StudentGuide RobcadSpot PDF
StudentGuide RobcadSpot PDF
Robcad Spot
Version: 9.0
Course Code: WKP202U
Updated: April 2010
Publication Number: MTXW202U-S-09
Table of Contents
i
Robcad Spot
Student Guide
April 2010
WKP202U – Version 9.0
Publication Number
MTXW202U-S-09
Robcad Spot Student Guide
ii
Manual History
Manual Product Publication
Revision Version Date
A V 3.3 July 1996
B V 3.4.1 April 1997
C V 3.5.1 December 1997
D V 3.7.1 December 1998
E V 3.8.1 December 1999
Table of Contents
Chapter 1: Introduction to Spot....................................................1-1
Lesson 1: Training Introduction.................................................................................1-2
Lesson 2: Spot Welding Primer..................................................................................1-6
Lesson 3: Overview ...................................................................................................1-9
Chapter 1
Introduction to
Spot
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.
¾ Bullet Conventions:
Y From the File menu, select Save. The current file is saved.
Or
Y Select File -> Save. The current file is saved.
2 Here is how an icon from a toolbar is refered to in an exercise:
Design Targets
The entire design process may require several hours average time
per welding point.
Despite the time required, the design is prone to errors and still
leaves much work for the implementation stage, resulting in a
further waste of time and money. The final design then falls short of
optimum. To minimize these problems, the design work has several
clearly defined goals:
) Determining the correct welding-gun geometry, particularly the
shanks, so as to enable reaching all welding points without
collision, while minimizing cycle time and welding-gun weight.
) Assuring reachability to all welding and intermediate (via)
points, without collision and with an optimal (minimal) cycle
time.
) Assuring maximum usage of stock equipment: robots, guns,
shanks, tips, etc.
) Detecting design errors at the design stage.
Lesson 3: Overview
Introduction
The goal of this class is too make several spot welding cells for
different situations.
As with all Robcad Spot training, we start with the goal in mind.
We will load the final cells and examine them. As we build up the
workcells, we will then know what our goal is.
Chapter Summary
In this chapter the following was learned:
) The basic terms and processes of spot welding.
) Got an overview of the spot weld process.
) How to create some different types of weld gun kinematics.
) How to add lead and follow factor to weld gun kinematics.
) How to add loops to a kinematic tree.
) How to create a kinematic tree with branching.
Chapter 2
This chapter describes how to use the basic tools in Robcad Spot.
It contains the following lessons:
) Lesson 1: Process Methodology, page 2-3, gives an overview of
the spot weld process.
) Lesson 2: Getting Guns into Robcad Spot, page 2-5, describes
how to get guns into Robcad Spot (Review).
) Lesson 3: Adding Weld Points, page 2-7, describes a method to
get weld points into the workcell.
) Lesson 4: Projecting Welding Points, page 2-10, describes how
to project weld points onto the part thereby creating weld
locations.
) Lesson 5: Creating and Editing a Weld Path, page 2-19,
describes how to create and edit a path of weld locations.
) Lesson 6: Multi-sections, page 2-22, describes how to use the
multi-section tool.
) Lesson 7: Test Robot’s Reachability to the Locations, page 2-
30, describes how to use several techniques to test the robot’s
ability to reach locations in its path.
Lesson 1: Process
Methodology
Principles
¾ Robot Program:
Strategic Planning
Begin the design process with strategic planning, by viewing the
spot-welding line as a whole. At the workstation equipped with the
Robcad Spot application, load the complete workcell with an
approximate, preliminary placement of its components. Then
observe the workcell with a view to answering these questions:
) How should each robot be positioned relative to the
workpiece?
) What type of welding gun should be used?
This course assumes that weld guns, fixtures, robots, etc… have
already been placed into the Robcad library and contain the
appropriate kinematics.
¾ Usage:
1 Choose the projection type:
Y Automatic – projects points on the whole component
Y Manual – projects points on specific entity (needed
sometimes)
2 Pick the weld points that will be projected until the surfaces to
create the weld locations.
) Select gun1.
) Select gun frame.
) Select a weld location on which you want the copy of the gun
to appear.
) Click Accept.
NOTE
The approach of the gun must be modified to avoid collision between the gun shank
and work piece
) Click on Name, then select the weld location that the gun is
attached to.
) Now, click on Rotate and use the middle mouse button to
interactively rotate the weld location about the perpendicular
axis.
NOTE
The gun is attached to the weld location; this command rotates the weld location
NOT the gun.
NOTE
This command aligns all orientations while maintaining the perpendicular constraint
of the weld locations.
NOTE
Default approach and perpendicular axes are defined and can be modified using
Select Robcad −> Spot −> Spot_Setup −> Vectors
NOTE
Constraint − weld locations must be on the surface and perpendicular to it. They
will be used to determine the orientation of the weld gun when approaching or at
this location.
2 Get the first approximation of gun.
Y From the Top Menu window, select Layout.
Y From the Layout window, select Get component.
Y From the guns library.
Y Component: gun1.
3 Use this special menu to put a temporary gun on to a location
to check the location’s orientation.
Y From the Spot Top Menu window, select Gun −> Guns at
locations/Create to create an approximation gun. Select a
weld location for this gun.
