Professional Documents
Culture Documents
Robcad Basics
Version: 9.0
Table of Contents
Robcad Basics
Student Guide
February 2010
WKP100U Version 9.0
Publication Number
MTXW100U-S-09
ii
Manual History
Manual
Revision
Product
Version
Publication
Date
V 3.3
July 1996
V 3.4.1
April 1997
V 3.5.1
December 1997
V 3.7.1
December 1998
V 3.8.1
December 1999
V 4.0
December 2000
V 6.0.3
December 2002
V 7.1.2
December 2004
V 7.5
October 2005
V 7.5.1
July 2006
V 7.5.1.1
February 2007
V 8.0
December 2007
V 9.0
February 2010
Table of Contents
iii
iv
Table of Contents
Table of Contents
Chapter 1: Introduction to Robcad ...............................................1-1
Lesson 1: Training Introduction.................................................................................1-3
Lesson 2: Basic Skills .................................................................................................1-7
Lesson 3: Basic Robcad operations ............................................................................1-9
Lesson 4: View Control in Robcad.......................................................................... 1-18
Lesson 5: Customizing user configuration .............................................................. 1-26
Lesson 6: Entity selection........................................................................................ 1-30
Lesson 7: Using Robcad Layers............................................................................... 1-35
Lesson 8:Additional commands .............................................................................. 1-38
Lesson 9: Robcad Help ........................................................................................... 1-42
vi
Introduction to Robcad
CHAPTER 1
Chapter 1
Introduction to
Robcad
About This Chapter
This chapter provides an introduction to Robcad and contains the
following lessons:
) Lesson 1: Training Introduction, page 1-3, describes how to
use the training manual.
) Lesson 2: Basic Skills, page 1-7, describes how to start Robcad
and how to navigate through windows in Robcad
) Lesson 3: Basic Robcad Operations, page 1-9, describes how to
open project, load cells, and execute a sequence of operations.
) Lesson 4: View Control in Robcad, page 1-18, describes how to
view controls using mouse or keyboard as well as using
multiple graphic windows
) Lesson 5: Customizing user configuration, page 1-26, describes
how to customize, save, and load configurations.
) Lesson 6: Object Properties and Selection, page 1-30,
describes how to select objects, change Pick Level, change
colors of objects, and view object properties.
) Lesson 7: Using Robcad Layers, page 1-35, describes how to
set, create, and add/ remove components to active layers as
well as blanking/displaying and filtering components in layers
1-1
1-2
Introduction to Robcad
CHAPTER 1
Lesson 1: Training
Introduction
Introduction to the Training
Manual Structure
The training manual is designed for a classroom containing
between three to seven students. Each student should sit at their
own workstation using their own copy of the data.
See Appendix A for a detailed description of the classroom setup.
Bullet Conventions:
1-3
1-4
) Each exercise begins with a bold heading that begins with the
word Exercise. An exercise ends at the next bold heading.
) Each exercise is created in an outline windowat.
) The numbered steps give an overview of what is to be
accomplished.
) Detailed sub-steps enumerated by bullets follow each
numbered step.
Y For example: Here is a sub-step.
) It is suggested that the trainee read the overview step to
understand what is to be done. Then continue to the bulleted
sub-steps for each button click required to complete the step.
Introduction to Robcad
CHAPTER 1
1 There are two ways to refer to a top menu item such as Save:
Y From the File menu, select Save. The current file is saved.
Or
Y Click Save
1-5
1-6
Y Click [OK].
Introduction to Robcad
CHAPTER 1
On a PC:
You must have your mouse pointer inside the window to type text in the window. If
you move your mouse out of the window your text will be thrown away.
1 Press the large square icon in the upper right corner of the shell
window to maximize it.
1-7
1-8
2 Press this same square icon again to return it to the regular size.
3 Press period icon in the upper right corner of the shell window
to minimize it.
NOTE
On PC:
It is important to exit Robcad before logging out of the system, in order to ensure
changes are saved.
Introduction to Robcad
CHAPTER 1
The window across the top is the Top Menu window. It is made up
of a row of buttons for the current menu. The menus name is
shown in the title bar of this window.
It displays the version of Robcad, the current menu name, the name
of the cell, the folder path containing the cell, pick intent, and pick
level.
PRINCIPLE
Clicking each button in the Top Menu window (except the Robcad pull down menu)
causes a command Window to be displayed at the right side of the screen.
The Robcad button on the Top Menu window is used to change the
current menu shown in Top Menu window and the icons in the
Toolbox Manager window.
Graphics Window:
1-9
1-10
Commands Window:
Messages Window:
Introduction to Robcad
CHAPTER 1
You may use the information displayed in the Status Window as input to any
Robcad window. Use the right mouse button to copy the information.
The Toolbox Manager window is always there for you, regardless of the chosen
Commands Window.
Undo, View Center, Reset, Limits Check and Collisions are always
present.
1-11
1-12
Introduction to Robcad
CHAPTER 1
Pick Level is either Entity or Component. When the Pick Level is set to
Component, the entire object is selected when any chunk of it is selected. When
the Pick level is set to Entity, only the picked chunk of the object is selected.
1-13
1-14
4 This menu can be used to start all sorts of the menus quickly
and easily.
Load Cell
Load cell is used to open cells (.CE) in Robcad.
Introduction to Robcad
CHAPTER 1
The thumbnail and one-cell previews can save users valuable time
otherwise lost opening an incorrect cell from the list. The preview
functionality provides users with a quick graphic display of the
cells contained in a folder, allowing them to select exactly the cell
they need.
1-15
1-16
NOTES:
A different drive can be accessed by typing /* in the Filter field and pressing [Enter].
You can then double-click the desired drive.
Y Click [OK].
Y The workcell contents are displayed in the Graphics
Window.
Introduction to Robcad
CHAPTER 1
5 Press Rewind
on the Sequence of Operations window to
reverse the simulation
1-17
1-18
This tool can be used to intuitively pan, zoom, and rotate the
object.
Introduction to Robcad
CHAPTER 1
) Pan Right/Left
) Pan Up/Down
) Zoom
) Tilt
- rotate front/back
) Spin
- spin around
) Roll
- rotate left/right
If you have one of these you will not need to learn how to pan,
zoom, and rotate with a mouse.
Note:
For more information on space mice see www.3dconnexion.com
) Middle button:
Y Used for zooming in or out. Moving the mouse left or right
affects the direction of zoom.
1-19
1-20
Y
Y
Y
Y
) Right button:
Y Used for panning. Moving the mouse in any direction
affects the direction of panning.
Y Mouse distance moved: affects the speed of panning.
Y For example: Click and hold middle button of mouse while
moving mouse slightly up, down, left, or right.
) Middle+Right buttons:
Y Used for moving the eye viewpoint. Moving the mouse in
any direction controls the movement of a sphere around the
model.
Y Mouse distance moved: affects the speed of rotation.
Y For example: Click and hold middle button of mouse while
moving mouse slightly up, down, left, or right.
NOTE
Introduction to Robcad
CHAPTER 1
Y The first corner will be where the cursor was when left
button was depressed. The other corner will be defined
where left button is released.
1-21
1-22
Method 1:
Method 2:
Put mouse cursor in Graphics Window and press the [F5] key.
Introduction to Robcad
CHAPTER 1
1-23
1-24
Introduction to Robcad
CHAPTER 1
1-25
1-26
Introduction to Robcad
CHAPTER 1
1-27
1-28
Exercise 3: Loading a
Configuration
Objective: To load a configuration.
