx.com.br
11 3565 3808
(Optional) Adding a view point event
Estimated time to complete: 12–24 minutes
The objective of this activity is to add a view point event.

Spot: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Spot: Study used in this activity: station02.psz

Drill/Rivet: Project used in this activity: .\\Projects\Airplane Project\Line

USERNUMBER_UNDEFINED

Drill/Rivet: Study opened in this activity: Workcenter 50 Drill Study.psz

Material Handling: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Material Handling: Study used in this activity: pnp.psz

Arc, Paint, Debur: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Arc, Paint, Debur: Study used in this activity: arc_multi_axis.psz

1: Zoom/Pan the view to zoom in on the first of the simulated parts

1. Continue using the same data loaded in Process Simulate.
2. Right-click the first of the simulated parts and choose Zoom to Selection .
3. Zoom out a little bit.

2: Add a view point event

In this page of the activity, you add the first view point event to the sequence.

1. In the Sequence Viewer Gantt chart, right-click on the beginning of the first flow operation and
choose View Point Event.

720 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. In the View Point Event dialog box, click Apply at Once.
3. Set Start Time to 0 seconds After Start of Task.
4. Click OK.

3: Zoom/pan the view to zoom in on the second of the simulated parts

1. Right-click the second of the simulated parts and select Zoom to Selection .
2. Zoom out a little bit.

4: Add the second view point event to the sequence

1. In the Sequence Viewer Gantt chart, right-click somewhere on the second flow operation and
choose View Point Event.

721 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. In the View Point Event dialog box, click Apply in Steps.
3. Type 70 as the Number Of Steps.
4. Set Start Time to 0 seconds After Start of Task.
5. Click OK.

5: Reset and play the simulation

1. Click Jump Simulation To End .

2. Click Jump Simulation To Start .
3. Click Play Simulation Forward on the Sequence Editortoolbar and watch the simulation in
the Graphic Viewer.
4. From the Sequence Editor, click Jump Simulation to Start .
5. Select the simulated objects using either a selection window in the Graphic Viewer or from the
Object Tree.
6. From the ribbon choose Modeling tab→Layout group→Restore Object Initial Position .

722 plmx.com.br
suporte@plmx.com.br
11 3565 3808
6: Save your study

1. From the Quick access toolbar, choose Save .

723 plmx.com.br
suporte@plmx.com.br
11 3565 3808
(Optional) Add a pause event
Estimated time to complete: 6–12 minutes
The objective of this activity is to add a pause event.

Spot: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Spot: Study used in this activity: station02.psz

Drill/Rivet: Project used in this activity: .\\Projects\Airplane Project\Line

USERNUMBER_UNDEFINED

Drill/Rivet: Study opened in this activity: Workcenter 50 Drill Study.psz

Material Handling: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Material Handling: Study used in this activity: pnp.psz

Arc, Paint, Debur: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Arc, Paint, Debur: Study used in this activity: arc_multi_axis.psz

1: Add a pause event

1. Continue using the same data loaded in Process Simulate.
2. On the Sequence Viewer, right-click on the middle of a flow operation and choose Pause
Event.

724 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. Click OK.

2: Reset and play the simulation

1. Click Jump Simulation To End .

2. Click Jump Simulation To Start .
3. Click Play Simulation Forward on the Sequence Editor toolbar and watch the simulation in
the Graphic Viewer.
4. To continue, click Play Simulation Forward again.
5. From the Sequence Editor, click Jump Simulation to Start .
6. Select the simulated objects using either a selection window in the Graphic Viewer or from the
Object Tree.
7. From the ribbon choose Modeling tab→Layout group→Restore Object Initial Position .

3: Save your study

1. From the Quick access toolbar, choose Save .

725 plmx.com.br
suporte@plmx.com.br
11 3565 3808
(Optional) Coloring events by type
Estimated time to complete: 2–4 minutes
The objective of this activity is to change the color of the snapshot and attach events so that you can
tell them apart.