4 Orient the weld location approach vector.
Y From the Spot Top Menu window, select Weld_locs
Y From the Weld_Locs window, select Modify
orientation/Rotate interactively.
NOTE
Constraint − the approach of the gun must be modified to avoid collisions.
7 Store workcell.
Y From the Top Menu window, select Layout.
Y From the Layout window, select Store.
Y Click Confirm.
NOTE
Select the weld locations in order of the path sequence.
Y Click Accept.
2 Create and place cutting box on weld location (s).
Y From the Gun window, click Create sections/Show cutting
box.
Y In the Place gun on sections window for Gun, select the gun
on the location in the main Graphics Window.
Y For Gun tcp frame, select the TCPF of the gun on the
location in the main Graphics Window (or type fr1).
Y For Section, select one of the sections in the cross section
Graphics Window.
Y Click Accept.
7 Measure the required throat depth and throat height of the cross
sections.
NOTE
Throat depth is measured from the weld location back towards the approach side
(in this case along the positive Z axis) .
Throat height is measured perpendicular to the throat depth on the plane of the
cross section (in this case from the top to the bottom of the cross section along the
X axis of the cross section location).
Y From the Top Menu, select Query.
Y From the Query window, select PTP distance.
Y Press [F11] until the Pick Intent is set the Where Picked.
Y Pick the desired two points for the Throat depth.
Y Write down the values or press [F4] to save a picture of the
Graphics Window.
Y Pick the desired two points for the Throat depth.
Y Write down the values or press [F4] to save a picture of the
Graphics Window.
Y
8 Check the collisions between thee gun and section.
Y Press [F12] until the Pick Level is set to Component.
9 Use the Transfer panel of the Placement Editor to move the gun
along the cross−sections (Y axis of the gun frame).
Y Rotate a little in the cross section Graphics Window to an
isometric view.
Y Press [F12] until the Pick Level is set to Component.
Y Right click on the gun in the cross section Graphics
Window and select Placement .
Y Click Other.
Y For Other frame, select the TCP frame of the cross section
gun (or the location that it at).
Y Click Accept.
Y Click Y.
Y Hold down the middle mouse button and move the mouse
left to right to slide the gun along the cross sections.
Y Verify that there are no collisions between the gun and the
part (Robcad will highlight then in red or beep).
NOTE
Based on gun overlay, modify the shank using Modeling OR choose another gun
that is appropriate for this particular process would be suggested.
12 If you want to open the section window again later for this
section:
Y Right click in the in the Graphics Window and select Full
View to zoom out.
Y From the Gun window, click Edit sections/ Open multi-
section win command.
Y For Multi-section, select the multi-section.
13 Remove the gun at the section.
Y From the Gun window, click Select gun/ Delete.
Y For Gun, select the gun on the multi-section.
Y Click Confirm.
14 Remove the multi section.
Y From the Gun window, click Edit sections/ Delete mutli-
section.
Y For Multi-section, select the multi-section
Y Click Confirm.
15 Remove cutting box.
Y From the Gun window, select Create sections/ Remove
cutting box.
NOTE
By default the Robot and Place Object are set to the Active Mechanism (if it is a
robot).
NOTE
This command creates grid points representing all possible solutions at the intervals
specified.
Y In the Autoplace settings window, set the Search mode to
Static (Method 3) or to Analyze (Method 4).
NOTE
Proximity specifies how closely joints may approach their limits for auto-placement
solution to be reported as acceptable. The proximity value is specified as a
percentage of the total joint travel.
4 Execute the auto-placement procedure. Pick stop to terminate
the procedure prematurely.
Y In the Autoplace window, click Run.
NOTE
The tested grid points are colored to indicate the degree of success.
.
Y Double click on the gun.
Y Click Rotate.
Y Click Lz.
Y Enter −90.
Y Click Accept.
4 Define TCPF (tool center point frame) using the Robcad Spot
Placement menu.
Move Along .
7 Store the cell.
Y From the Top Menu window, click Layout
Y From the Layout window, click Store.
Y Click Confirm.
NOTE
We will talk about Method 2 for placing the part towards the robot in a later chapter
when we talk about mounted workpeice spot welding.
NOTE
If your gun has more than one TCPF, choose the desired one. In this case, we
have only one.
Y Size x: 2000
Y Step x: 100
Y Size y: 2000
Y Step y: 100
Y Click Accept.
5 Change the Autoplace settings.
Y In the Autoplace window, click Settings.
NOTE
Proximity specifies how closely joints may approach their limits for auto-placement
solution to be reported as acceptable. The proximity value is specified as a
percentage of the total joint travel.
Y Click Close.
6 Select Run to execute the auto-placement procedure. Pick stop
to terminate the procedure prematurely.
NOTE
The tested grid points are colored to indicate the degree of success.
7 Look at the spreadsheet for this run to see which locations are
best. The positions to be put the robot are listed in this
spreadsheet so that the best ones are first and the worse ones
are last.
Y In the Autoplace - Simulation Results window, scroll to the
top of the list.
Y Grid points that had full inverse for all locations in the path
are shown with a Yes in the Result column.
