Start Guide
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Table of Contents
Contents
Introduction .............................................................................................................................................. 6
Table of Contents
Robot Jog and Reachability ..................................................................................................................... 73
Introduction
Introduction
This quick start document describes common procedures used in the RobotExpert application. It gives
step-by-step guidance and is designed to get you up-and-running quickly. Further details about all the
commands referred to in this document are available in the RobotExpert Reference Manual.
The document is divided into the following major sections:
Getting Started Describes the initial one-time configurations and operations required after installing
RobotExpert.
Basic Tasks Describes the most common tasks when working with RobotExpert.
Modeling and Kinematics Describes how to perform modeling of parts and resources in order to
create optimal simulations. This section also describes how to define kinematics for devices and robots.
Designing and Managing Processes Describes how to create different types of operations and
simulate them.
Robotics Describes how to apply attributes and settings to robots.
Off Line Programming Describes how to upload a program from a robot, modify the program, and
download the modified program back to the robot.
Getting Started
Getting Started
Getting Started
Initial Setup
Initial Setup
This procedure describes how to configure the library root for RobotExpert.
1. Run the RobotExpert installation procedure, as described in the RobotExpert Installation Guide.
2. Arrange your data so that each cell includes:
Getting Started
Initial Setup
c. Type your License server name and port number, or browse to your license file.
d. Click OK.
Getting Started
Initial Setup
. RobotExpert
10
Getting Started
Initial Setup
11
Getting Started
Initial Setup
d. Navigate to the Library folder you created and click OK. The Library Root control is updated
accordingly.
References
For additional information on the features described in this procedure, refer to the following topics in
the RobotExpert Reference Manual:
Tools MenuOptions
12
Getting Started
b. Select one or more CAD files. Use the Ctrl key for multiple file selection.
Note: You can use the Files of type dropdown list to filter the files.
13
Getting Started
c. Click Add to complete CAD file selection. The File Conversion Settings dialog appears.
14
Getting Started
References
For additional information on the features described in this procedure, refer to the following topics in
the RobotExpert Reference Manual:
15
Getting Started
b. Select one or more .co components. Use the Ctrl key for multiple file selection.
Note: You can use the Files of type dropdown list to locate the .co components you need.
16
Getting Started
c. Click Add to complete .co component selection. The File Conversion Settings dialog appears.
Select a Base Class (Resource or Part) from the drop down menu.
c. Click OK in the File Convert Settings dialog to store the settings and close the dialog.
4. Click the Convert button in the Convert CAD Files dialog to begin the conversion. The Convert CAD
Files Progress dialog is displayed.
Note: At the end of the conversion process the system displays a status notification together with a link
to the log file.
Getting Started
References
For additional information on the features described in this procedure, refer to the following topics in
the RobotExpert Reference Manual:
18
Getting Started
2. Insert a component:
a. Click ModelingInsert Component from File. The Insert Component dialog appears.
19
Getting Started
b. Browse the library root folders and select the desired .cojt file.
c. Double-click the file or select it and click Open. The system inserts the component into the
cell. It is visible both in the Object tree and the Graphic Viewer.
Notes:
You can also use the Insert Component option for parts (products) and resources (robots,
fixtures and more).
The predefined Base class that you set in the File Conversion Settings dialog causes RobotExpert
to insert the object in the correct section of the Object tree (Resources or Parts).
The inserted item is located at the Working Frame.
3. Save the cell, as follows:
References
For additional information on the features described in this procedure, refer to the following topics in
the RobotExpert Reference Manual:
Modeling MenuInsert Component From File
File MenuSave Cell
20
Basic Tasks
Basic Tasks
21
Basic Tasks
Pick Level
Component
. Selecting any part/entity of the component causes the entire component
to be selected.
Entity
Surface
Edge
Pick Intent
. Selects the precise point on an object according to where you click it.
Snap
. Selects a vertex, the center of an edge or the center of a face, whichever is
closest to the actual point clicked.
On Edge
Where Picked
Self-Origin
. Depends on the Pick Level (above) - if the Pick Level is set to Component the component self origin is selected. If the Pick Level is set to Entity - the picked entity self
origin is selected.
. Selects the point on the edge that is closest to the actual point you clicked.
. Selects the exact point you clicked.
View Tools
Click ViewViewersGraphic Viewer to launch these commands.
Select
. This is the default tool which enables you to select objects from different tree windows
View Center
. Defines the view center to be used as the pivot point around which objects rotate.
22
Basic Tasks
Pan
Zoom
Zoom to Selection
. Adjusts the image in the Graphic Viewer so that the selected object is
Zoom to Fit
. Adjusts the image in the Graphic Viewer so that all visible objects are displayed.
References
For additional information on the features described in this procedure, refer to the following topics in
the RobotExpert Reference Manual:
23
Basic Tasks
. The feature lines are displayed in Graphic Viewer but the shaded
24
Basic Tasks
3. Click ViewWireframe Mode or
Wireframe viewing mode.
4. Wireframe viewing mode does not always provide an intelligible image. If this is the case, click
ToolsOptions, select the Graphic Viewer tab, and enable the Show Silhouette in Wireframe
Mode option.