Spot: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Spot: Study used in this activity: station02.psz

Drill/Rivet: Project used in this activity: .\\Projects\Airplane Project\Line

USERNUMBER_UNDEFINED

Drill/Rivet: Study opened in this activity: Workcenter 50 Drill Study.psz

Material Handling: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Material Handling: Study used in this activity: pnp.psz

Arc, Paint, Debur: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Arc, Paint, Debur: Study used in this activity: arc_multi_axis.psz

Launch the (Optional)Coloring events by type activity.

1: Change the color of attach events

1. Continue using the same data loaded in Process Simulate.

2. Choose File→Options .
3. In the Options dialog box, click the Appearance tab.
4. In the Options dialog box, expand Simulation Objects Colors.

726 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 5. Expand Events.
6. In the Options dialog box, choose Attach Event.
7. Select a different color from the palette such as green.
8. In the Options dialog box, choose View point Event.
9. Select a different color from the palette such as purple.
10. Click OK.
11. Return to the Sequence Editor displaying your sequence of operations. Notice the attach events
(if you have any) are green and the view point events are purple.

Note:

The events show on the Gantt chart on the right side of the Sequence Editor as diamonds on the
bars representing the operations. By default these diamonds are red.

727 plmx.com.br
suporte@plmx.com.br
11 3565 3808
17.15. Put it all together
There are no activities for this lesson.

17.16. Where do we go from here

There are no activities for this lesson.

728 plmx.com.br
suporte@plmx.com.br
11 3565 3808
A. Basic robotics optional topics

729 plmx.com.br
suporte@plmx.com.br
11 3565 3808
A.1. Virtual Reality

Use Virtual Reality

In this activity, you get a demo using Process Simulate Virtual Reality.

1: Process Simulate Virtual Reality demo

1. Click this link to watch a Process Simulate Virtual Reality video on youtube.
(https://www.youtube.com/watch?v=bQoe_nQ6MAc)

730 plmx.com.br
suporte@plmx.com.br
11 3565 3808
A.2. Manually create arc-weld manufacturing
features

Creating arc manufacturing features manually

Estimated time to complete: 12–24 minutes
The objective of this activity is to manually create the manufacturing features needed in order to create
the continuous manufacturing features to be used for arc-weld seams

Arc, Paint, Debur: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Arc, Paint, Debur: Study used in this activity: arc_multi_axis.psz

1: Load the “arc multi axis”

Note:
Now perform the activity by first loading the arc multi axis study.

1. From the Quick access toolbar choose Open in Standard Mode .

2. Browse into your .\\Projects\Robotics Sim Begin
(userUSERNUMBER_UNDEFINED)\Other selected\Line USERNUMBER_UNDEFINED
folder.
3. Select the arc multi axis.psz file and click Open.

4. From the Graphic Viewer toolbar, choose Display All .

731 plmx.com.br
suporte@plmx.com.br
11 3565 3808
2: Get the view setup to create the arc manufacturing feature
1. In the Object Tree, expand two levels into the Parts and Resources folders.
2. From the Parts folder, select the FRONT_whitehouse_weldpart part in the Arc multi
axis compoundPart (the product assembly sitting on the positioner).
3. Hold down the Ctrl key.
4. From the Resources folder, select the st_gun3_30 gun (the arc-weld torch at the end of
the robot's wrist) in the Arc multi axis compoundResource.
5. Release the Ctrl key.

6. From the Graphic Viewer toolbar, choose Display Only .

732 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 7. Deselect the objects by selecting nothing in the Graphic Viewer.
8. In the Object Tree, right-click on theFRONT_whitehouse_weldpart part and choose Zoom
to Selection .

3: Create the geometry for an arc continuous manufacturing feature

Note:
More is described on modeling objects earlier in this course.

1. Select the FRONT_whitehouse_weldpart part, if it is not already selected.

2. Change your view point so that you are looking at the bottom of the part.

Note:

This can be done by hold down the right and middle mouse buttons and moving your hand in a
circle; or by clicking the [down arrow] key about three times.

3. Zoom in on the bottom edge of the part.

Note:

This can be done by holding down the middle button and moving the mouse to the right; or by
holding down the Alt key and drawing a zoom window with the left mouse button.

Note:

The orange frames are clustered near the top edge of the part.