10 Look at the spreadsheet for this run to see which locations are
best. The positions to be put the robot are listed in this
spreadsheet so that the best ones are first and the worse ones
are last.
11 You can use the Robcad Spot file utilities to view this file later.
Y From the Top Menu window, click Data
Y From the Data window, click File Utilities.
Y Select Operate on −> Other.
Y Browse in the source file window into your project folder.
Y Then browse into the workcell folder (end in .ce).
Y Pick the autoplace_results file.
Y Select Show.
Y Click Close.
3 Select Run to execute the auto-placement procedure. Pick stop
to terminate the procedure prematurely.
NOTE
The tested grid points are colored to indicate the degree of success.
4 Look at the spreadsheet for this run to see which locations are
best. The positions to be put the robot are listed in this
spreadsheet so that the best ones are first and the worse ones
are last.
Y In the Autoplace - Simulation Results window, scroll to the
top of the list.
Y Grid points that had full inverse for all locations in the path
are shown with a Yes in the Result column.
Y Also notice the cycle time shown for each grid point.
5 Use Mark solutions to create a frame at each grid point.
Y From the Autoplace window, click Mark solutions.
Y Right click on all the grid point names in the Autoplace –
Simulation Results window to copy/paste the names into the
Point window.
7 Compare these results with those from the Static search mode
run.
Y From the Top Menu window, click Robcad -> Workcell.
Y From the Top Menu window, click Data.
Method 1: By Interpolation
This method generates new via locations between two existing
locations that are specified, by joint or Cartesian interpolation. The
new locations are colored according to their reachability.
) This command requires that the active mechanism be a robot.
¾ Usage:
) First pick two locations (the start and end locations for the
segment to be modified)
) Enter how many locations to create.
Method 2: By Jog
NOTE
This method is very similar to the method described earlier to create locations in a
path using the Joint Jog or Robot Jog tabs the Motion window
¾ For example:
) Click From loc on panel. (This will create a via location after
the specified location.)
) Click on lo1 or lo8 depending on direction of your path.
) Click Mark via loc on panel to create via location at this point.
) Click To loc on panel. (This will create a via location before the
specified location).
) Click on lo1 or lo8 depending on the direction of your path and
create the next via location.
Method 3: By Pick
This method generates via locations at places selected by picking.
The orientation of every via location is the same as the orientation
of either first_location or second_location, whichever is closer to
the via location.
¾ Usage:
) First pick two locations (the start and end locations for the
segment to be modified)
) Continue to pick on path (with Where Picked) to add another
location to the path.
The speed and acceleration of the object can affect the detection of
collisions. If they are very high, it may be advisable to reduce the
update time interval.
(2) Collisions are determined by the distance between surface
facets of the objects. Hence, if objects to be checked for collisions
have highly curved surfaces, higher display precision should be
used. To adjust precision:
Display −> Precision & direction −> Modify display precision
Y Click Accept.
.
9 Rename the first location in the path to pounce.
Y In the Path Editor window, select the first location in the
path you just created.
Y Select Rename .
Y Enter pounce.
Y Click [OK].
10 Rename the last location in the path to clear.
Y In the Path Editor window, select the last location in the
path you just created.
Y Select Rename .
Y Enter clear.
Y Click [OK].
11 Close the Path Editor window.
NOTE
If objects are blanked, they will not be detected in a collision
.
Y From the Collision Setup window, select Define pair.
Y Click Accept.
NOTES:
You can also use create via locations in order to clear the part:
- From the Spot Via Locs window, select Create & verify / By pick.
Y Select the segment of the path between the first weld spot in
the channel and the second as the last weld spot in the
chanel.
Y Click Accept.
6 Play the simulation and see what it did.
7 Store the workcell.
NOTE
The first location in the path must have a gun state on it. Automatic via (this may
take awhile).
Y From the Spot Via Locs window, select Optimize /
Automatic.
Exercise
Objective: To use the automatic path planner.
1 Store your workcell first (for backup purposes).
2 From the Robcad Spot Toolbox Manager, click Path Planner
.
3 Select the required fields.
Y From the Automatic Path Planner window, click Robot.
Y Select the desired robot.
Y Click Select.
Chapter Summary
In this chapter the following was learned:
) Spot process overview
) A method to get weld points into the workcell.
) How to project weld points onto the part thereby creating weld
locations.
) How to create and edit a path of weld locations.
) How to use the multi-section tool.
) How to use several techniques to test the robot’s ability to
reach locations in its path.
) How to add clearance moves to a weld path.
) How to optimize via locations in a weld path.
) How to use the Automatic Path Planner tool.
Chapter 3
Adding to the
Spot Welding
Process
This chapter describes how to use the more tools in Robcad Spot.
It contains the following lessons:
) Lesson 1: Process Methodology--revisited, page 3-2, describes
the process methodology used in this chapter.
) Lesson 2: Using the Location Attributes Window, page 3-4,
describes how to edit the attributes of a location.
) Lesson 3: Signal (I/O) Definition & Simulation, page 3-14,
describes how to do signal I/O using Location Attributes.
) Lesson 4: Multiple Robot Simulation & Work Balance, page 3-
21, describes how to do multiple robot work balancing using
Location Attributes and Interference Zone.