1 From the Top Menu window, click Setup.
2 On the Setup window, click Configuration.
3 Load the default configuration.
Y Click Configuration / Load.
Y Select Default.
Introduction to Robcad
CHAPTER 1
1-29
1-30
Click on what you want to do, then Click on what you want to do it on. (Reverse of
word processors)
Introduction to Robcad
CHAPTER 1
The window below is displayed allowing you to pick one or more entities you want
blanked
1-31
1-32
Y Click Accept.
NOTE
The entities in the list are blanked. Blanked entities are not seen but they still exist.
They will be ignored by all functions except Save and Load.
Introduction to Robcad
CHAPTER 1
1-33
1-34
The previous list of selected entities appears in the entity list window. Selected
entities are also highlighted in the Graphics Window
Introduction to Robcad
CHAPTER 1
Setup Tab
) If this box is checked, then when you get a component and the
prototype contains layers, the layers will be added to the list of
layers in the cell.
) If this box is not checked, then when you get a component and
the prototype layers will not be added to the list of layers in the
cell.
1-35
1-36
) + Layer is displayed
) +/- Some elements of layer displayed
)
- No elements displayed
.
Y In the Layers window, click Create Layer
Y In the New window, enter the name robot for the layer in
the displayed window.
Y Click [OK].
2 Adding Components to a Layer.
Y Select the robot layer in the layer toolbox by picking on its
name.
Y Set the pick level to Component by press the [F12] key until
Component is displayed in the Top menu window.
Introduction to Robcad
CHAPTER 1
(blank from
(display in workcell).
1-37
1-38
Lesson 8: Additional
Commands
Viewing Panel
A panel allows the user to interactively modify elements. It will
redefine the mouse button functions, so View must always be
selected to regain view control of the mouse.
Introduction to Robcad
CHAPTER 1
To return to default floor height: From the Top Menu window, click Setup. On the
Setup menu, select Floor -> Floor/Adjust floor
1-39
1-40
Introduction to Robcad
CHAPTER 1
Y Click Undo
in the Toolbox Manager window. Note
that the deleted entities are restored.
Y Click Undo again. Note that the selected entities are
deleted again.
NOTE
The Undo command only "undoes" the last change. Some commands do not have
an undo, and Undo will be dimmed.
NOTE
The Reset command only resets the position of all Robcad windows
1-41
1-42
Lesson 9: Help
Introduction
For PCs - Context sensitive online help is only partially enabled in
this release.
NOTE
If step 1 does not work, use the api.htm document to browse through all the
available manuals. It located in this location by default:
C:\Robcad\online\manuals\wwhelp\wwhimpl\api.htm.
Y If you are using XP SP2 (or some other popup or some other
internet security tool, you will get a warning concerning
that the web page was blocked.
Introduction to Robcad
CHAPTER 1
Y Click Yes.
Y Browse through all the online help.
1-43
1-44
Introduction to Robcad
CHAPTER 1
Keyboard Summary
[F1] - Help
[F4] - Output Operations (Print graphics or text windows)
[F5] - Window Setup (Full view, View points, etc...)
[F6] - Global Setup (LOD, Pick window type, etc...)
[F7] - Store global entity list (to shared between commands)
[Shift]+ [F7] - Recall stored global entity list
[F8] - Recall last entity list for the same command
[F9] - Accept (Presses accept for popup windows)
1-45
1-46
The Abbreviation MB stands for Mouse Button. MB1 is the left mouse button.
MB2 is the middle mouse button, and MB3 is the right mouse button.
MB 1 - Picking
MB 2 - Zoom In/Out (move mouse left and right)
MB 3 - Pan (move in any direction)
MB 2 + MB 3 - Dynamic Rotation
Alt + MB 1 - Draw a box to zoom in to Alt+Ctrl+MB 1
Alt + Shift + MB 1 - Draw a box to zoom out of
Alt+Ctrl+Shift+MB1
Shift + MB - Pick a component to see its self origin
Ctrl + MB2 + MB3: Used for rotating about yourself
Home- Jump graphics window to front view
Rotate about the world frame perpendicular to the
screen (Z-axis by default) 30 degrees
Rotate about the axis perpendicular to the screen (Y-axis
by default) 30 degrees
Introduction to Robcad
CHAPTER 1
1-47
1-48
Introduction to Robcad
CHAPTER 1
Chapter Summary
In this chapter the following was learned:
) How to start Robcad and how to navigate through windows in
Robcad.
) How to customize, save, and load configurations.
) How to set, create, and add/ remove components to active
layers as well as blanking/displaying and filtering components
in layers
) How to retrieve online command help and documentation
1-49
1-50
Workcell Layout
CHAPTER 2
Chapter 2
Workcell Layout
About This Chapter
This chapter provides a description of workcell layout and contains
the following lessons:
) Lesson 1: Robcad Data Structure Introduction, page 2-2, gives
an example that shows the different aspects that creates a cell
) Lesson 2: Placement Command Introduction, page 2-7,
describes different tools and methodologies used to place,
mount, and attach components
) Lesson 3: Explicit Placement Commands, page 2-17, describes
how to create frames, move the working frame, set the pick
intent, and use the place and put commands.
) Lesson 4: Assembly Tree Intro, page 2-29, describes how to
display/blank and colliding entities, looking up tree nodes and
nodes grouping using the Assembly Tree window.
) Lesson 5: Attaching and Mounting, page 2-34, describes how
to use the attach and the mount commands.
2-1
2-2
Workcell Layout
CHAPTER 2
Characteristics of Instances
Name in cell
) Colors in cell
) Place in cell
) For instances of mechanisms: Kinematic Poses
) For instances of robots: TCPF position
) Layers in the cell
) For instances of robots: External Axis
) Relationships between components (Groups and Attachments)
Characteristics of Prototypes
) Initial colors
) Geometry
) Internal Relationships (Assemblies, Groups, Links)
) Kinematics
) Frames
) Layers
) Display Precision
) For mechanisms: Kinematic Poses
) Level of Detail
) Custom Attribute Definition
2-3
2-4
Wheres used?
Wheres it
Stored?
Prototype
Master
Component
In Modeling
Typically in a
Library (but can
be in the
current Project
as well)
Instance
Reference to the
Prototype
In the Workcell
In a workcell in
a Project
5 Click [OK].
Workcell Layout
CHAPTER 2
An instance of all the selected prototypes are added to the current workcell
Saving a Cell
2-5
2-6
The current cell displayed in the Graphics Window is still named mycell. The cell
name is displayed in the Top Menu Bar. This is because, unlike any word
processor, Robcad does not load the cell that was "saved as". The cell must be
loaded.
Workcell Layout
CHAPTER 2
Lesson 2: Placement
Command Introduction
Introduction
Now we will cover in detail various tools required to position
instances within a cell. The following is a list of placement
commands you will learn in this section:
Place Editor
1 Xyz Shift
2 Shift
3 Rotate
4 Transfer panel
5 Place
6 Put
2-7
2-8
Placement Methodology
1 Load a cell
2 Get a component instance
3 Use the Placement commands to move it into position
4 Store the cell
Method 1:
Method 2:
Workcell Layout
CHAPTER 2
This project has a different local library than the Layout project
Y
Y
Y
Y
Y
Unlike the previous exercise, the instances are not retrieved in their proper
positions/locations
2-9
2-10
Remember to look above the Top Bar Menu for the cell name to confirm the new
cell has been added
Workcell Layout
CHAPTER 2
Y
Y
Y
Y
2-11
2-12
Y
Y
Y
Y
Workcell Layout
CHAPTER 2
. The
2-13
2-14
NOTE
You must select view on the panel to retrieve original mouse controls.