6. Press <F10> repeatedly to toggle between Shaded, Feature Lines over Solid, Feature Lines, and
Wireframe viewing modes.
25
Basic Tasks
Viewing Options
The object viewing options enable you to change between Shaded, Wireframe, and Transparent viewing
of objects in the Graphic Viewer. This information is saved in the cell for the selected object only.
1. Right-click an object in Graphic Viewer and select Object ViewingTransparent.
2. Unselect the object. The object is displayed in the Transparent viewing option.
3. Right-click the object in Graphic Viewer again and select Object ViewingWireframe. The object is
displayed in the Wireframe viewing option.
26
Basic Tasks
Note: The state of the Show Silhouette in Wireframe Mode option (ToolsOptions, select the Graphic
Viewer tab) is ignored when using the Wireframe object viewing option. It is only relevant for
Wireframe viewing mode.
4. Display an additional object in the Graphic Viewer.
Note: Currently, the object viewing mode is set to Shaded and the object viewing option for the selected
object is set to Wireframe. Therefore, the original object is displayed in Shaded mode (applied to all the
displayed data) and the new object in Wireframe (when the Wireframe viewing option is applied to the
selected object, the viewing option overrides the viewing mode).
5. Right-click the wireframe object and select Object ViewingShaded. The object is displayed in the
Shaded viewing option. Both objects are shown in Shaded viewing mode, according to the selected
object viewing mode.
27
Basic Tasks
2. Right-click the object in the Object tree and select Display. The object is displayed in the Graphic
Viewer and appears in the Object tree with a blue solid square to the left of its name.
3. Alternatively, click the square to the left of the items name in the Object tree to toggle between
blanked and displayed . The square appears partially filled when a component includes some
blanked entities.
References
For additional information on the features described in this procedure, refer to the following topics in
the RobotExpert Reference Manual:
ViewShaded Mode
ViewFeature Lines
ViewWireframe Mode
ViewObject ViewingShaded
ViewObject ViewingTransparent
ViewObject ViewingWireframe
ViewDisplay
ViewBlank
28
Basic Tasks
3. Click the arrow to the right of the Frame of Reference list and select a reference frame.
4. Translate (move) the selected object along an axis, as follows:
a. In the Translate area, click the Step Size link. The Step Size dialog appears.
29
Basic Tasks
or
to move the object one step forward or backward along the selected axis.
Or
In the Graphic Viewer, select the X, Y, or Z axis of the manipulator frame, press the mouse
button, and drag the object to the required position on the selected axis.
5. Rotate the selected object around an axis, as follows:
a. In the Rotate area, click the Step Size link. The Step Size dialog appears.
Or
In the Graphic Viewer, select the X, Y, or Z axis of the manipulator frame, press the mouse
button, and drag the object. This rotates the object to the required orientation around the
selected axis.
6. Click Close to close the Placement Manipulator dialog or Reset to return the object to its initial
location and orientation when you launched the Placement Manipulator dialog.
30
Basic Tasks
Relocate
This method enables you to position objects at exact locations in the workcell.
1. From the Graphic Viewer or Object tree, select an object.
2. Click ToolsPlacementRelocate or
object.
3. From the To frame list, select a target frame to which to move the object. A yellow line appears in
the Graphic Viewer indicating the proposed move.
Basic Tasks
Fast Placement
This method enables you to move objects in the X-Y plane (the Z coordinate of the object remains
unchanged). This method is fast but not accurate.
1. From the Graphic Viewer or Object tree, select an object.
2. Click ToolsPlacementFast Placement or
3. Select and drag an object to the desired location in the workcell. The coordinates (X, Y, and Z) of the
object are displayed near the hand.
References
For additional information on the features described in this procedure, refer to the following topics in
the RobotExpert Reference Manual:
ToolsPlacementRelocate
ToolsPlacementFast Placement
32
Basic Tasks
Measurements
Measurements
Point-to-Point Distance
This procedure demonstrates how to measure the point-to-point distance between two points
1. Click EditSelectionComponent Pick Level.
2. Click
Point to Point Distance on the Measurements toolbar. The Point to Point Distance dialog
appears.
3. Click First object and then pick a point in the Graphic Viewer. The name of the object on which the
point is located and its exact location are displayed in the First Object field.
4. Pick another point in the Graphic Viewer - the name of the object on which the point is located and
its exact location are displayed in the Second Object field.
33
Basic Tasks
Measurements
A measuring line connecting the two points is displayed in the Graphic Viewer. The exact distance
between the two points is calculated and displayed beside the measuring line. Additionally, the
Result area displays the distance, the vector distance, and the rotation delta difference for each of
the X, Y, and Z axes.
5. Check Show dX, dY, dZ lines in the Graphic Viewer to display the delta distance lines and distances
(dX in red, dY in green, and dZ in yellow) in the Graphic Viewer.
References
For additional information on the features described in this procedure, refer to the following topics in
the RobotExpert Reference Manual:
34
Basic Tasks
Measurements
Minimal Distance
This procedure demonstrates how to measure the minimal distance between two points
1. Click
Minimal Distance on the Measurements toolbar. The Minimal Distance dialog appears.