733 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. From the ribbon, choose Modeling tab→Components group→Set Modeling Scope .

5. From the Quick access toolbar change the Pick Level to Entity .

6. From the Quick access toolbar change the Pick Intent to Where Picked .

734 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 7. From the ribbon, choose Modeling tab→Geometry group→Curves →Curve on Borders
.

8. In the Curve on Borders dialog box for Name, type

Front_Whitehouse_ArcSeams_userUSERNUMBER_UNDEFINED.
9. In the Curve on Borders dialog box, select the Entity box.
10. For Entity, select the bottom face of the solid not near an edge.

735 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 11. Click One curve per edge.
12. Click Preview.

Warning:

If the curve is not created along the bottom face of this solid, select it again and click Preview.

13. Click OK.

Note:

The Front_Whitehouse_ArcSeams_userUSERNUMBER_UNDEFINED curve is deleted

and the Front_Whitehouse_ArcSeams_userUSERNUMBER_UNDEFINED_1 straight line
and Front_Whitehouse_ArcSeams_userUSERNUMBER_UNDEFINED_2 curve are
created. However, you do not store this change permanently in this part. Instead, you store this
geometry into a separate .COJT related to a continuous manufacturing feature (in the next page
of this activity).

14. In the Graphic Viewer, right-click the front face of the Whitehouse part and choose Blank .
15. Hold down the Ctrl key and select the five curves across the bottom front of the Whitehouse
part.

16. From the ribbon, choose Modeling tab→Geometry group→Curves →Merge Curves .

17. For the Name, type Front_Whitehouse_ArcSeams_userUSERNUMBER_UNDEFINED.

18. Click OK.
19. Display the blanked Whitehouse part from the Object Tree.

736 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 20. Change your view point so that you are looking at the lower left corner of the part: In the
Graphic Viewer, click a corner of the Navigation Cube to jump to an isometric view.

Note:

In this activity you could have also used the Modeling tab→Geometry group→Curves
→Intersection Curve command to create the curve. Other commands could have been used to
create the curve as well. Or the curves could created in a CAD system, converted to a .COJT, and
associated to an existing manufacturing feature.

4: Create the arc continuous manufacturing feature

1. Change the Pick Intent to Snap, if it is not already
2. From the Object Tree or Graphic Viewer, select the
Front_Whitehouse_ArcSeams_userUSERNUMBER_UNDEFINED curve.
3. From the ribbon, choose Process tab→Continuous group→Create Continuous Mfg from
Curve .

4. In the Create Continuous Mfg from Curve dialog box, select the Assign to part box.
5. Select the BOTTOM_whitehouse_weldpart part from the Object Tree.

Note:

When you create the arc-weld seam the FRONT part is the side wall and BOTTOM part is the
bottom wall. You derived the curve from an edge of the FRONT part. Therefore, it is suggested
to associate the MFG feature containing the curve with the BOTTOM part. Eventually you
associate both parts with the MFG feature, however the MFG move only with the assigned
part.

6. For 3D folder location, click Browse and select the .\sysroot\Libraries\mfgs folder.

737 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Note:

In production, the exact folder name could be anything under the system root folder. However,
you should create a standard for what to name the manufacturing features and where they
should be placed.

7. Optionally, for Mfg type either leave it as ContinuousMfg or select ArcContinuousMfg.

8. Click OK.

Note:

This command creates a new .JT file (in a .COJT folder) that contains this curve. This .COJT is
associated to a new manufacturing feature which is shown in the MFG Viewer. After executing
this command you can either delete this curve from the original part
(FRONT_whitehouse_weldpart) or just reload the original part. you do this later.

9. To see the manufacturing feature just created, choose View tab→Screen Layout
group→Viewer→Mfg Viewer.

10. Continue to the next whitehouse part steps on creating skip weld manufacturing features.

5: Create skip weld manufacturing feature geometry

Note:
More is described on modeling objects earlier in this course.

1. Select the BACK_whitehouse_weldpart part.

2. Change your view point so that you are looking at the bottom, inside of the whitehouse product
assembly.
3. Zoom in on the bottom edge of the BACK_whitehouse_weldpart .