Y
Y
Y
Y
NOTE
The step size is in the current units. The current units can be verified or changed
using the Setup -> Units menu option.
Workcell Layout
CHAPTER 2
2-15
2-16
Workcell Layout
CHAPTER 2
2-17
2-18
Y Select Motion
tab.
When the word Values appears in the Locate at field, and the offsets are all zero,
then the object will be placed directly on the current location of the Working Frame.
(Locate at arrow)
Workcell Layout
CHAPTER 2
If you pick a Locate at point in the graphics window and LOCATOR is filled into the
prompt on the popup window, this means that you have picked a point in space.
When you pick a point in space (not on an object) Robcad projects your pick point
onto the XY plane of the working frame (the plane windowed by the red axis and
green axis of the working frame).
2-19
2-20
Y
Y
Y
Y
Y
Y
Y
Y
Y
NOTE
Workcell Layout
CHAPTER 2
The working frame is placed in its original position on the invisible World frame
Place definition:
2-21
2-22
The way that Robcad figures out how far to move your component
is by figuring the distance in X,Y,Z between the From and To
points.
) In the example above the
object is being moved using the
place command from the From point to the To point.
) If you select All axes, it will move to the To point (as above).
For example if you choose to move from point (1, 1) to point
(10, 5), then the object will be moved 9 in the X and 4 in the Y
direction.
) If you select X-axis only, it will move only the distance
specified in X (as below). For example if you choose to move
from point (1, 1) to point (10, 5), then the object will be moved
9 in the X and 0 in the Y direction.
Workcell Layout
CHAPTER 2
By default, the [F11] key only toggles between Snap and Entity. In this class, we
have configured it to toggle between Snap, Entity, and Self Origin using the
.robcad file. Another place that you can go to set the pick intent is the [F6] ley Pick
intent menu.
2-23
2-24
Workcell Layout
CHAPTER 2
Y Select [F12] key and select Component (or press the [F6]
key and select Pick Level -> Component)
Y For Point to, select anywhere on the column to select the
self-origin.
Y Click Accept.
8 Get another instance of component direct1 into the cell.
9 Place tip of green cone of direct1_1 at fr1 in the Z direction
only
10 Make the direct1_1 component the active object for placement
Y Right click on the direct1_1 component and select
Placement.
Y On the Placement Editor window, select Place.
Y Select Z to place only in the Z direction of the working
frame
Y Press the [F11] key and select Snap (or press the [F6] key
and select Pick Intent -> Snap)
Y Press the [F12] key and select Entity (or press the [F6] key
and select Pick Level -> Entity)
Y For Point from, select the tip of the green cone (zoom in on
it first).
Y For Point to, select the fr1 frame.
Y Click Accept.
11 Use the existing components and repeat steps 4 11 using fr2
in place of fr1.
2-25
2-26
Put definition:
Workcell Layout
CHAPTER 2
4 Put the column from its self-origin to fr1 with target orientation.
Y Select Put from the Placement Editor window.
Y Move the input mouse pointer to the Locate At field. This
will keep the default From frame of self origin.
Y Select fr1 (magenta frame) for the Locate at field.
Y Leave All and Target orientation selected.
Y Click Accept.
Y The orientation of the column is changed to the orientation
of the object that was set in the Locate At field.
5 Get another instance of component column.
6 Pick the next column as the object you'd like to manipulate.
Y Right click on then new column component and select
Placement.
7 Put the column from its self-origin to fr1 with source
orientation.
Y Select Put from the Placement Editor window.
Y Move the input mouse pointer to the Locate At field. This
will keep the default From frame of self origin.
Y Select fr1 (magenta frame) for Locate at field
Y Leave All selected and select Source orientation
Y Select Accept. Note that the current orientation of column
is maintained.
8 Get another instance of component column.
9 Put this column at fr1 only in the Z-axis this time using either
source or target orientation.
10 Get additional instances of the column and repeat 3 14 using
fr2 in place of fr1.
2-27
2-28
Workcell Layout
CHAPTER 2
2-29
2-30
Querying
In the Tree window, select Tree -> Node information.
) Node information displays a window listing various items of
information about the selected nodes. The information includes
the instance name of the entity in the workcell, the name of the
prototype, the name of the library folder in which the prototype
component is located, and the coordinate location of the
instance in the workcell.
Fast Operations
To open a window that displays various tree node operations,
place the mouse pointer on the text of a node and hold down the
right mouse button. This will bring up the window and make this
the acted upon node. This menu contains nine commands that
duplicate commands that are located in various submenus of the
tree window.
) Node information: displays text window containing
information
) Delete: deletes the node
) Blank: blanks the node
) Display: displays the node
) Attach: allows you to attach this node to another
) Detach: allows you to detach this node
) Ungroup: extracts all group members and deletes the group
) Add to group: allows the node to be added to a group
) Extract from group: extracts the node from its current group
To open a window of global tree commands, place the mouse
pointer close to the right-hand border of the tree window and hold
down the right mouse button. This menu contains 4 commands:
) Undo: undoes the last command executed
Workcell Layout
CHAPTER 2
Hiding Sub-trees
To close the sub-tree under any node, pick the minus sign at the
left of a node.
2-31
2-32
To restore the display of the sub-tree, again pick the plus sign now
displayed.
In the Tree window, use View -> Expand all to open all the subtrees.
Selecting Nodes
Any node can be selected by picking on the tree; previously
selected nodes are then deselected. To pick multiple nodes
simultaneously, press [Ctrl] and pick the additional nodes. Nodes
can also be selected from the Graphics window. For this, enable
the Auto-Update option from the Tree menu by selecting Tree ->
Auto update and make sure pick level is set to Component using
the [F12] key. If an entity is picked in the Graphics window and its
node is located in a closed sub-tree, the tree display will not
change.
The red nodes indicate the parts that are involved in a collision. The yellow nodes
indicate parts that are in a near miss condition.
Workcell Layout
CHAPTER 2
The blanked components are shown in the tree hierarchy, but notice the difference
in the name of a blanked object and a displayed object. (The text is dimmed for the
blanked objects)
This function adds a column into the tree containing the name of the prototype for
each part. The @ symbol represents the library root
2-33
2-34
Move B
One-Way Attached
Only A moves
A and B moves
Two-Way Attached
A and B moves
A and B moves
Workcell Layout
CHAPTER 2
NOTES:
Objects can be attached and Detached using the Assembly Tree window. To use
this method, right click on the desired object in the Assembly Tree window and
select either Attach or Detach.
NOTES:
The exercise assumes that the previous exercise was performed in which Auto
update, Show Relation, and Show Blank modes where turned on in the Tree
window.
3 One-way attach the man with the One Way Attached sign
above his head to the chair under him.
Y In the Tree window, right click the big_chair and select
Attach.
Y Select One way.
Y Select m50.
Y Click [OK].
4 Two-way attach the man with the Two Way Attached sign
above his head to the chair under him.
Y In the Tree window, right click the big_chair1 and select
Attach.
Y Select Two way.
Y Select m50_1.
Y Click [OK].