2. Click First object and then pick an object in the Graphic Viewer, Object tree, or Groups Viewer. The
name of the object and its exact location are displayed in the First Object field.
3. Pick another object in the Graphic Viewer, Object tree, or Groups Viewer - the name of the object
and its exact location are displayed in the Second object field.
A distance line connecting the two objects is displayed in the Graphic Viewer. The exact distance
between the two points is calculated and displayed beside the measuring line. Additionally, the
Result area displays the distance and the vector distance between the objects.
35
Basic Tasks
Measurements
4. Check Show dX, dY, dZ lines in the Graphic Viewer to display the delta distance lines and distances
(dX in red, dY in green, and dZ in yellow) in the Graphic Viewer.
References
For additional information on the features described in this procedure, refer to the following topics in
the RobotExpert Reference Manual:
ToolsMeasurementsMinimal Distance
36
Basic Tasks
37
Basic Tasks
Display the objects in the Graphic Viewer as you wish to record them.
38
Basic Tasks
Edit Snapshot
b. Type a new snapshot Name and meaningful description, and click OK. The snapshot name
changes in the upper pane and its description is displayed next to the snapshot preview in the
lower pane.
39
Basic Tasks
5. Apply snapshots to the Graphic Viewer this step enables you to set the display in the Graphic
Viewer as captured previously in a snapshot.
a. Select a snapshot in the upper pane.
b. Click the arrow of
Apply Snapshot.
c. Select the options you wish to apply. Point of View is checked and applied by default.
d. Click
or double-click the snapshot listing in the upper pane to apply them to the Graphic
Viewer. The Graphic Viewer jumps to the view recorded in the selected snapshot.
Note: When applying snapshots, the system applies only the options you set in the previous step. You
can change these options at any time.
40
Basic Tasks
Note: The Graphic Viewer displays different objects preserved in snapshots while maintaining their
visibility, points of view and locations.
41
Basic Tasks
6. If you wish to delete a snapshot, select its listing in the upper pane and click
The selected snapshot is removed from the Snapshot Editor.
Delete Snapshot.
7. If you set Object Attachments in the snapshot apply properties, any object attached to an object in
the snapshot moves together with the first object:
a. Create a snapshot and name it Attached.
b. In the Attached snapshot, create an attachment between two displayed objects in one of the
following ways:
42
Basic Tasks
8. You can update a snapshot so that it records the current display in the Graphic Viewer, as follows:
a. Select the snapshot you wish to update.
b. Set up the objects in the Graphic Viewer as you wish to record them.
c. Click
Update Snapshot. The selected snapshot now records the image currently displayed in
the Graphic Viewer.
d. You can apply the snapshot and see the changes.
9. You can mark up a snapshot, as follows:
a. Select a snapshot and click
snapshot loaded.
43
Basic Tasks
Note: When displaying the snapshot in the preview pane, the markup icon is also displayed to indicate
that you have marked up this snapshot.
10. You can also edit the markup of a snapshot that already contains markup, as follows:
a.
b.
c.
d.
44
Basic Tasks
References
For additional information on the features described in this procedure, refer to the following topics in
the RobotExpert Reference Manual:
ViewViewersSnapshot Editor
ModelingAttach
KinematicsMount Tool
45
Basic Tasks
A Kinematic Device
Basic Tasks
47
Basic Tasks
48
Basic Tasks
e. Click OK.
Note: This is the new state for the Object tree.
f.
5. Attachment validation:
a. Select the device in the Object tree or the Graphic Viewer.
b. Click KinematicsJoint Jog. The Joint Jog dialog appears for the selected device.
49
Basic Tasks
References
For additional information on the features described in this procedure, refer to the following topics in
the RobotExpert Reference Manual:
Modeling MenuAttach
50
Basic Tasks
Mount Tool
Mount Tool
To view a movie of this procedure, click Mount Tool.
This procedure demonstrates how to mount a tool on a robot. When you mount a tool with its own
defined tool frame (TCPF), the robot TCPF is adjusted to coincide with the tool frame. Therefore, when
the robot moves, the mounted tool moves together with the robot TCPF.
1. Select Component as the Pick Level.
Note: The Mount Tool dialog opens for the selected robot and the Tool control is highlighted.
4. In the Mounted Tool area, select the Tool and Frame, as follows:
a. While the Tool control is highlighted, select the tool either in the Graphic Viewer or Object tree.
Note: The Frame list in the Mounted Tool area is populated with all the tool frames in the cell.
b. From the Frame list, select a frame.
Note: In the Graphic Viewer, the selected mounted tool frame is highlighted in red and the selected
mounting tool (robot) frame is highlighted in blue.
51
Basic Tasks
Mount Tool
References
For additional information on the features described in this procedure, refer to the following topics in
the RobotExpert Reference Manual:
KinematicsMount Tool
52
53
Basic Modeling
Basic Modeling
To view a movie of this procedure, click Modeling.
This procedure describes several modeling tools and demonstrates some of the RobotExpert
capabilities, including the creation of solids, the creation of curves, editing, scaling, and integration.