Note:

738 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 The orange frames are clustered near the top edge of the part.

4. From the ribbon, choose Modeling tab→Components group→Set Modeling Scope .

5. From the Quick access toolbar change the Pick Level to Entity .

6. From the Quick access toolbar change the Pick Intent to Where Picked .

7. From the ribbon, choose Modeling tab→Geometry group→Create Dashed Curves .

739 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 8. In the Curve on Borders dialog box for Name, type
Front_Whitehouse_ArcSeams_userUSERNUMBER_UNDEFINED.
9. In the Curve Dashed Curves dialog box, select in the Edges box.
10. For Edges, select the bottom edge of the solid. A red dashed line is drawn along part of the
edge.

11. For Creation method, select Length, Spacing, Number (default).

12. For Distance from start, type 60.
13. For Curve length, type 20 mm.
14. For Spacing, type 100.
15. For Number of curves, type 4.
16. Click OK.

Four curves are created and named: Curve, Curve_1, Curve_2, and Curve_3.

17. In the Graphic Viewer, right-click the front face of the Whitehouse part and choose Blank .
18. Display the blanked Whitehouse part from the Object Tree.

740 plmx.com.br
suporte@plmx.com.br
11 3565 3808
6: Create the skip weld manufacturing feature

1. From the Quick access toolbar change the Pick Intent to Snap .

2. From the ribbon, choose Process tab→Continuous group→ Create Continuous Mfg from
Curves .

3. From the Object Tree or Graphic Viewer, select the four Curve objects just created (located in
the BACK_whitehouse_weldpart).
4. In the Create Continuous Mfg from Curve dialog box, type a Mfg name that includes
skip_mfg_userUSERNUMBER_UNDEFINED as shown in the picture.

5. In the Create Continuous Mfg from Curve dialog box, select the Assign to part box.
6. Select the BOTTOM_whitehouse_weldpart part from the Object Tree.

Note:

When you create the arc-weld seam the FRONT part is the side wall and BOTTOM part is the
bottom wall. You derived the curve from an edge of the FRONT part. Therefore, it is suggested
to associate the manufacturing feature containing the curve with the BOTTOM part.

741 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 Eventually, you associate both parts with the manufacturing feature, however the
manufacturing feature moves only with the assigned part.

7. For 3D folder location, click Browse and select the .\sysroot\Libraries\mfgs folder.

Note:

In production, the exact folder name could be anything under the libraries folder. However, you
should create a standard for what to name the manufacturing features and where they should be
placed.

8. Optionally, for Mfg type either leave it as ContinuousMfg or select ArcContinuousMfg.

9. Click OK.

Note:

This command creates a new .JT file (in a .COJT folder) that contains this curve. This .COJT is
associated to a new manufacturing feature which is shown in the MFG Viewer. After executing
this command you can either delete this curve from the original part
(FRONT_whitehouse_weldpart) or just reload the original part. you do this later.

10. To see the manufacturing feature just created, choose View tab→Screen Layout
group→Viewer→Mfg Viewer.

11. Continue to the next whitehouse part activity on creating a debur manufacturing feature.

742 plmx.com.br
suporte@plmx.com.br
11 3565 3808
Creating arc seams (using Project Arc Seam)
manually
Estimated time to complete: 10–20 minutes
The objective of this activity is to create seams using the manufacturing features.

Warning:
This activity uses the arc-weld robot and gun in the Arc multi axis data.

Arc, Paint, Debur: Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line
USERNUMBER_UNDEFINED StudyFolder\other_selected

Arc, Paint, Debur: Study used in this activity: arc_multi_axis.psz

1: Setup continuous features

1. Choose File→Options .
2. In the Options dialog box, click the Continuous tab.

3. For the Movement Vector, select X.

4. Click OK.

2: Display only the seam

743 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 1. From the Mfg Viewer, select the
Front_Whitehouse_ArcSeams_userUSERNUMBER_UNDEFINED manufacturing feature.
2. From the Graphic Viewer toolbar, choose Display Only .