5 Move the One-Way Attached man using the Placement Editor
windows Transfer panel. Only he moves.
6 Move his chair using the Placement Editor windows Transfer
panel. Both the man and his chair move.
2-35
2-36
7 Move the Two-Way Attached man. Both the man and his chair
move.
8 Move his chair. Both the man and his chair move.
Workcell Layout
CHAPTER 2
tab.
Y Click Accept.
5 Rotate the gun about its Lz so that the tips are up
Y Right click on the gun and select Placement.
Y In the Placement Editor window, click Rotate.
Y Click Lz.
Y Enter 90.
Y Click Accept.
6 Move the robot and notice how the gun is attached to the
robot.
2-37
2-38
Chapter Summary
In this chapter the following was learned:
) How to construct and load cells from projects.
) How to get components and place them using the Placement
Editor window.
) How to use the Assembly Tree window
) How to mount and attach components
Chapter 3
Modeling and
Kinematics
About This Chapter
This chapter provides a description how to model solids, change
entity precision, and create kinematic definitions in Robcad. It
contains the following lessons:
) Lesson 1: Modeling Basics, page 3-2, describes how to do some
basic modeling in Robcad.
) Lesson 2: Introduction to Representation Precision, page 3-10,
describes how to change the entity representation precision.
) Lesson 3: Fundamentals of Kinematics, page 3-18, describes
how to add kinematics to a simple component and move it
around.
) Lesson 4: More on Kinematics, page 3-27, describes how to
add kinematics to a very basic robot.
3-1
3-2
Modeling Methodology
1 Open a component prototype in cell or independently
2 Design prototype geometry
3 Edit geometry
4 Define kinematics
5 Store prototype
6 Close the component prototype
Let's return to our city of Robcad, Michigan to explain our
modeling methodology:
Method 1:
Method 2:
Method 3:
3-3
3-4
Modeling Definitions
) Primitives - Robcad works with 8 basic solid primitives: Cube,
Box, Cylinder, Sphere, Wedge, Torus, Ring and Cone. Out of
these primitives, a designer can create many required shapes.
) Solid creation - Robcad supports several operations to convert
surface data into solids: Sweep, Sweep Curve, Thickness
(extrude), and Revolution.
) Boolean Operations - These are key operations for the solid
modeler. Robcad supports the following operations:
Y Intersect - Creates a solid out of the common volume of
two solids.
Y Subtract - Creates a solid by using the volume of one solid
to remove volume from another solid.
Y Unite - Creates a solid out of all the volume occupied by
two or more solids.
Begin Modeling
Select Files -> Display/Cell display -> Dim to Dim all entities not part of prototype
being modeled.
2 Click Accept.
PRINCIPLE:
3-5
3-6
2 Click Confirm.
PRINCIPLE:
When a prototype is saved, the Self-origin is placed at the World frame. The
location of each entity in the prototype is relative to the Self-origin. When the
instance is created in a workcell, the Self-origin will be placed at the Working frame
unless a different position is specified.
NOTE:
When an existing prototype is saved, all instances in all cells using it will be
updated. To update all instances in current cell before saving. Select Files ->
Update cell.
End Modeling
When you are done modeling a prototype, you must Close (end modeling). Failure
to do so will result in entities being added to the prototype instead of the cell.
NOTE:
Above your top menu bar, should be the words MODELING PROTTYPE: mytable.
If not, ask your instructor for assistance.
3 Create a cube
Y From the Toolbox Manager window, click 3D Sketcher
.
Y From the 3D Sketcher window, select cube
Y For Edge length enter: 1000.
Y Click Accept.
4 Create two boxes to cut out the table legs
3-7
3-8
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
NOTE:
A table is modeled. The Self-origin of the last solid picked becomes the Self-origin
of the result.
3-9
3-10
Lesson 2: Introduction to
Entity Precision &
Representation
Solid Entity Representation in
Robcad
There are two types of solids that can be created within Robcad:
polyhedral solids and exact solids.
Polyhedral solids
Exact solids
) The display model can be either the same as the math model,
or a simplified version to speed up simulation
) The display accuracy can be changed at any time.
) Default display precision is a 3 on a scale from 0 to 9
3-11
3-12
3-13
3-14
This exercise will use the part from the previous exercise.
Close and Save the component, if you have not already done
so.
Y On the Top Menu window, click File.
Y On the File window, click Save.
Y On the File window, click Close.
At the heart of this technology is the fact that an object that is far from the viewer's
eye, does not have to be displayed in the same level of detail as an object that is
close to the viewer.
Improving Visualization
Performance
These abilities can be accessed by pressing the [F6] while the
mouse pointer is in the Graphics Window.
) Level of details - Is an LOD tool to lower the highest level of
detail slightly to improve the speed of simulations. It is turned
off by default. To turn it on, press the [F6] key and select Level
of Details.
3-15
3-16
3-17
3-18
Lesson 3: Fundamentals of
Kinematics
Definitions
) Kinematic chain - collection of links and joints
) Link - minimum non moving segment of a kinematic chain.
Default names begin with the letter K (i.e. K1, K2, K3)
) Joint - minimum moving part of chain. A joint consists of 2
links and an axis. Default names begin with the letter J (i.e. J1,
J2, J3). There are 2 types of joints.
Y Revolute joint - rotates around axis
Y Prismatic joint - linear movement along axis
NOTES:
Methodology to Define a
Kinematic Device
1 Envision the kinematic chain and create a kinematic tree on
paper
Y What are the links, what type of joints, and so on)
NOTES:
Whenever modeling kinematics, first draw a kinematic tree. Each box represents a
link. A joint is represented by drawing an arrow from the parent link to the child link.
NOTES:
The first link is always the fixed link. The geometry of second link cannot contain
any of the geometry of the any other link.
Child link
Parent link
3-19
3-20
The links and axis have already been created for you. All you have to do is define
the joints and the mechanism.
Kinematic Tree
3-21
3-22
A message should be printed below the Graphics Window that says Device has
been defined
PRINCIPLE:
You must define the mechanism every time you modify the kinematics.
Current joint values are saved for home position when define is selected.
3-23
3-24
NOTES:
9 Save mechanism.
Y On the Top Menu window, select Files.
Y On the Files window, select Save.
10 Test the joint in mechanism
Y
Y
Y
Y
.
From the Toolbox Manager window, click Device Jog
For Active mechanism pick CURRENT_MECHANISM.
For Joint select J1.
Move the mouse into the Graphics Window; hold down the
middle mouse button; move the mouse left and right to see
the selected joint move.
Y For Joint select J2.
NOTES:
If you need to edit your joints click Kinematic editor, select the desired joint, and
click Edit.
Y Move the mouse into the Graphics Window; hold down the
middle mouse button; move the mouse left and right to see
the selected joint move.
IMPORTANT:
3-25
3-26
Steps to create this simple robot are in Appendix C. We will not cover these steps
in class.
Y
Y
Y
Y
Click Select.
Click Independent.
Click Accept.
Click Confirm.
3-27
3-28
3-29
3-30
8 Look at the joint axis lines that have already been created.
NOTE
In this exercise the axis lines are already created. However, if you had to create
them yourself you could use any Robcad line creation technique including:
3-31
3-32
3-33
3-34
12 Define mechanism:
Y On the Kinematics Editor window, click Define.
Y Click Close.
Y A comment appears in the Message Window.
NOTE
You must define the mechanism every time you modify the kinematics.
NOTE
Current joint values are saved as home position when define is selected.