1. Launch RobotExpert and load a cell.
2. Set the measuring units, as follows:
a. Click ToolsOptions. The Options tab appears.
54
Basic Modeling
Note: To open an object for modeling, select the object and click ModelingSet Modeling Scope.
55
Basic Modeling
Note: When created, the box is located on the Working frame. It is recommended to perform all the
required procedures and only then to relocate the whole component to the desired location (using the
placement tools).
Basic Modeling
Scaling Objects
1. Select a parent object either from the Object tree or from the Graphic Viewer.
2. Click ModelingEditScale. The Scale dialog appears, displaying the dimensions of the selected
object.
3. Optionally, click the Step size link to set the size of steps when configuring the parameters in this
dialog.
4. Configure the scale size in the X, Y, and Z directions.
Note: The object changes dynamically in the Graphic Viewer as you define its scale.
Note: You can change any dimension by using the dialog controls or picking and dragging the relevant
yellow line in the Graphic Viewer.
5. Click OK.
Creating a Solid Cylinder
1. Select a parent object either from the Object tree or from the Graphic Viewer.
2. Click ModelingCreate SolidsCylinder Creation Create a cylinder. The Create Cylinder
dialog appears and a cylinder with default dimensions appears in the Graphic Viewer.
57
Basic Modeling
58
Basic Modeling
2. Pick the first polyline in the Graphic Viewer. The name of the selected polyline is noted in the From
Curve field and the To Curve field becomes active.
3. Pick the other polyline in the Graphic Viewer. The name of the selected polyline is noted in To
Curve.
4. Enter a value for the fillet Radius.
5. Click Preview to see the expected results in the Graphic Viewer.
59
Basic Modeling
6. Click OK to accept the results or change some of the parameters to get better results. A new fillet
curve is created and appears in the Object Tree and the Graphic Viewer. The original polylines are
removed if you selected Delete original entities.
Creating Chamfers
This command operates on two intersecting curves or polylines.
1. Click ModelingCreate CurveChamfer. The Chamfer dialog appears. The From Polyline field is
active.
2. Pick the first polyline in the Graphic Viewer. The name of the selected polyline is noted in the From
Polyline field and the To Polyline field becomes active.
3. Enter a Distance from the intersection point along the first polyline.
60
Basic Modeling
4. Pick the other polyline in the Graphic Viewer. The name of the selected polyline is noted in To
Curve.
5. Type a Distance from the intersection point along the second polyline.
6. Click Preview to see the expected results in the Graphic Viewer. If necessary, change some of the
parameters to get better results.
7. Click OK to accept the results. A new chamfer curve is created and appears in the Object Tree and
the Graphic Viewer. The original polylines are removed if you selected Delete original entities.
Revolute Curve to Create Solid
1. Select an entity either from the Object Tree or from the Graphic Viewer.
2. Click ModelingEditRevolute. The Create Revolved Solid dialog appears.
3. Type a Name.
4. Set the Start and End points.
5. In the Rotation area, define the rotation degrees.
6. Click Preview to see the expected results in the Graphic Viewer. If necessary, change some of the
parameters to get better results.
7. Click OK. The solid created from the Revolute command is added to the Object Tree and the Graphic
Viewer.
61
Basic Modeling
Duplicating Objects
1. Select a device or part either in the Graphic Viewer or the Object Tree.
2. Click ModelingDuplicate Objects. he Duplicate dialog appears for the selected component.
3. In Number along X, type the number of requested components along the X-axis.
4. Type the X Spacing value between the components along the X-axis.
5. Perform the same configuration for the Y and Z-axes.
6. Check Preview. The layout of the duplicated objects are previewed in yellow.
62
Basic Modeling
While the Preview checkbox is checked, any change of value updates the Graphic Viewer.
7. Click OK to create the previewed objects.
End Modeling
1. Select a device or part either in the Graphic Viewer or from the Object Tree.
2. Click ModelingEnd Modeling. The Save Component As dialog appears.
3. Browse to one of the following folders to save the newly modeled component:
63
Basic Modeling
References
For additional information on the features described in this procedure, refer to the following topics in
RobotExpert Reference Manual:
Modeling MenuEditRevolute
64
Editing poses
b. Browse the libraries and double-click the device to insert it into the cell or select the device and
click Open. The device is added to the Object tree.
65
Note: A red M overlay appears with the device symbol in the Object tree to indicate that it is open for
modeling.
Create Link.
66
67
c. In the Axis - Select two points area, set From and To to select the axis line.
d.
e.
f.
g.
Click
to expand the dialog.
In the High Limit and Low Limit fields, enter limit values.
In the Speed field, enter the speed value.
In the Acceleration field, enter the acceleration value.
68
6. Close the Kinematics Editor. Closing the dialog automatically defines the device. The HOME pose is
created.
7. Jog the joints as follows:
a. Select the device in the Object tree or the Graphic Viewer.
b. Click KinematicsJoint Jog or click
. The Joint Jog dialog opens. The joints you created are
displayed with the current joint value and the limits with which they were defined.
c. Jog the joints by using the slider, entering values, or using the value arrows.
d. To return the device to the original joint values, either click Reset or select the HOME pose.
e. Click Close to close the Joint Jog dialog.