3: Method 1: Create the arc-weld simulative operation and seam

Note:
A simulative operation is a generic term for the operations created by Process Simulate to represent a
simulation. In this case, the simulative operation is a robot operation.

1. From the Object Tree Parts folder, display the BOTTOM_whitehouse_weldpart and
FRONT_whitehouse_weldpart parts by clicking its display status square .
2. From the Quick access toolbar change the Pick Level to Component .

3. From the Mfg Viewer, select the

Front_Whitehouse_ArcSeams_userUSERNUMBER_UNDEFINED_Mfg manufacturing
feature.
4. Hold down the Ctrl key and select Arc multi axis in the Operation Tree.
5. Release the Ctrl key.

6. From the ribbon, choose Operation tab→Create Operation group→New Operation

→New Continuous Feature Operation .

7. For Name, enter Front_ArcSeams_Op.

8. Click OK.

Note:

An “empty” (but special) compound operation is created named Front_ArcSeams_Op.

744 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 9. From the Operation Tree, select the pink Front_ArcSeams_Op operation.
10. From the ribbon, choose Process tab→Arc group→Project Arc Seam .

11. In the Project Arc Seam dialog box, expand below the
Front_Whitehouse_ArcSeams_userUSERNUMBER_UNDEFINED_Mfg manufacturing
feature.

12. Select the Front_Whitehouse_ArcSeams_userUSERNUMBER_UNDEFINED_Mfg

manufacturing feature and click Edit Mfg Feature data .

745 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 13. In the Parts/Faces area of the Edit Mfg Feature Data dialog box, click Faces.

Note:

In general only the part of the curve at the intersection of the base and side wall faces should be
used. In this case, you ignore the section of the curve on the inside.

14. In the Edit Mfg Feature Data dialog box, to the right of the Base box, click Face Selection .
15. In the Graphic Viewer, select the top surface of the BOTTOM_whitehouse_weldpart.

16. In the Face Selection dialog box, click OK.

17. In the Edit Mfg Feature Data dialog box, to the right of the Side box, click Face Selection .
18. In the Graphic Viewer, select the front left surface of the FRONT_whitehouse_weldpart.
19. Continue selecting the rest of the front surfaces of this part for a total of five surfaces.
20. In the Face Selection dialog box, click OK.

Note:

If you have selected the wrong parts for the Base or Side, click Swap Parts . By default
the Base is the part that is assigned to the manufacturing feature. This is the part that controls
the placement of the manufacturing feature.

746 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 21. Click OK to close the Edit Mfg Feature Data dialog box.
22. Verify the General Arc Alignment Parameters are as desired: select in the Travel angle and
enter 10 degrees.

Note:

For example, in production you may want to change these in order to push or drag the arc
torch.

23. Verify Optimize locations creation for arc and line segments is checked.

24. Click Project.

25. Click Close.
26. Expand into the Front_ArcSeams_Op simulative operation.

Note:

Each straight segment of the curve contains two locations, while curved segments has three
locations. After completing the projection, the system sets the motion type of each location
according to the segment detection results for the curve. A location's motion type determines
how the robot approaches the location. For curved segments, the system sets the location
motion type to Circular (CIRC); for a straight segment, the motion type is set to Linear (LIN).

4: Method 2: Create the arc-weld seam

1. Let’s try a another method to create this seam: right-click the
Front_ArcSeams_Op_userUSERNUMBER_UNDEFINED_Mfg seam within the
Front_ArcSeams_Op and choose Delete . However, do not delete the
Front_ArcSeams_Op.
2. From the Operation Tree, select the Front_ArcSeams_Op operation.
3. From the ribbon, choose Process tab→Arc group→Project Arc Seam .

747 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 4. In the Project Arc Seam dialog box, expand below the
Front_Whitehouse_ArcSeams_userUSERNUMBER_UNDEFINED_Mfg manufacturing
feature.

5. Select the Front_Whitehouse_ArcSeams_userUSERNUMBER_UNDEFINED_Mfg

manufacturing feature and click Edit Mfg Feature data .

748 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 6. In the Parts/Faces area of the Edit Mfg Feature Data dialog box, click Faces.