NOTE
13 Save mechanism
Y On the Top Menu window, click Files.
Y On the Files window, click Save.
14 Test the 6 joints in mechanism.
Y
Y
Y
Y
Y
.
From the Toolbox Manager window, click Device Jog
Click on Active Mechanism on the device jog panel.
Click on robot to make it the active mechanism.
Select a joint (J1, J2, etc.)
Select Jog and test the joint utilizing the middle mouse
button in the Graphics Window.
Y Determine and record the desired range of each joint from
the Status Window.
Y Click on Move -> Home pose before leaving this window.
NOTE
The current value of the joint being jogged is displayed in the Status Window.
Values are relative to home pose.
NOTE
The range is specified based upon all joint values being 0 at the home pose. Home
pose is defined by the position of the links when you click Robots/Define from the
Kinematics window or Define from the Kinematics Editor window.
IMPORTANT
Y
Y
Y
Y
Y
Y
3-35
3-36
Low Limit
High Limit
J1
-180
180
J2
-70
70
J3
-25
25
J4
-190
90
J5
-110
110
J6
-340
240
NOTE
Reference joint range values for the purposes of this exercise only:
3 Define mechanism
Y On the Kinematics Editor window, click Define.
Y Click Close.
PRINCIPLE
Optionally, the Robots / Define button on the Kinematics window could also be
used.
NOTE
Select the HOME pose on panel each time before leaving panel.
5 Save mechanism
Y On the Top Menu window, click Files.
Y On the Files window, click Save.
3-37
3-38
End modeling.
Y On the Files window, click Close.
Chapter Summary
In this chapter the following was learned:
) Described how to do some basic modeling in Robcad
) Described how to change the entity representation precision
) Described how to add kinematics to a simple component and
move it around
) Described how to add kinematics to a very simple robot
3-39
3-40
Processing
CHAPTER 4
Chapter 4
Processing
4-1
4-2
Putting an object from the source frame to the target frame will:
) Move the object from the source frame to the target frame
) Orientation of the object is not affected (orientation of the
source frame is maintained)
Putting an object from the source frame to the target frame will:
) Move the object from the source frame to the target frame.
) Orientation of the object is changed to the target frame
Direct Kinematics
) Easy for Robcad to do because Robcad already knows the joint
values
) Direct kinematics can be used for any kinematic device such as
guns, clamps, robots, etc . . .
Processing
CHAPTER 4
Target Pose
J1=0
J1=10
J2=10
J2=120
Move to Pose J3=100
J3=0
J4=15
J4=45
J5=40
J5=32
J6=20
J6=46
Inverse Kinematics
) Takes more effort from Robcad, because the destination pose
must be calculated on the fly. However, this gives more
flexibility to the user.
) Only available for robots (and CMM's).
Move to
Target
Location Location
Calculated
Pose
J1=0
X=10
J1=10
J2=10
Y=2547
J2=120
J3=0
Z=301
J3=100
4-3
4-4
J4=15
Rx=35
J4=45
J5=40
Ry=145
J5=32
J6=20
Rz=76
J6=46
2 Internally, Robcad tries to put the TCPF of the robot onto the
location
3 Once Robcad puts the TCPF on the location, Robcad then looks
at the joint values required to reach this location
4 Robcad moves the mechanism from the current pose to the
calculated pose which places the TCPF of the robot on the
target location.
Processing
CHAPTER 4
4-5
4-6
Y When you get into the right source project, pick the robot
myrobot once.
Y Pick the robots library once.
Y Click Move to move myrobot to the robots library.
Processing
CHAPTER 4
Y Click [OK].
4-7
4-8
Motion Window
These tools can be accessed in several places in Robcad including
the Motion
window.
) Move commands
Y Target Used to select the locations for the active
mechanism (i.e. robot) to move to.
Y Play - A full Inverse command, it moves the robots TCPF to
a locations position and orientation.
Y Move XYZ A partial Inverse command, it moves the
robots TCPF to a locations position, but not orientation of
X, Y, and Z.
Y Move Align Z A partial Inverse command, it moves the
robots TCPF to a locations position, and aligns the Z axis
of the TCPF with the Z axis of the location (but ignores the
locations orientation of the X and Y axes).
Allows the movement of all the joints of the
) Robot Jog
active mechanism by repositioning the TCPF.
) Joint Jog
Allows the movement of one joint of the
active mechanism at once.
Processing
CHAPTER 4
4-9
4-10
or Robot Jog
tabs of
or Robot Jog
tabs of
Processing
CHAPTER 4
4-11
4-12
Processing
CHAPTER 4
NOTE
Properties of a location can also be viewed by clicking Properties from the right
click menu.
4-13
4-14
Y Click Offset.
Y In the Offset window, enter 3000 for Y.
Processing
CHAPTER 4
Y Click [OK].
Y Click [OK].
Y Click [OK].
3 Bring up the Path Editor.
Y From the Toolbox Manager window, click Path
Editor
4-15
4-16
Y Click [OK].
Processing
CHAPTER 4
4-17
4-18
Y Click [OK].
7 Make a copy of the first robots path for the second robot.
Y Select the robot1_path1 path.
Y In the Path Editor window, click Copy
Processing
CHAPTER 4
Y Click Offset.
Y In the Offset window, enter 3000 for Y.
4-19
4-20
Y Click [OK].
Y Click [OK].
Processing
CHAPTER 4
Y Click [OK].
Y Note: you can also delete a location by right clicking on it
in the Path Editor and selecting Delete.
2 Extract a location from the path.
Y Select a location from the first path (robot1_path1).
.
Y In the Path Editor window, click Extract
Y Look at the effect in the Graphics Window and the Path
Editor window.
3 Insert a location into a path.
Y
Y
Y
Y
Y
4-21
4-22
Y Click [OK].
Y Close the Path Editor window by clicking the Path Editor
icon again.
4 Rename the second robot to robot2.
Y From the Layout window, click Rename.
Y In the Rename window, click Add.
Y In the Object drop down, select gmfs420_1
Y Pick in the New name field.
Y For the New name type robot2.
Y Click Add and Close.
Y Follow the same process to rename the other robot robot1.
Processing
CHAPTER 4
Y Click [OK].
Y Click Continue.
Y Click Yes.
4-23
4-24
Process to Manipulate
Components in Libraries
) From the Toolbox Manager window, click Data
Processing
CHAPTER 4
4-25
4-26
Processing
CHAPTER 4
4-27
4-28
Processing
CHAPTER 4
4-29
4-30
Processing
CHAPTER 4
Setting Up Projects
4-31
4-32
Processing
CHAPTER 4
The old way of creating a quick envelope around just the robot is still available in
the modeling menu
- From the Top Menu window, click Robcad -> Modeling.
- From the Top Menu window, click Kinematics.
- From the Kinematics window, click Envelope.
4-33
4-34
Processing
CHAPTER 4
4-35
4-36
You should now see this project listed in the window along with the rest
Processing
CHAPTER 4
.
From the Toolbox Manager, click Settings
Click Mount.
Pick the gun that you just got into the workcell.
In the Mount window, click Accept.
NOTE
If the active mechanism is not currently set, Robcad will prompt you for it in the
message window (simply click anywhere on the robot you want as the active one).
12 The gun may need to be rotated so that tips are facing up.
13 Define the TCPF (Tool Center Point Frame).
Y Right click the robot and select Active Mechanism.
menu, select TCPF.