) Lesson 5: Working with Hard and Soft Limits, page 3-42,
describes how to set kinematic soft limits.
) Lesson 6: Introduction to SOP, page 3-45, recall how to do
basic signal I/O with SOP.
) Lesson 7: Creating a Sequence, page 3-51, describes how to
create a basic sequence.
Lesson 1: Process
Methodology, revisited
Principles
¾ Robot Program:
Instructor Demo
The instructor will create a small path with 3 locations. He will
use the Set tcpf track and Set motion params abilities in the
toolbox.
NOTES:
This command is only found on the Robcad Spot and Robcad Workcell menu’s
toolbox manager window.
toolbox.
NOTES:
This command is only found on the Robcad Spot and Robcad Workcell menu’s
toolbox manager window.
Y Click Apply.
6 Edit information on the Motion tab.
Y In the Location Attribute Editor window, select the Motion
tab.
Y Click to set the Motion type to Joint.
Y Click to set the Zone to Nodecel.
Y Set the Speed to a Joint speed of 100 (type it in).
Y Click Apply.
7 Close the editor.
Y Click Close.
8 Copy these changes to all the other vias.
Y In the Location Attribute Editor window, select Edit ->
Select All Via.
Y Right click the selected locations and select Copy Attribute.
Y Type in the name of the via that you modified earlier (or
pick it from the Graphics Window).
Y Click [OK].
9 Edit one of the weld locations.
Y In the Location Attributes window, right click a location and
select Attributes Editor.
10 Edit information on the Spot tab.
Y In the Location Attribute Editor window, select the Spot tab.
Y Verify the Location type is Weld.
Y Set the Hold time to 1.
Y Click Apply.
11 Edit information on the Motion tab.
Y In the Location Attribute Editor window, select the Motion
tab.
Y Click to set the Motion type to Linear.
Y Click to set the Zone to fine.
Y Set the Speed to a Linear speed of 1600.
Y Click Apply.
12 Close the editor.
Y Click Close.
13 Copy these changes to all the other welds.
Y In the Location Attribute Editor window, select Edit ->
Select All Weld.
Y Right click the selected locations and select Copy Attribute.
Y Type in the name of the weld that you modified earlier (or
pick it from the Graphics Window).
Y Click [OK].
14 Setup and use the spot simulation window, if have not already.
Y From the Spot Top Menu, click Spot_simulation.
Y In the Spot Simulation window, click Define setup/ Robots
& paths.
Y For Robot, select the robot.
Y For Path, select the path.
Y Click Accept in the Define robots and paths window.
Y In the Spot Simulation window, click Define setup/ Display.
Y Look in the Graphics Window.
Y In the Spot Simulation window, click Define setup/ Reset.
15 Play the simulation and notices the differences to the simulation
cycle time and robot motion.
Y In the Spot Simulation window, click Simulate.
Y In the Simulate welding path window, click Accept.
Y Watch the simulation in the Graphics Window and the Spot
Simulation window.
.
5 Modify the attributes of the path.
Y From the Location Attributes window, click Table -> Add
Path/Loc.
Y Type in, or pick the weld path, and click [OK].
6 Drive a device open.
Y In the Location Attributes window, right click on the last
location (clear) and select Attributes Editor.
Y In the Attributes Editor window, select the Synch tab.
Y Click [OK].
7 Repeat the previous step for the r2_clamps and r3_clamps.
8 Now let’s add attributes to first the location in path (pounce) to
close (i.e. move to CLOSED) the clamp at the beginning of
simulation. We will follow a similar process that we did above
to open the clamp at the last location.
NOTES:
Move the clamps to their home positions.
Y Click [OK].
11 Repeat the previous step for the r2_clamps and r3_clamps.
12 Set the Robot and path pair (if you haven’t already.
.
2 (If not already done) Modify the attributes of a location.
Y From the Location Attributes window, click Locations ->
Add Path/Loc.
Y Type in or Pick the weld path and click [OK].
3 Wait for a device.
Y In the Location Attributes window, right click the first
location in the weld path and select Attribute Editor.
Y From the Location Attributes window, click Synch in the
middle of the window.
Y In the window displaying various commands starting with a
pound sign #. Select line after the # Drive CLOSED line.
We will add the wait statement after the signal is sent to the
clamps to close.
Y Select Name.
Y Choose the location with the gun on it.
Y Select Perp.
Y Move the mouse left and right in the graphics window while
holding down the middle mouse button.
NOTE
The gun is attached to the weld location; this command rotates the weld location
NOT the gun. When the location is rotated, the gun will follow.
6 Delete the temp gun at the location you where just rotating.
Y From the Spot Top Menu window, select Gun.
Y From the Gun window, select Gun at locations / Delete.
Use Motion .
15 Store the cell.
Y From the Top Menu, click Layout.
Y From the Layout, click Store.
Y Click Confirm.
16 Rename the first robot and gun pair to robot1 and gun1 and the
second robot and gun pair to robot2 and gun2.
Y From the Top Menu, click Layout.
Y From the Layout, click Rename.
Y Click Add.
Y For Object, select the first robot.
Y For New name, enter robot1.
Y Click Add.
Y For Object, select the second robot.