Note:

In general only the part of the curve at the intersection of the base and side wall faces should be
used. In this case, you ignore the section of the curve on the inside.

7. In the Edit Mfg Feature Data dialog box, to the right of the Base box, click Face Selection .
8. In the Graphic Viewer, select the top surface of the BOTTOM_whitehouse_weldpart.

9. In the Face Selection dialog box, click OK.

10. In the Edit Mfg Feature Data dialog box, to the right of the Side box, click Face Selection .
11. In the Graphic Viewer, select the front left surface of the FRONT_whitehouse_weldpart.
12. Continue selecting the rest of the front surfaces of this part for a total of five surfaces.
13. In the Face Selection dialog box, click OK.

Note:

If you have selected the wrong parts for the Base or Side, click Swap Parts . By default
the Base is the part that is assigned to the manufacturing feature. This is the part that controls
the placement of the manufacturing feature.

749 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 14. Click OK to close the Edit Mfg Feature Data dialog box.
15. Verify the General Arc Alignment Parameters are as desired: select in the Travel angle and
enter 10 degrees.

Note:

For example, in production you may want to change these in order to push or drag the arc
torch.

16. Set the Maximal tolerance to 0.50 (mm).

17. Deselect Optimize locations creation for arc and line segments.

18. Click Project.

19. Click Close.
20. Expand into the Front_ArcSeams_Op operation.

Note:

Locations are created on the curve based on Maximal tolerance. After completing the
projection, the system sets the motion type of each location as Linear (LIN).

5: Save your study

1. From the Quick access toolbar, choose Save .

750 plmx.com.br
suporte@plmx.com.br
11 3565 3808
A.3. Dual arm and coordinated motion
applications

Setting up and simulating synchronized robot

motion
Estimated time to complete: 22–44 minutes
In this activity, you setup and simulate synchronized robot motion.

Project used in this activity: .\\Projects\Airplane Project\LineUSERNUMBER_UNDEFINED

Study opened in this activity: Workcenter 50 Dual Rivet Study.psz

1: Airplane data: Open the study

1. From the Quick access toolbar, choose Open in Standard Mode .

2. Browse to .\\Projects\Airplane Project\LineUSERNUMBER_UNDEFINED.

3. Select Workcenter 50 Dual Rivet Study.psz and click Open.

1. From the Quick access toolbar, choose Open in Standard Mode .

2. From the Open dialog box, browse into the Studies study folder.
3. Browse into the .\\Projects\Airplane Project\LineUSERNUMBER_UNDEFINED study
folder.
4. Select the Workcenter 50 Dual Rivet Study study and click Open.
5. Wait for a couple seconds for the data to load.

2: Setup the robot equipment prototype

1. In the Object Tree, select the Rivet Workcenter 50 compound resource.

751 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. From the ribbon, choose Modeling tab→Components group→New Resource

3. In the New Resource dialog box, select EquipmentPrototype and click OK.
4. In the Object Tree, rename the EquipmentPrototype* to
DualRobot1_USERNUMBER_UNDEFINED.
5. In the Object Tree, drag the fanuc_r2000ia165f_if and fanuc_arcmate_120 into the
DualRobot1_USERNUMBER_UNDEFINED .

6. Right-click the fanuc_r2000ia165f_if and choose Mount Tool .

7. In the Mount Tool dialog box for Tool, select rivet_drill_gun.
8. For the Mount Tool Frame, select Self, and click Apply, and Close.
9. Right-click the fanuc_arcmate_120 and choose Mount Tool.
10. In the Mount Tool dialog box for Tool, select backside_gun.
11. For the Mount Tool Frame, select Self, and click Apply, and Close.

Note:
The optional Attached To column is shown the Object Tree in this picture.

3: Make the equipment prototype a robot

1. Select the DualRobot1_USERNUMBER_UNDEFINED .

752 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. From the ribbon, choose Modeling tab→Kinematic Device group→Kinematic Editor .
3. In the Kinematic Editor, scroll to the bottom.
4. In the Kinematic Editor, click Create Link , name the link dummy1, and click OK.
5. In the Kinematic Editor, click Create Link , name the link dummy2, and click OK.
6. Create a joint: In the Kinematic Editor, drag a line from dummy1 and drop it on dummy2.