Y In the Motion window Settings
Y Pick the frame between the gun tips.
4-37
4-38
Just guess where the robots envelope is for now. In general, it would be at a
position where, if you swung the robot around J1 with the gun mounted, the fence
will not be hit. We will use a Robcad command to place these fences better in the
next exercise).
Processing
CHAPTER 4
From the last exercise, you should have a gun mount to the robot and a TCPF
defined at the gun tips.
4-39
4-40
The computer will now sit for about 5 minutes to generate the envelope.
Processing
CHAPTER 4
4-41
4-42
NOTES:
The name of your robot may be different than the one in the training manual.
Y Click [OK].
Y The robot path should now be shown in the Graphic
Window in front of the robot, and in the Path Editor
window.
3 Move the robot along the path.
Y In the Graphic Window, right click the robot and select
active mechanism.
Y In the Motion window, set the Automatic mode to Move
Y Move along the path (double-click the path)
4 Store the workcell
Y From the Top Menu window, click Layout.
Y From the Layout window, click Store
Y Click Confirm.
Processing
CHAPTER 4
4-43
4-44
Processing
CHAPTER 4
Robcad can not only detect collisions (i.e. when the robot hits an
object they are highlighted red), it can also detect when it gets
within a specified distance to the object (objects are highlighted in
yellow). This is called a near miss. A near miss value can be
entered for each specific collision list or a global value can be
entered for all collision lists. In order to detect near misses your
collision detection mode must be set to L Near (instead of Lists).
EXERCISE 1: Automatically
Creating Collision Lists
Objective: To setup collision lists and see collisions detected.
1 Get the clamps.
Y Bring the clamps into the cell (r1, r2, r3 clamps), if you have
not already, and locate them at the green car reference
frame.
2 Open up the Collision Setup window.
Y From the Toolbox Manager window, click Collision setup
.
3 Automatically, define a new collision list.
Y From the Collision Setup window, click Define pair.
Y
Y
Y
Y
4-45
4-46
Processing
CHAPTER 4
4-47
4-48
Processing
CHAPTER 4
to Lists.
.
Right click the robot and select Joint Jog
Select a joint from the list.
Click JOG.
Depress the middle mouse button and move the mouse left
to right in the Graphics Window.
Y
Y
Y
Y
.
From the Motion window, click Robot jog
Click Tcpf.
Click Y.
Depress the middle mouse button and move the mouse left
to right in the Graphics Window.
6 Move the robot into the part using the Placement Editor
window.
7 Simulate the robot along the path.
Y From the Motion window, click Move Commands
Y
4-49
4-50
Processing
CHAPTER 4
Y Click Accept.
6 Set the time interval to .05 and simulate
Y From the Motion window, click Settings
Y Click Time interval.
Y For Time interval enter: .05
Y Click Accept.
7 Simulate the robot along the path.
Y From the Motion window, click Move Commands
Y For Automatic mode, select Move.
Y Double click the path.
8 Reset the time interval to 0.2.
4-51
4-52
Note Editor
This toolbox enables adding notes to entities in the workcell.
To select a note, pick its name in the note-editor list.
To select multiple, consecutive notes, drag the mouse through the
list, or press the [Shift] key and pick a second note. To select
multiple, individual notes, press the [Ctrl] or the [Ctrl] key and pick
the desired notes.
Processing
CHAPTER 4
NOTE
4-53
4-54
Processing
CHAPTER 4
10 To resize a window:
Y Move the move pointer over the grey border of the graphics
window to be resized. (The mouse pointer will change from
pointing down to pointing up).
Y Pressing the right mouse button will now display a menu.
Y Select Size from the menu. (The border of the window will
become highlighted with red lines and the mouse pointer
will be jumped to the middle of the graphics window).
Y Now move the mouse point past one of the window borders
and you will see the window stretching or shrinking in that
direction.
4-55
4-56
Processing
CHAPTER 4
Y Select Apply.
4 Repeat step 3 for note2.
5 Toggle between see text on the note flags or just a flag
Y Press the [F6] key and select Text notes.
Y The notes are turned into flags in the Graphics Window.
Y Press the [F6] key and select Text notes.
4-57
4-58
Processing
CHAPTER 4
Y Click [OK].
4 Reposition Notes.
Y In the Note Editor window, click Reposition.
Y In the Graphics Window, pick a note and pick where to
move it to.
Y Click Cancel in the Reposition window when finished.
4-59
4-60
Y Click Apply.
Processing
CHAPTER 4
4-61
4-62
Chapter Summary
In this chapter the following was learned:
) How to use inverse kinematics to make the robot in Robcad
move.
) How to work with robotic paths in Robcad.
) How to use the library utilities.
) How to start a new project in Robcad.
) How to setup and use collision detection.
) How to use the view manager, note flags, and cell previews.
Chapter 5
Basic Simulation
Techniques
About This Chapter
This chapter provides various techniques for creating and viewing
simulations in Robcad and contains the following lessons:
) Lesson 1: Introduction to Sequence of Operations, page 5-3,
describes the basics of SOP in Robcad.
) Lesson 2: Creating a Sequence, page 5-8, describes how to
create a sequence.
) Lesson 3: Using a Scenario, page 5-21, describes how to create
a scenario.
) Lesson 4: Editing Operations, page 5-26, describes how to edit
operations.
) Lesson 5: SOP Events and Settings, page 5-28, describes how to
add events to an SOP and change the SOP settings.
) Lesson 6: SOP Collision and Simulation Analysis, page 5-39,
describes how to analyze the simulation and collisions in a
SOP.
) Lesson 7: Using Camera Views (Optional), page 5-45,
describes how to create and use camera views.
) Lesson 8: Static Output, page 5-49, describes how to output
pictures.
5-1
5-2
Lesson 1: Introduction to
Sequence of Operations
Introduction
Demo
5-3
5-4
SOP Organization
Sequences are made up of operations; and operations are made up
of procedures:
) Sequence - Operations performed in a certain order make up a
sequence. A sequence is associated with a workcell and is
saved as a file under the workcell folder. The sequence is stored
separately from the cell.
) Operation - One or more procedures of the same type and
starting time. It is included in a sequence, starting at a specific
time after the start of the sequence, and is stored as part of the
sequence file.
) Procedure - Basically, a procedure associates a part with a
path, and assigns the amount of time it takes to complete the
procedure.
5-5
5-6
Overview of an Operation
5-7
5-8
Lesson 2: Creating a
Sequence
Introduction
Operations performed in a certain order make up a sequence.
There are several types of operations that were briefly discussed in
the previous lesson. Within each operation, multiple events can be
performed.
Open a Sequence
1 Open a sequence
Y From the Top Menu window, click Sop.
Y From the Sequence of Operations window, click Sequence.
A cell can have more than one sequence. This command lists all existing
sequences for the loaded cell. If you want to edit an existing sequence, select the
sequence name in the list.
Define an Operation
A sequence can have more than one operation. This command lists all existing
operations for the current sequence. If you want to edit an existing operation, select
that operation name from the list.
3 Determine the type of operation this will be. This step must be
done before anything else.
Y Select Operation -> Type.
5-9
5-10
7 Click Accept.
8 Repeat these steps until all desired operations for this sequence
have been defined.
5-11
5-12
5-13
5-14
Y Pick in the first box for the Path/Program column and select
the path.