Y For New name, enter robot2.
Y Change List of to Devices.
Y Click Add.
Y For Object, select the first gun.
Y For New name, enter gun1.
Y Click Add.
Y For Object, select the second gun.
Y For New name, enter gun2.
Y Click Add.
Y Click Close
Y Click [OK].
Y Click Confirm.
17 Store the cell.
Y From the Top Menu, click Layout.
Y From the Layout, click Store.
Y Click Confirm.
Y Click Accept.
2 Define a collision list between the second robot/gun and
clamps.
Y From the Collision Setup window, click Define pair.
Y Click Pair name, and enter Robot2gun2_to_clamps.
Y Press [Enter].
Y Click Near miss, and enter 30.
Y Press [Enter].
Y Add robot2 and gun2 to the first list.
Y Add r1_clamps, r2_clamps and r3_clamps to the second
list.
Y Click Accept.
3 Define a collision list between the first robot/gun and the
second robot/gun with a near miss value of 100.
4 Make this last collision list inactive for now.
Y In the Collision Setup window, select the last created
collision list.
Y Click Inactive.
NOTE
Counting the two you created in the previous chapter, you should now have 5
collision lists.
NOTE
The robots don’t wait for each other (they start at the same time and crash).
Y Click Accept.
Y Main Bar Legend:
Y Orange − Welding activity
Y White − Waiting activity
Y Green − Robot motion between poses
Zone .
2 From the Interference Zone window, click Add to add the first
robots and its path.
Attributes .
2 Select a path.
3 Right click a location and select Location Attribute Editor
window.
4 Select the Sync tab.
Interference Zone .
9 Enter a clearance.
Y In the Interference Zone window, click Clearance.
Y In the Clearance value window, enter 100.
Y Press the [Enter] key.
1 Load myspot.ce.
2 Open the Location Attributes window.
Y From the Robcad Spot Toolbox Manager, select Location
Attributes .
3 Select a path.
Y From the Location Attributes window, pick Table -> Select.
Y From the Select Paths/Locations window, pick the pa1 path
and the pa2 path.
Y Click [OK].
4 Copy the open clamps signals from the end of pa1 to the end of
pa2.
Y Click [OK].
Y From the Location Attribute Editor window, click Close.
8 Select the last location on the second path.
9 Send the signal go=0 to the first robot.
Y Follow the same process, except this time select the first
robot (gmfs420) for the Destination robot and enter a Value
of 0.
10 Select the first location on the second path.
11 Wait for a signal.
Y Select the Sync tab.
Y Select Wait signal.
¾ Hard limits:
) Set the range from infinite motion to the correct range for that
robot
) Set by the manufacturer of the robot
) Controlled by the .e file or other kinematic joint limits
) Defined using the Modeling −> Kinematics −> Define
Mechanism
) Defined for the robot prototype
¾ Soft limits:
) Farther restrict the hard limit range of motion
) Used to avoid robot collisions with stationary objects in the cell
) Set for a certain robot instance
) The default soft limits are the same as the hard limits
NOTE
Adding soft limits to a robot will change the shape of the robot envelope. Robot
envelopes were created in the WKP100U Robcad Basics course.
) Set soft limits using the Motion window Joint Jog tab.
NOTE
J3 on robots are variable limit joints and should not have soft limits applied to
them).
3 Jog the robot to find the new max ranges for the robot.
NOTES:
Joints J2 and J3 have variable joint limits. So, jogging J2 affects the limits of J3,
and visa versa.
5 Enter the new soft limits for each joint of the robot.
Y Pick the joint to add soft limits to.
Y Pick the green low limit (on left).
(turn off).
Y Jog the robot and see the affect.
Y Click HOME.
Y From the Toolbox Manager window, click Limits Check
(turn on).
Y Jog the robot and see the affect.
Lesson 6: Introduction to
Sequence of Operations
Introduction
¾ To access the SOP menu:
) From the Top Menu window, click Robcad -> Workcell.
) From the Top Menu window, click Sop.
¾ Demo:
1 Load the cell.
Y Load first_cell.ce cell from the .\WKP202U\projects\intro
project.
2 Open the SOP.
Y From the Top Menu, click Robcad −> Workcell
Y From the Top Menu, click Sop.
Y From the SOP (Sequence of Operations), click Sequence.
Y Double click Station11.
3 Show and move the Gantt Chart.
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.
Overview of an Operation
Lesson 7: 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.
1 Open a Sequence.
Y Open a sequence.
¾ Define an Operation.
NOTE
A sequence can have more than one operation. This command lists all existing
operations for the current sequence. If you want to edit an existing operation, select
that operation name from the list..
3 Determine the type of operation this will be.
Y Select Operation −> Type.
7 Click Accept.
8 Repeat these steps until all desired operations for this sequence
have been defined.
Y Pick in the first box for the Path/Program column and select
the path.
5 Do the same for the second robot (gmfs420_1) and path (pa2).
It will go into the second row right below for first robot and
path.
6 Pick in this box and enter a description of this operation.
.
11 The SOP file must be stored to save changes. The cell is not
stored with this button, however.
12 From the Sequence of Operations window, click Store.
¾ Method 1:
Notice that this sequence of operations only has one orange color
bar. However, both robots simulate, and the clamps open and
close within it.