7. Define it as a robot: In the Kinematic Editor, click Create Toolframe , select dummy2 for
both prompts, and click OK.
A TCPF, REFFRAME, and BASEFRAME are all created at 0,0,0. These frames are only created to
satisfy the operation creation prompts and are not used for anything beyond that.

8. Click Close.

9. Select the DualRobot1_USERNUMBER_UNDEFINED .

10. From the ribbon, choose Modeling tab→Scope group→End Modeling .

11. Browse to the .\sysroot\Libraries\Resources\Robots\Dual_Robot folder.
12. Click Save.

753 plmx.com.br
suporte@plmx.com.br
11 3565 3808
4: Setup the operations for both robots

1. In the Operation Tree, select Rivet Barrel compound operation.

2. From the ribbon, choose Home tab→Edit group→Copy .

3. From the ribbon, choose Home tab→Edit group→Paste .

4. Rename the copy results:

• Hold Barrel
o Hold_Op2
o Hold_Op3
o Hold_Op4
o Hold_Op5

5. Right-click Rivet_Op2 and choose Operation Properties .

6. In the Properties dialog box click the Process tab.
7. For Robot, select fanuc_r2000ia165f_if, and click OK.
8. Repeat this for Rivet_Op3 , Rivet_Op4 , Rivet_Op5
9. Right-click Hold_Op2 and choose Operation Properties .
10. In the Properties dialog box click the Process tab.
11. For Robot, select fanuc_arcmate_120, and click OK.
12. Repeat this for Hold_Op3 , Hold_Op4 , Hold_Op5

5: Simulate the robots by themselves

1. In the Operation Tree, right-click Rivet Barrel and choose Set Current Operation .
2. In the Sequence Editor, click Play Simulation Forward .
The simulation of the outside robot runs correctly by itself.

Note:
In the Advanced Robotics training you learn how to simulate robotic operations using the RCS (the
robotic specific controllers).

754 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 3. In the Sequence Editor, click Jump Simulation to Start .
4. In the Operation Tree, right-click Hold Barrel and choose Set Current Operation .
5. In the Sequence Editor, click Play Simulation Forward .
The simulation of the inside robot runs correctly by itself.

6. In the Sequence Editor, click Jump Simulation to Start .

6: Create the concurrent robot operations

1. In the Operation Tree, right-click Rivet Workcenter 50 Process and choose New Compound
Operation.
2. Rename the new compound operation Synchronized_Ops.
3. Select Synchronized_Ops.

4. From the ribbon, choose Operation tab→Create Operation group→New Operation

→New/Edit Concurrent Robotic Operation

5 .In the New Concurrent Robotic Operation dialog box for Name, enter Sync_Op2.
6. For Equipment, select DualRobot1_USERNUMBER_UNDEFINED.
7. For Type, select Synchronized.
8. For Scope, select Synchronized_Ops.
9. For the first Referenced operation select Rivet_Op2.
10. For the second Referenced operation select Hold_Op2.
11. Click OK.

12. Repeat this process to create Sync_Op3 referencing Rivet_Op3 and Hold_Op3.
13. Repeat this process to create Sync_Op4 referencing Rivet_Op4 and Hold_Op4.
14. Repeat this process to create Sync_Op5 referencing Rivet_Op5 and Hold_Op5.

755 plmx.com.br
suporte@plmx.com.br
11 3565 3808
7: Simulate the concurrent robot operations

1. In the Operation Tree, right-click Synchronized_Ops and choose Set Current Operation .
2. In the Sequence Editor, depress the Ctrl key, select the operations in order, and click Link.
3. In the Sequence Editor, click Play Simulation Forward .
The simulation of both robots runs correctly together.

Note:
The simulation of concurrent operations must be performed using the default controller, since RCS
(the robotic specific controllers) do not currently it.