Robcad will figure out the duration for you later when the simulation runs
5-15
5-16
NOTE
Robcad will figure out the duration for you later when the simulation runs
5-17
5-18
Y Pick in the first box of the From column and select OPEN.
NOTE
Robcad will figure out the duration for you later when the simulation runs
Y Click Close_clamps.
Y Click Accept on the bottom of the Operation window. (You
may have to press Confirm also).
7 Reorder the operations by time
Y From the Sequence of Operations window, click Reorder ->
By time.
5-19
5-20
5-21
5-22
5-23
5-24
7 To prepare for the next exercise select the all active scenario
Y From the Sequence of Operations window, click Scenario > All Active.
5-25
5-26
5-27
5-28
We will add the events in the next exercise to complete our SOP.
5-29
5-30
SOP Events
An event is an activity that requires zero time, such as attach or
detach.
Events happen relative to the start or the end of an operation. Each
of the different types of operations can contain multiple events.
Events can happen before, after, or at a specific time offset within
an operation. Here is a brief description of SOP events.
5-31
5-32
This Pick Level should not be Entity in this step. We are using this technique to
display all of the entities of the Overhead, including blanked frames.
NOTE
We are not changing the Pick Level to Entity to make it easier to pick the frame we
just displayed. Also this will allow attaching the cardoor to the carrier entities,
instead of the entire overhead component.
Y From the Put window, for the Target Frame, select the
frame floating in space (named overhead.carriage).
Y Click Accept.
5-33
5-34
Y In the Attach window, for Attach to, pick one of the suction
cups (black objects) on the overhead.
Y In the Attach window, click Rel to start. (Our time offset
will be zero so we do not have to enter it).
Y In the Attach window, click Accept.
Y In the Operations window, click Accept. (You may also
have to click Confirm).
Y In the Gantt chart window, a white diamond is shown at the
beginning of the Enter_cell operation.
6 Look at the events color legend.
Y In the Gantt chart window, click Gantt Settings.
Y Select Marks -> Colored.
Y If the events show in black (not with the colors from the
legend): In the Gantt chart window, click Events & signals > Colored.
7 Initialize the start position for the wireframe part.
Y From the Sequence of Operations window, click
Simulation.
Y From the Sequence of Operations window, click Reset and
Initialize before running the simulation (after changing the
positions of objects).
8 Create a detach event after the part is put into the clamps:
Y Edit the Load_part operation by picking it on the Gantt
chart (its contents should be shown in the Operation
window).
Y In the Operation window, click Add and select detach.
Y Add a detach event for the wireframe part at the end of the
Load_part operation.
5-35
5-36
5-37
5-38
5 Play
it afterwards.
Collision Analysis
This tool enables users to analyze collisions occurring during a
SOP:
) Displays an interactive report of all collision occurrences
detected within a SOP.
) Enables users to jump to a selected collision occurrence.
) Highlights collision occurrences in the Graphics Viewer.
) Provides an option to save the collision report to a .CSV file.
5-39
5-40
5-41
5-42
Y Click Jump.
Y Click Highlight.
5-43
5-44
5-45
5-46
Manipulating Viewfinders
Any graphics window either can be activated as the viewfinder of a
selected camera, or it can be used for the usual Robcad display:
) If the graphics window acts as a camera viewfinder and if the
projection is parallel, the camera itself appears in the
viewfinder window as a small rectangle surrounding a circle.
Zooming the view does not affect its size. If the projection is
perspective, the camera appears in the viewfinder window as a
box surrounding a circle. Zooming the view moves the
observer closer both to the view and to the camera and
therefore affects the size of the camera, until the camera
disappears behind the viewing plane, i.e., the observer.
5-47
5-48
5-49
5-50
5-51
5-52
Y Name it for_printing.
Y Click Accept.
5 Move cursor to the Graphics Window.
6 Make a picture of the Graphics Window.
Y Press the [F4] key.
Y In the Output operations window, select Screen to JPEG
file.
Y For File name enter: mypicture.jpg.
5-53
5-54
Y Click [OK].
7 Return to the default configuration
Y From the Setup window, click Configuration.
Y From the Setup window, click Load -> User Home.
NOTE
This is different from Default in that it has the library root defined correctly.
The printer must be defined by the system manager before sending output to the
printer with the option.
An Output operations window appears with option to output the text to a printer or to
a file.
5-55
5-56
Y Select for_printing.
Y Click Select.
2 You should already have created at least one view in the
previous exercises. We will now send one them to a picture
file.
3 From the Toolbox Manager, click View Manager
4 Select one of the view you created.
5 Create the picture.
Y In the View Manager, pick either JPEG or TIFF.
Y Click Export.
Y In the Store image window, for Name, enter
AnotherPicture.jpg
Y Click Accept.
6 Load the default configuration again
Y From the Setup window, click Configuration.
5-57
5-58
Y
Y
Y
Y
NOTE
The instructor should verify that a VRML Internet Explorer plug-in such as
Cortona_vrml50.exe is installed prior to performing step of this exercise.
5-59
5-60
A (3D) VRML-2 simulation can be recorded using SOP -> Simulation -> Record
VRML2.
NOTE
The web browser (using a plug-in) must support VRML-2 format in order to run the
simulations. (For example the Cortona_vrml50.exe Internet Explorer plug-in).
The Robcad CDROM contains a freeware MPEG player for UNIX and another for
PC
If the Cortona
VRML plug-in is installed, your 3D workcell will be shown in the
Internet Explorer window. It can be panned, zoomed, or rotated. If the plug-in is
not installed, it will just show the contents of the WRL text file.
NOTE
A (3D) VRML-2 simulation can be recorded using SOP -> Simulation -> Record
VRML2.
Ensure that the current condition of the contents of the graphics space is easily
reproducible. It is usually preferable to begin recording a command file immediately
after loading the desired contents of the graphics space.
5-61
5-62
If A window appears listing the names of the existing command files, click Close.
Y
Y
Y
Y
Y
NOTE
Stop is then deactivated, leaving only pause active; subsequent Robcad commands
are then not recorded in the command file. To resume recording commands, again
select pause; the stop function is again activated.
NOTE
The name of the command file disappears from the file value field, the count value
field is reset to 0, the play, record and erase functions are activated, and the pause
and stop functions are deactivated. The command file is preserved in the database
and its name is included in the window list that appears when the play, record, and
erase functions are selected.
NOTE
Exiting the logger before terminating the command file, or exiting the Robcad
operating session even without preserving changes, nevertheless preserves the
command file in the database. Use the erase function to delete a command file.
Ensure that the contents of the graphics space are suitable for the sequence of
commands contained in the command file. Commands that cannot be performed
exit with an error message; some errors terminate the playing of the entire
command file.
The Graphics Window resizes to the defined size, the name of the selected
command file appears in the file value field, and the command file begins issuing
the Robcad commands as they were recorded. The count value field increments
accordingly.
5-63
5-64
NOTE
To interrupt the command file, select the pause function. Stop is then deactivated,
leaving only pause active; Robcad commands can then be issued as desired. To
resume playing the command file, again select pause; the stop function is again
activated.
NOTE
To cancel the command file before it finishes, select stop. The logger panel reverts
to its condition when it was invoked. The same occurs if the command file finishes
normally, with the addition of a corresponding message in the messages window.
5-65
5-66
Y Click Accept.
Y From the Report Creator window, click Prepare Images.
Y Click Accept.
Y From the Report Creator window, click Generate.
Y (If you are on a PC or the browser does not open
automatically, See the next steps for information).