¾ Method 2:
We could also represent this as one orange color bar for both
robots, and two cyan color bars for the clamps opening and
closing.
Chapter Summary
In this chapter the following was learned:
) How to edit the attributes of a location.
) How to do signal I/O using Location Attributes.
) How to do multiple robot work balancing using Location
Attributes and Interference Zone.
) How to set kinematic soft limits.
) How to do basic signal I/O with SOP.
) How to create a basic sequence.
Chapter 4
Mounted
Workpiece
Welding
Y Click Select.
Y In the Open window, click Independent.
Y Click Accept.
Y Click Accept.
6 Use step 5 to define the CLOSE state with a value of 0.
7 Save and close the modeling session.
Y From the Top Menu window, select Files −> Save.
Y Select Files −> Close.
8 Open the fixture component for modeling.
9 Define the states (approach, retract) for the fixture using the
steps above.
Y Click [OK].
4 Get the welder.
NOTE
If you performed the optional exercise in Lesson 1, get the copy of the welder from
the current project. Otherwise, get the welder from the devices library.
Y From the Top Menu, select Layout.
Y Click Get component.
Y Select the welder (see the note for the location).
Y Pick the welder1_frame (green) that was brought in with the
robot base. (base.welder1_frame).
Y Click Accept.
5 The locations we just created are mounted workpiece locations
so we need to associate the locations with the welding frame
on the welder.
Y Select Accept.
6 Check reachability using the motion menu.
Lesson 4: Orienting
Workpiece Locations
Steps to Orienting the Locations
• Adjust the orientation of one of the locations, as a reference
location using the next two steps
) Define a location to check.
) Then modify the location orientation until it is reachable.
) Align the rest of the locations to match the reference location
) Define and the check the path so that all locations are
reachable
) Spot simulate the path
Y Click Accept.
5 Then modify the location orientation until it is reachable.
Y In the Spot Placement window, select Perform placement /
Modify loc.
Y Move the mouse left and right in the graphics window until
the longer axis (X-axis) is in the blue (reachable) area of the
pie.
NOTE
This type of reach check considers the reach envelope of the robot, but not
collisions between the part and the stamper.
NOTE
The same tools used in the previous chapter could be used here as well (Gun ->
Create and Weld_locs -> Rotate interactively). However, these tools would
consider the collisions between the part and the stamper, but the reach envelope of
the robot would not be considered.
NOTE
Another tool that we used before (Motion -> Robot Jog -> Drag Loc) could be
used to consider both the collisions between the part and the stamper, and the
reach envelope of the robot.
6 Align the rest of the locations to match our reference location.
Y Select Weld_locs −> Modify orientation / Align orientation.
Y In the Align orientation window for Reference frame, pick
the location that was just oriented.
Y For the Aligned location list, pick the other locations in the
path.
Y Click Accept.
7 Repeat steps 4 through 5 for the locations in the path so that all
the locations are reachable.
HINT
Remember that if the location is blue, it is reachable.
Y approach3
Y wp3
Y retract3
NOTE
In this example, approach1 and retract1 can be the same location or two different
locations.
4 Use the Path Editor to shift the first via for each weld, up
Editor .
Y From the Placement Editor window, click Object.
Y In the Object names window, select the via (name contains
_v) after the first weld location.
Y Click Accept.
Y From the Placement Editor window, click Put.
Y In the Put window, select the Locate At prompt.
Y Pick the first weld location.
Y Click Source Orientation.
Y Click Accept.
6 Next, shift it down in the Z-axis so that a collision no longer
exists.
Y From the Placement Editor window, click Shift.
Y In the Shift window, click Lz.
Y For Distance, enter 30 (or maybe -30).
Y Click Accept.
7 For the second weld spot repeat the last two steps for the via
before and after it (you can move them together by picking
them both at once with the Objects button).
8 Repeat this process for next location in the path, etc…
Y Pick on the frame that is part of the fixture just above it the
area where the part goes.
Y Pick this frame again to make a second location here.
2 Add a via to retract from the fixture to the home pose.
Y Click Robot.
Y Select the robot.
Y Click Path Segment.
Y Select the path.
Y Click Loc in Path.
Y Select a via location in the path
Y Click an axis X, Y, or Z and move it around.
Y Click Best so far.
Y Click Reset.
Chapter Summary
In this chapter the following was learned:
) How to define states for kinematic devices.
) How to mount the part to the robot gripper.
) How to create a rough path.
) How to orient the locations on the part.
) How to maneuver the part toward the external welder.
Chapter 5
Gun Searching
This chapter discusses what can be done with spot guns in Robcad
Spot. It contains the following lessons:
) Lesson 1: Creating Your Own Attributes for Searching, page 5-
2, describes how to create your own attributes for searching.
) Lesson 2: Searching and Sets, page 5-8, describes how to create
sets and perform searches.
) Lesson 3: Smart Search Tools, page 5-14, describes how to use
the smart search tool.
) Lesson 4: The Browser, page 5-23, describes how to use the
browser.
) Lesson 5: Gun Search, page 5-26, describes how to use the gun
search tool.