4. In the Sequence Editor, click Jump Simulation to Start .

8: Robot jog of master and slave robots

1. In the Object Tree, right-click DualRobot1_USERNUMBER_UNDEFINED and choose

Robot Jog .
If you select an Equipment prototype with two or more robots under it, Robot Jog opens the
Robot Jog: Dual Arm Robot dialog box. This enables you to define one robot as Master and the other
(or others) as a Slave. By enabling Master Slave mode, the motion of the Slave robot(s) tracks the
movements of the Master. it is not possible to jog the slave robot(s).

2. In the Robot Jog dialog box for Robot, select the fanuc_arcmate_120 robot.
The Robot box contains a list of robots nested under the Equipment prototype . Use it to select the
robot you wish to jog, or select a robot nested under the Equipment prototype from any viewer or
tree while the box is active.

3. For Robot's Role, select Slave.

4. In the Robot Jog dialog box for Robot, select fanuc_r2000ia165f_if.
5. For Robot's Role, select Master.
Enables defining one robot as Master and one or more other robots as Slave(s). Define the role of
each robot separately by first selecting it in the Robot drop-down field. However, these settings are not
saved after you close the Robot Jog dialog box.

6. Click Enable Master/Slave mode.

When on, all slave robot manipulators are disabled. When you jog the master robot (by dragging, using
the buttons in the Manipulations expander, or All Joints sliders) each slave robot attempts to follow the
master robot’s TCPF. You can also lock a configuration or TCPF for any robot during tracking.

756 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 7. Drag the manipulator frame around to move both robots together (unless one of the robots
cannot reach where you move the manipulator frame).
8. Close the Robot Jog dialog box.

757 plmx.com.br
suporte@plmx.com.br
11 3565 3808
A.4. Creating sequences of simulative operations
There are no activities for this lesson.

A.5. Review of the process structure hierarchy

There are no activities for this lesson.

A.6. Create compound operations

There are no activities for this lesson.

A.7. Create a Robotic Sequence (Method 1 and

2)
There are no activities for this lesson.

758 plmx.com.br
suporte@plmx.com.br
11 3565 3808
A.8. Manufacturing feature search from Process
Simulate

Perform mfg search

Estimated time to complete: 4–8 minutes
In this activity, you perform an spot-weld manufacturing feature search. the basic process is the same
for any type of manufacturing feature.

Project used in this activity: .\\Projects\Robotics Sim Begin (user1)\Line

USERNUMBER_UNDEFINED StudyFolder\processing

Study used in this activity: station02.psz

1: Load the collaboration context

Note:
The steps below describe how to use Teamcenter to locate and load the collaboration context and
station used in this activity. However, you could also load related study from the Study Manager
dialog box in Process Simulate.

2: Search for mfgs

1. From the Process Simulate ribbon, choose Server tab→Scope group→Mfg Search .

The Mfg Search dialog box is displayed with the Search tab active.

759 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 2. (Optional) Select whether to search for Unassigned Mfgs, Assigned Mfgs, or Both (the
default setting).

Note:

You use the Operation Assignment area to find manufacturing features that are assigned to an
operation

3. From the Parts folder of the Object Tree, select the surf_part.
4. In the Mfg Search dialog box, click Add.

760 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 The surf_part is added to the Object list.

Tip:

To remove a part from the list, select it and click Delete .

5. Click Search.

The Result tab is displayed.

6. Search for manufacturing features using the Search tab of the Mfg Search dialog box.

The Result tab is displayed.

The manufacturing features matching the search criteria are listed of the Search tab.
Manufacturing features that are already loaded are shown with a bold font.

7. Click Close to exit the Mfg Search dialog box.

761 plmx.com.br
suporte@plmx.com.br
11 3565 3808
A.9. Create and Updating Spot Welds
There are no activities for this lesson.

A.10. Overview of the Roller Hemming Tool

There are no activities for this lesson.

A.11. Create robotic paths from NC paths

There are no activities for this lesson.

A.12. Overview of the OLP Tools

There are no activities for this lesson.

A.13. Other Robotics Features (Not Covered in

this Course)
There are no activities for this lesson.

762 plmx.com.br
suporte@plmx.com.br
11 3565 3808
 www.plmx.com.br
suporte@plmx.com.br
11 3565 3808

763 plmx.com.br
suporte@plmx.com.br
11 3565 3808