8. Create additional poses as follows:
a. Select the device in the Object tree or the Graphic Viewer.
b. Click KinematicsPose Editor. The Pose Editor dialog opens, displaying the HOME pose.
69
c. To create a new pose, click New. The New Pose dialog appears.
70
Change the values of the joints (use the Steering/Poses sliders, enter values, or use the
value arrows) and click OK.
To update a pose, jog the joints to the desired values using the Joint Jog dialog, select a pose
from the list, and click Update. The following message appears:
To delete a pose, select a pose from the list and click Delete. The following message
appears:
71
References
For additional information on the features described in this procedure, refer to the following topics in
RobotExpert Reference Manual:
72
Jogging robot joints by using Joint Jog and Robot Jog functionality
A kinematic device
2. Insert a robot:
a. Click ModelingInsert Component from File. The Insert Component dialog appears.
b. Browse through your libraries, select a robot and click Open. The robot is inserted in the cell.
73
d. Click the Add button in order to add an external axis. The Add External Axis dialog appears.
e.
f.
g.
h.
Note: The external axes are displayed so that each line specifies the device name and joint.
74
i.
The Joint Jog dialog enables you to move the joints of the selected robot (or device).
Each line displays the properties of a specific joint: Revolute or Prismatic, Value, Lower Limit
and Upper Limit.
Note: Lines with the red E overlay (the two bottom lines in the picture above) refer to the robots
external axis.
You can now jog the joints by using the dials, entering values or using the value arrows.
In order to change the Lower and Upper Limits select the control and type the exact value.
You can change the robot pose by selecting another pose from the pose list.
75
c. Translate the robot Tool Center Point (TCP) frame along the X-axis:
Click the arrow buttons to move the robot tool frame along the X axis.
Click the arrow buttons to rotate the robot tool frame around the Ry axis.
76
Note: The dialog displays the step size for Translate and Rotate. Click the links to change the step size
value.
e. Select the robot configuration:
The robot can reach a location in any of several configurations, enabling you to switch between
the options.
f.
Select a configuration from the list. You can lock the robot configuration if you wish to ensure
that only this configuration is used.
g. Jog the robot's external joints:
Follow the steps described above for the Joint Jog dialog.
It is recommended to lock the robot's TCP frame by clicking the Lock TCPF button. For example,
for a robot on a rail, the rail joint is defined as an external axis of the robot.
77
i.
j.
If you need to return the robot the state it was in when you opened the Robot Jog dialog, click
Reset.
Click Close to close the dialog.
78
c. Keep the Locations table control in focus and select the operation from the Operation tree.
Note: All locations of the operation are displayed in the table and a reachability indication
(Full/Partial/None) is displayed for each location.
d. With the Reach Test dialog open, select the device (with the attached part) and from
ToolsPlacementPlacement Manipulator change the device location using the Placement
Manipulator.
79
Note: Changing the device and part location automatically updates the Reach Test indication.
e. Place the device and part on a location that enables full reachability to all locations of the
operation.
7. Assign the robot to the operation:
a. Select the operation from the Operation tree.
b. Click OperationOperation Properties. The Operation Properties dialog appears for the
selected operation.
80
d. With the Robot control in focus, select a robot from the Object tree or the Graphic Viewer. The
robot and its mounted gun are correctly inserted in the Simulated Resources section.
e. Click OK.
8. Run the simulation:
a. Select the operation from the Operation tree.
b. From the Path Editor select Add Operation to Editor.
c. In the Path Editor dialog click the Play Simulation Forward button. The simulation runs using
the defined robot and tool.
References
For additional information on the features described in this procedure, refer to the following topics in
the RobotExpert Reference Manual:
81
82
Each operation commences only after the previous operation has finished.
83
f.
Click OK. The New Object Flow operation is created under the Operation tree.
84
85
d. From the Scope list, select the Operation Root (later in this procedure, you can define the
correct scope by dragging and dropping the operation in the Operation tree, see step e.
below).
e. From the From pose list, select the starting pose.
f. From the To pose list, select the ending pose.
g. Click OK. The New Device Operation is created under the Operation Tree.
The following figure shows the Operation Tree after creating device operations for all the
clamps.
86
b.
c.
d.
e.
f.
87
88
The Sequence Editor includes two resizable areas, a Tree area on the left and a Gantt chart area on
the right.
9. Drag and drop operations to reorder the tree area.
10. Select two operations and click
Link. A new link is created between the selected operations
this means that the second operation will start after the first one finishes.
89
11. Create links for all the other operations. The Sequence Editor appears as follows after reordering
and linking the operations.
12. Use the Zoom Buttons in the Sequence Editor toolbar as required.
13. You can modify the duration of an operation by dragging its edge in the Gantt area.
14. Use the simulation buttons to run the simulation, and step it forward and backward.
References
For additional information on the features described in this procedure, refer to the following topics in
RobotExpert Reference Manual:
90
The procedure assumes that your cell has already acquired the required parts and curves from the
CAD system.