5-67
5-68
Y Select Browse.
Y Browse to your project folder
(./WKP100U/projects/myproject)
Y Browse into your WEB_REPORT folder
(./WKP100U/projects/myproject/myproject_WEB_REPORT
).
5-69
5-70
Chapter Summary
In this chapter the following was learned:
) The basics of SOP in Robcad.
) How to create a sequence.
) How to create a scenario.
) How to edit operations.
) How to add events to an SOP and change the SOP settings.
) How to analyze the simulation and collisions in a SOP.
) How to create and use camera views.
) How to output pictures and static VRML files.
) How to output simulations to various formats.
) How to create web reports of the workcell.
Chapter 6
Other Selected
Topics
About This Chapter
This chapter provides a description of other important topics in
Robcad such as CAD Integration. It contains the following lessons:
) Lesson 1: Data Menu CAD Translating (Optional Topic), page
6-2, describes how to import and export components from
other file formats.
) Lesson 2: More on Robot Motion, page 6-10, describes more
on robot motion.
) Lesson 3: Putting It All Together, page 6-17, begins the course
summary.
) Lesson 4: Where Do We Go From Here?, page 6-19, describes
what classes can be taken to gain more information about
Robcad.
6-1
6-2
Import
into
Robcad
Export
from
Robcad
Run-able by
Command Line
Run-able
by Robcad
Data Menu
AutoCAD
DXF
Yes
Yes
Yes (dxfin or
dxfout)
Yes
CATIA v5 * Yes
Yes
IGES
Yes
Yes
Yes (igesin or
igesout)
Yes
JT
Yes
Yes
Yes (TxJt2co or
upgrade_to_versio
n co2jt)
Yes
Robface
Yes
Yes
Yes (Robfacein or
Robfaceout)
Yes
STL
Yes
Yes
Yes
NX *
Yes
Yes
Pro
Engineer *
Yes
--
Yes
(TxConvert2co)
--
Contact UGS Global Technical Access Center (GTAC) for specific information on
installing, configuring, and using specific translators and cad integration tools. Only
importing via the Data Menu will be covered in class.
6-3
6-4
PRINCIPLE
Robcad does the import as a two step process. First, it creates a ROBFACE (.RF)
file from the input IGES file (.IGS). Then it converts the ROBFACE file to a
component (.CO). This technique is used for all translators.
In the Source file area of the Cad Import window, verify that
you're in the ./WKP100U/projects/robdata project
Y The source project name is shown in the lower left hand
corner
6-5
6-6
NOTE
6-7
6-8
PRINCIPLE
Robcad does the export as a two step process. First, it creates a ROBFACE (.RF)
file from the component (.CO). Then it converts the ROBFACE file to a specified file
format (i.e. .IGS). This same technique is used for all translators.
6-9
6-10
window and
) Robot Controller Can be accessed in several places in eMWorkplace including the Motion
window (i.e. using the
Controller button). It is used to assign an Robcad controller to
a robot, which sets the teach pendant (containing robot specific
motion parameters) and motion planner for a robot.
6-11
6-12
window
Instructor Demo
Instructor: run the path once with joint motion type, then run it
again (with a different track color) with linear motion type. Use a
similar process to explain
External Axis
th
6-13
6-14
Cables
The Cables product provides a convenient means of simulating the
use of the various cables used with robotic applications. These
include electrical power and control cables, liquid-conducting
coolant and materials cables, and air-pressure control and cleaning
cables. Although many designs enable ignoring these cables,
critical component placement for optimizing space requirements
can require taking cable runs into account.
6-15
6-16
Chapter Summary
In this chapter the following was learned:
) How to import and export components from other file formats.
) More on robot motion.
6-17
6-18
EXPERT
SYNTHESIZE
ANALYZE
PRACTICE
EXPOSURE
NO KNOWLEDGE
PUTTING IT
ALL
TOGETHER
Lesson 4: Where Do We Go
From Here?
Introduction
If you want to learn more about Robcad path development and
application specific Robcad features, try these classes:
) WKP202U Robcad Spot
) WKP203U Robcad Paint
) WKP204U Robcad Arc
If you want to learn more about advanced Robcad topics, try these
classes:
) WKP209U Robcad Advanced Modeling and Kinematics
) WKP211U Robcad Off-line Programming
See http://training.ugs.com for more information
6-19
6-20
Appendix A
WKP100U
Classroom Setup
About This Chapter
This chapter provides a description of how to setup a class and
contains the following lessons:
) Lesson 1: Software Requirements page 2, describes the
software and applications that must be installed on every client
for this class.
) Lesson 2: Classroom Setup page 3, describes how to setup a
class.
) Lesson 3: After Class: Resetting the data page 8, describes how
to delete the class projects so you can use the same data for
future classes.
A-1
A-2
Lesson 1: Software
Requirements
Software Requirements
This class requires the following list of software and applications be
installed on every client:
) Robcad
) Microsoft Excel
) Acrobat
The training data zip can either be opened into the %ROBCAD%\data folder, or
into the Robcads start in (a.k.a. HOME) folder. These instructions assume that
the data is placed in the %ROBCAD%\data folder. The start in folder is specified
on the windows shortcut used to start Robcad. To change it, right click on the
shortcut and select Properties. Change the start in folder. Click [OK].
A-3
A-4
Y
Y
Y
Y
Type: cmd
Change directories to the C:\Robcad\data folder.
Type: attrib h /s
Type: attrib r /s
1 Start Robcad.
Y Select Start -> Programs -> Tecnomatix -> Robcad ->
Robcad
Y Or double-click the Robcad icon on the desktop.
2 Set the library root.
Y In the Top Menu window select the Setup button. The
Setup window appears on the right side of the Graphics
Window.
Y In the Setup window, select the Set library root button.
1 Start Robcad.
Y Double-click the Robcad icon on the desktop.
2 Open the workcell in Robcad.
Y In the Top Menu window select the Layout button. The
Layout window appears on the right side of the Graphics
Window.
Y In the Layout window, select the Load cell button.
A-5
A-6
In this class it is not necessary, however if you want to change drive letters (for
example to the I: drive), it can be accessed by typing /* in the Filter field and
pressing [Enter]. You can then double-click the desired drive.
Y Click [OK].
Y The workcell contents are displayed in the Graphics
Window.
3 Rotate, Pan, and Zoom the workcell.
4 Open the Station11 SOP.
Y In the Top Menu window select the SOP button. The
Sequence of Operations window appears on the right side
of the Graphics Window.
5 Simulation it.
A-7
A-8
Appendix B
Customizing Your
.robcad File
About This Chapter
This chapter provides a description of the most basic parameters of
the .robcad file. It contains the following lessons:
) Lesson 1: Basic .robcad File Parameters, page B-2, describes
some basic parameters that can be placed in the .robcad file.
B-1
B-2
On UNIX:
) /usr/local/robcad/dat/.robcad
) /usr/local/robcad/usr/.robcad
) $HOME/.robcad
(working folder/.robcad)
settings
On PC:
) C:\robcad\usr\.robcad
off
ANGLE_GOURAUD
166
FLIP_DISPLAY_MODE
shaded wireframe
B-3
B-4
FLIP_PICK_LEVEL
FLIP_PICK_INTENT
entity component
self_origin where_picked snap on_edge
STATUS_MOTION_UPDATE
on
Keyword Descriptions
NOTE
B-5
B-6
TopItem
B-7
B-8