Introduction to Attributes
CRITICAL NOTE
Edit the user_attributes and user_family files with Word Pad, not Note Pad.
After editing an attributes or families file you MUST run the to_unix command from
a command prompt. It is best to put the resulting files into the ./Robcad/usr folder
as well.
The families file maps the attributes into groups (known as families)
such as guns, fixtures, and car parts, etc . . . according to your
needs. While modeling a component, you can choose the
corresponding family and assign the appropriate attributes. The
values of the attribute are saved together with the component.
ATTIBUTE MY_ATTRIBUTE
END_FAMILY
Now, lets create a family for the attributes that we want to use on
our guns. The first step is to add the word ATTRIBUTE in front of
each of your attributes. The second step is to name you family and
put the word FAMILY before the first attribute in your family
followed by the name of your family. The last step is to add
END_FAMILY after the last attribute in your family. Here are the
results of our work.
FAMILY my_guns
ATTIBUTE WEIGHT
ATTIBUTE THROAT_HEIGHT
ATTIBUTE THROAT_DEPTH
ATTIBUTE GUN_STYLE
ATTIBUTE WELD_FORCE
END_FAMILY
We should store this in a text file in our home folder called
user_families.
WEIGHT r
THROAT_HEIGHT r
THROAT_DEPTH r
GUN_STYLE s
WELD_FORCE r
NOTE
We’re not done yet.
WEIGHT r −1
THROAT_HEIGHT r −1
THROAT_DEPTH r −1
GUN_STYLE s −1
WELD_FORCE r −1
NOTE
We’re not done yet.
GUN_STYLE s −1 p
WELD_FORCE r −1 p
NOTE
We’re not done yet.
WELD_FORCE r −1 p
We should store this in a text file in our home folder called
user_attributes.
NOTE: If this usr folder .robcad file does not exist, create it. Use
the .robcad file in the dat folder (i.e. C:\robcad\dat\.robcad) as
reference. But only copy the lines into the usr folder .robcad file
that you are modifying (Do NOT copy every line, or the Robcad
software may not operate correctly)
The location of the user families and attributes file is relative to the
Robcad dat folder (i.e. C:\robcad\dat).
NOTE
The ../ is what is meant by a relative path. The ../ means to go up one level on the
folder tree. Remember that these paths are relative to the $ROBCAD/dat folder.
) Attribute Editor
Y Allows you to create an icon for a component that is
viewable in the Browser.
Y You can also view all the attributes you’ve created for the
selected entity
) Set Editor
Y Allows you to create a set, which is a list of components.
Y A set can be searched or browsed.
) Smart Search
Y Allows you to search the a library for an existing component
using the attributes assigned
Y The results is a set of components that could be viewed in
the browser to decide which one should be used in the
current cell.
) Browser
Y Allows you to pick on a component name and see a picture
of it along with its family attributes.
Y Would be a great way to help users build probe assemblies,
select heads for mounting and select probe assemblies for
mounting.
) Gun Search
Y Automatically gets guns from the library, moves then along
the spot path, to see if it is good for this job.
What Is a Set?
The set is a group of components, which should be defined by
using the Set editor. The source can be either library, current
project, or another set, which had been defined earlier in the
project. The set is saved immediately in the project with a .set
suffix. The search domain of the smart search will be this set. The
results from a smart search is a new set, that will be named
result.set.
.
4 Chose the name of the set.
Y From the Set Editor window, click Destination set.
Y Type: gun_set.
NOTE
The set is stored as a text file with a .set extension in the working folder.
For example: if a weld gun whose weld force is higher than 100 is
needed, the expression should be:
($weld_force > 100)
If a gun whose weld force is higher than 100, but lower than 120 is
needed, the expression should be:
(($weld_force > 100) and ($weld_force < 120))
The ($weld_force > 100) is the first expression, ($weld_force <
120) is the second expression and joining them together creates
new expression, so it should be in a brackets too.
If a manual gun with the same specifications is needed, the
following expression can be used:
((($WELD_FORCE > 100) and ($WELD_FORCE < 120))
($GUN_TYPE has MANUAL))
NOTE
Make sure, that you understand the syntax of the expression.
.
3 Select the set on which the search will be performed.
Y Select source set −> gun_set.
4 Enter a name for a destination set that will contain the results of
the search by picking Dest. set and typing in results.
8 Press the right mouse over the name of the attribute to search
on.
NOTE
The name of the attribute is pasted into the box in the Attribute column that you
selected a couple of steps back.
9 Enter Values for this attribute that you would like to search on
in the From/Has and To columns.
10 Enter other attributes to search on if you want.
11 Start the search.
Y Click Run.
.
2 Select the set on which the search will be performed.
Y Select source set −> gun_set.
3 Select Textual expression.
4 Enter a name for a destination set that will contain the results of
the search.
Y Select: Dest. set −> Results.
5 Select the family containing the attributes for the component.
NOTE
We are now going to build the following expression: ($WELD_FORCE < 300).
Here are the steps to do it.
14 Get rid of the Set Editor Toolbox by clicking on the Set Editor
icon again.
4 Select: Results.
Y Click Select.
5 You can now view each of the components found by the smart
search.
Y Double-click on GUNS.