The robotic cell already contains the required robot and welding torch.
In the Object tree or Graphic Viewer, select the arc seam curve.
b.
Note: The Create Continuous Mfg from Curves dialog is displayed and the Mfg name is automatically
assigned using the Source curve name.
You can modify the Mfg name by double-clicking the name field and typing the desired name.
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c.
d.
e.
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Notes:
The newly created Arc Weld Mfg appears in the Mfg Viewer. To open the Mfg Viewer, click
ViewViewersMfg Viewer.
You can emphasize the arc weld feature in the Graphic Viewer by clicking
Continuous Emphasize Continuous Mfgs or
thickness.
References
For additional information on the features described in this procedure, refer to the following topics in
RobotExpert Reference Manual:
Note: You can open the New Continuous Operation command without pre-selecting the arc weld Mfg.
Enter the arc weld Mfg later by clicking an empty field in the Continuous Mfgs list and selecting the arc
weld Mfg.
d. Rename the operation according to your naming convention.
e. Assign the robot and the weld torch. The weld torch is added automatically if it is already
mounted on the robot.
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g. Optionally, click
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b. Select the arc weld Mfg in the Features list and click
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The Face Selection dialog appears and the cursor switches to face selection mode.
e. Pick a face for the weld Base in the Graphic Viewer and click OK.
Note: The selected face is highlighted in light blue.
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Click
Side Face Selection for the Side (wall). The Face Selection dialog appears (the cursor
remains in face selection mode). In this example, there are several side faces - pick the desired
faces in the Graphic Viewer.
Note: RobotExpert enables smart automatic neighboring face selection. This improves efficiency and
ensures accurate selection. To do this, click
Note: The automatically selected neighboring side faces are those related to the arc weld seam and the
previously-selected Base face. The number of the selected faces appears in the dialog and they are
highlighted in the Graphic Viewer.
g. Click OK to confirm the selection.
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Note: The Edit Mfg Feature Data dialog now contains the details of the faces selected for projection.
You can highlight the Base and Side faces by clicking
Highlight.
h. If required, click
i.
j.
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k. Click Project.
Note: The newly-created locations are added to the weld operation in the Operation Tree. Expand the
operation in order to view the result.
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l.
In the Path Editor, click Add Operation to Editor to add the new operation.
Note: The resulting location motion type is automatically assigned according to the circular and linear
segments.
4. Optionally, you can split the seam operation - continuous, arc and more - into two seam operations:
a. Click Continuous Split Seam Operation. The Split Seam Operation dialog appears.
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b. In the Source Seam Operation area, select the Operation either in the Operation tree or the
Path Editor
c. From Split location list of locations associated with the selected operation, select the location
before which you wish to split the operation.
d. In the New Seam Operation area, you can modify the default Name assigned to the new
operation.
e. From the Robotic operation list, select the operation/compound under which to nest the new
operation.
f.
Click OK. The following figure shows the status of the Operation tree after the split.
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References
For additional information on the features described in this procedure, refer to the following topics in
RobotExpert Reference Manual:
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Note: If you are not in Modeling mode, many of the Modeling menu options are disabled.
3. Create a curve there are several options available to create curves:
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b.
c.
d.
e.
Select the entity, either in the Object tree or in the Graphic window.
Select the Name field and type a name.
Click Preview to view the update before confirming.
Click OK.
f.
If you wish to delete the original surface or solid after creating the intersection/border curve,
check Delete original entities.
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e. If you wish to delete the original surface or solid after creating the intersection/border curve,
check Delete original entities.
4. Create the Arc Weld Mfgs:
a. Select the Arc Seam curve, either in the Object tree or the Graphic Viewer.
b. Click ContinuousCreate Continuous Mfg from Curves. The Create Continuous Mfg from
Curves dialog appears and RobotExpert automatically assigns the feature name according to
the source curve name.
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a. Select the Mfg in the Mfg Viewer, the Object tree or the Graphic Viewer.
b. Click ContinuousIndicate Seam Start. The Indicate Seam Start dialog appears. The name of
the selected Mfg feature appears in the Mfg feature field.
c. The Start point control is active. Click in the Graphic Viewer to create a start point. A red cross
that indicates your selection appears.
d. While the Via direction point control is emphasized, click a direction in the Graphic Viewer. A
blue cross that indicates your selection appears.
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References
For additional information on the features described in this procedure, refer to the following topics in
the RobotExpert Reference Manual:
109
A positioner (or other kinematic device) with welded parts mounted on its plate
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c. Pick any of the following from the Graphic Viewer or Object tree: robots, robot pedestals,
mounted torch guns and other objects attached to robots. The selected objects are added to
the Check list and the With list becomes active. RobotExpert will check if any of the selected
objects collide with objects in the With list.
Note: If you selected objects in the Graphic Viewer or Object tree prior to invoking the Collision Set
Editor dialog, these are listed in the Check list when the dialog appears and the With list is active.
d. From the Graphic Viewer or Object tree, pick welded parts, devices that hold parts, and other
objects attached to parts. The selected objects are added to the With list.
e. Click OK. A new collision set is added to the Collision Viewer.
3. If you wish to edit the name of the new collision set, double-click it and type the new name.
4. If you wish to view the collision set in the Graphic Viewer, click
Emphasize Collision Set. The
Check list objects are colored in yellow, the With list objects are colored in blue, and all other
objects in the cell are dimmed.
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b. In Collision Options area, check the Stop Simulation when a Collision is Detected option.
c. Click OK to save the change and close the Options dialog.
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4. Click the Follow Mode button. The robot and torch gun jump to the selected location.
5. Change any of the parameters in the Arc Alignment area (these were defined during the projection
phase).
6. Click
Next location to move to the second seam location. The robot and the torch gun jump to
the next location. Do this to move through all the seam locations. If a collision is detected, the
colliding objects are colored in red.
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7. Modify one or more of the Arc Alignment parameters to fix the collision.
8. Return to the first seam location and verify that the entire path is free of collisions.
9. Run the simulation.
Configuring Robot External Axes
This procedure demonstrates how to set the external axis values for each location.
1. In the Path Editor, click
2. In the Available Columns list, expand the General folder, select the External Axes Values column,
and click
to add the column to the Show columns in following order list.
3. Expand the OLP - Dynamic Params folder, select the Ext1 and Ext2 columns, and click
columns to the Show columns in following order list.
to add the
4. Click OK.
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The External Axes Values column indicates the number of the defined external axis values from the
total number of the robot external joints.
The Ext1 and Ext2 columns indicate the value of the external joint (if defined).
5. From the Operation tree or Path Editor, select the seam operation.
6. Click KinematicsSet External Axes Values. The Set External Axes Values dialog appears.
7. Click
Follow Mode. The robot and the gun jump to the selected location.
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9. Click
Next Location to move to the next location and enter the relevant values. Repeat this for
all the other locations.
Note: The external joints information is visible in the related columns of the Path Editor.
10. Run the simulation to validate the changes.
Performing Robot Configuration
Typically, robots can reach given locations by several configurations. This procedure demonstrates how
to set the optimal robot configuration and uses the Abb - Rapid controller as an example.
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3. Expand the Abb - Rapid folder, select the Config column, and click
Show columns in following order list.
4. From the Path Editor or Operation tree, select the first seam location.
5. Click RoboticsRobot Configuration. The Robot Configuration dialog appears for the selected
location.
6. From the Robot Solutions list, select the optimal solution and click Teach.
Note: The Config value in the Path Editor is also updated.
After creating a collision free path, it is possible to set all path configuration values during simulation.
1. From the Path Editor toolbar, click
Auto Teach.
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2. In the Commands list, select TCP Tracker, drag it on to your toolbar, and close the Customize dialog.
3. From the Graphics Viewer or the Object tree, select a robot.
4. Click
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Select Color and select a color from the list for the TCP track object.
6. Run the simulation. Any robot TCP movement will be tracked regardless of what causes the
movement, for example, Joint Jog, Robot Jog, or any other command.
Note: You can pause the TCP Tracker at any time by clicking the Pause button.
Using the Robot Viewer
The Robot Viewer includes: Joint Monitor, Joint Status, TCP Speed, and more.
1. From the Graphics Viewer or the Object tree, select a robot.
2. Click RoboticsRobot Viewer. The Robot Viewer appears for the selected robot.
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4. Use the Panels command in the Robot Viewer top right corner to add or remove panels.
5. Use the Robot command in the Robot Viewer top left corner to select a different robot.
References
For additional information on the features described in this procedure, refer to the following topics in
the RobotExpert Reference Manual:
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121
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Note: After the projection, the General Arc Alignment Parameters become the default parameters for all
seam locations.
4. Perform the Torch Alignment:
a. From the Operation tree or the Path Editor, select the first seam location.
b. Click ContinuousTorch Alignment. The Torch Alignment dialog opens in the selected location.
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Note: The Y axis location points to the next location and the Z axis is used as the approach vector.
c. Click Follow Mode. The robot and gun jump to the location and the Graphic Viewer is updated
according to the changes.
d. Use the browsing buttons to move between the locations.
Note: Do not close the dialog box.
Travel angle - The angle of approach measured along the seam from the bisector.
Lower limit= -180, Upper limit= 180
Work angle - The sideways tilt of the welding torch as seen from the broadside view.
Lower limit= -90, Upper limit= 90
Spin angle - The angle of the torch around its approach vector.
Lower limit= -360, Upper limit= 360
Base wall offset - The distance from the seam location to the base wall.
Side wall offset - The distance from the seam location to the side wall.
Seam offset - The distance from the location to the intersection of the side wall with the base
wall. The Seam offset is the vectored sum of the Base and Side offsets. Changing the Side or
Base offset affects the Seam offset and vice versa. There is no dependency between the Base
and Side offsets.
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Reset All Edited Locations - returns the Torch Alignment dialog to the state it was at
when originally launched.
References
For additional information on the features described in this use case, refer to the following topics in the
RobotExpert Reference Manual:
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Robotics
Robotics
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Robotics
The format of the user-defined XML file containing parameter definitions, for example, Motion Type,
Zone, etc.
In order to apply path templates (change the parameters of path locations according to user definitions),
you must first compose an XML file containing the available template actions. A file like this is created
for each robot controller. This document uses the ABB-Rapid controller as an example.
The following preconditions apply:
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Robotics
Note: In this example, the action called DefineParameters is followed by a text description and a group
of parameter settings to be applied (for example changing the Zone value, Speed value, Location color
etc.) The XML may contain multiple actions.
2. Apply the path template:
a. Click ToolsCustomize and select the Commands tab.
e. From the Graphic Viewer, Operation tree, or Path Editor, pick an operation.
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Robotics
Click the Select dropdown list and select the action to apply.
The name of the selected action appears in the Select template action to apply field and its
description in the XML files appears in the Action Description field.
g. Click the Apply button to apply the parameters defined in the action.
The following figure is an image of the path and location in the Graphic Viewer and the Path Editor
before applying the parameters. Note the values of the parameters and the color of the locations
(white).
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Robotics
After the Apply action is complete, an Action Filter Results window appears, specifying the
actions summary and any errors that occurred.
References
For additional information on the features described in this procedure, refer to the following topics in
the RobotExpert Reference Manual:
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131
The welded parts including the curve representing the welding seam
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3. Initialize the robot (two options are described below for initializing and validating the robot
controller):
Note: This section refers to the ABB controller. The process is identical for other controllers, except that
each one has different parameters (and parameter names).
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d. Fill all the necessary fields: Controller, RCS version, Manipulator type and Controller version.
e. For both RCS in Simulation and RCS in Non Simulation select the Connect option in order to
connect the robot with its RCS module (for accurate simulation).
f.
Note: If one or more of the controller settings is incorrect or the RCS communication (client- server)
failed, an error message is displayed.
g. Click OK.
h. Click the Robot Setup button
The Robot Setup dialog contains all the necessary parameters to define the robot movement
and actions. Each controller (ABB, KUKA, and others) has different parameter definitions;
therefore each controller setup dialog is unique.
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Click Base Data Definition and select the Speed Data option. The Speed Data dialog
appears. Clicking the arrow button next to the Select data field displays all existing speed
data (from the loaded machine data files).
Type a new Speed data name in the Select data field. Note: All other controls are enabled.
Define the new speed data parameters: Storage Type, Tcp Speed, Orientation, Linear
External Axis, and Rotational External Axis.
a. Click RoboticsController Settings. The Controller Settings dialog appears, containing all
robots in the cell and their controllers data.
b. In the Robot Name column select one robot (row) and fill all the necessary fields: Controller,
RCS version, Manipulator Type, and Controller Version.
c. For both RCS in Simulation and RCS in Non Simulation, select the Connect option to connect the
robot with its RCS module (for accurate simulation).
d. Click the Validate button
RCS.
e. Click the Robot Setup button
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4. Perform validation of the program and controller settings. In order to validate the uploaded
program and the controller settings, run the simulation:
a. Click the operation node in the Operation tree.
b. From the Path Editor select Add Operations to Editor.
c. From the Path Editor select Play Simulation Forward. The simulation should run with no errors.
5. Make changes add the new Arc Welds Mfg to the operation:
a. Right-click the operation node and select Operation Properties from the menu. The Properties
dialog appears.
b. From the Process tab, in the Continuous Mfgs table, select the new Arc Weld Mfg and click OK.
c. Project the new Arc Weld Mfg (see the Create Arc Mfgs & Create a Continuous Operation with
Project ARC Seam document).
6. Assign new robotic parameters via Path Editor:
a. Select the new Seam operation in Operation tree.
b. In Path Editor click the Add Operation to Editor button.
c. Select Seam Location and select the desired cell to add or edit the attribute. The dropdown list
opens containing all pre-defined options for the specific attribute.
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Use the Teach Pendant dialog to define robotic location attributes. It applies the relevant
parameters and commands with reference to location (seam location/via) and controller
types.
The upper part of the dialog contains browsing buttons to move between locations and
the Robot Setup button
.
The dialog is divided into four sections: Motion Parameters, Process Parameters,
Motion Properties, and OLP Commands.
To change Motion or Process parameters click the Value box next to the desired
parameter and select a value from the list, for example, changing the zone data:
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In order to add or edit OLP Commands or Motion properties, click Add. From the menu
that opens, select a command, for example, the Send Signal command:
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Set the Signal Name, Value, Destination and click OK. RobotExpert creates a new Send
Signal command for the location.
You can apply several commands, reorder the OLP Commands list, edit, or delete
commands.
8. Confirm the changes run the simulation. In order to confirm the changes, run the simulation and
search for are any errors or missing data during simulation.
a. Add the operation to the Path Editor.
b. Run the simulation. The following is an example of a Missing Data error:
The error window displays details of the error such as the exact location and cause of
failure. Fix the errors in Path Editor or Teach Pendant.
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b. Set the location, filename and file type for saving the new program. The new updated program
is now ready to use.
References
For additional information on the features described in this procedure, refer to the following topics in
the RobotExpert Reference Manual:
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