Y Enter an Angle of 5.
Y Enter a Step of 5.
Y Click Accept.
9 Finish a gun check upon completion.
Y For Next gun, select On completion.
10 Click Run.
Chapter Summary
In this chapter the following was learned:
) How to create your own attributes for searching.
) How to create sets and perform searches.
) How to use the smart search tool.
) How to use the browser.
) How to use the gun search tool.
Chapter 6
Other Selected
Topics
Usage
When welding is complete, the servo gun opens in either of two
different ways:
) The passive arm retracts to its open position, and the active arm
moves to a new value.
) The passive arm retracts to its open position, and the active arm
moves to its position before the welding operation, but using a
different arrival-zone value; thus the robot starts moving to a
new location while the gun is still moving. Kuka robots use this
method.
Active arm - the active arm is defined as a regular external axis of
the robot. Any function, by which the controller controls an
external axis, can therefore control also the servo gun.
Passive arm - movement of the passive arm is limited; it is used for
balance against the active arm.
Gun states - The servo-gun model must have a CLOSE state (pose).
The commands in the Robcad Spot Gun Search toolbox require the
CLOSE state, and may also use optional OPEN and SEMIOPEN
states.
Mounting a servo gun – Mount places the servo gun on the robot
and attaches it to the robot, and also constitutes the active arm as
an external axis of the robot.
Creating and updating locations - The locations for servo-gun
simulations must be compound in order to move the active arm
together with the robot. To constitute locations as compound
locations, issue for them the mark compound and update
commands in the Motion toolbox.
Location attributes. Servo guns do not use the POSE attribute;
instead, they use the main-joint value recorded in the Servo tab of
the Location Attributes toolbox.
OLP support. The default controller supports simulating servo
guns; users may request that other controllers be added: please
consult your Tecnomatix Applications Engineer. Motion to via
locations merely requires defining them as compound locations.
For motion to welding locations, the robot:
1 Moves to the compound welding location.
2 Moves the servo gun to its CLOSE pose.
3 Simultaneously moves the passive servo-gun joint to its OPEN
pose, and moves the active servo-gun joint to its DEPART
attribute value if any.
Requirements
Before defining a welding gun, ensure that:
) A component is currently being modeled.
.
Y From the Location Attributes window, pick Locations ->
Select.
Y From the Select Paths/Locations window, pick the pa3 path
(blue one).
Y Click [OK].
6 Change the servo values for this location using the Servo tab.
Y Select the Servo tab.
NOTES:
The main joint of a servo gun, also designated the dynamic or active arm, is
controlled by an electric motor; mounting a servo gun on a robot makes the main
joint as an external axis of the robot.
The lower portion of the Servo tab displays information about the mounted servo
gun: its name, and the upper and lower limits of its main joint.
Y To change the defined servo value: either type in a value for
the Main joint, or choose the value stored in a pre-existing
pose from the Teach pose drop-down.
Y Click Apply.
This command also records with the compound location the values
of all of the external axes associated with the robot. If the robot is
subsequently moved to that location, its associated external axes
also move simultaneously to their values recorded for the location.
The active mechanism must be a robot having at least one external
axis; otherwise, an error results.
) Ext no - The external axis number of the active robot, that you
want to assign the compound locations to.
2 It should consist of two boxes. One is the rail track and the
other is the carriage that carries the robot along the track. (See
the WKP100U Robcad Basics course to see how to create
kinematic links)
Y Example: Dimensions
Y Rail 15,000 x 800 x 1000
Y Carriage 800 x 100 x 1000
3 Place the carriage on one end of the rail.
4 After creating the links, define the rail as a kinematic device
having a single prismatic joint (J1) to move the rail along the
track.
5 Save and close rail.co modeling.
window.
NOTE
Use the motion reachability to move the robot along the track so that the first few
locations are reachable by the robot.
• Move the mouse left and right in the Graphics Window while holding down the
middle mouse button until you get the location blue.
To add the joint value of the rail to existing non-compound locations.
Lesson 4: Spreadsheet
Introduction
Your License package may not include the Spreadsheet.
Spreadsheet :
) The spreadsheet enables the user to control all the information
regarding the weld points of the station; to update the station;
and be updated from it. The spreadsheet can hold the weld
point names and positions, their corresponding weld location
names and positions, their attributes (Robcad Spot attributes
and user attributes) and comments.
) The meaning of updating Robcad Spot from the spreadsheet is
that the positions and attributes of the weld points in the station
are modified according to the information in the spreadsheet. In
order to update the process data--the weld locations--the user
has to use the ‘Update utility’ in the Spot/Weld Locations menu.
) The process of updating the table from Robcad Spot displays in
the table the positions of the station’s weld points; weld
locations as they are in the cell; and the attributes of the weld
locations.
6 Use the tools in Robcad Spot to create a spot path that the robot
can reach.
7 Upload any changes to the points back into the spreadsheet.
Y The first cell, which you will assign points to, is op10.ce.
This cell is the cell which c1968 and c2450 should be
welded together. The points are attached to c2450.
Y For convenience, you can hide the non-relevant points.
Y Points wp81−wp111 are the weld points whose connecting
between the parts. In order to find the first point the find
mechanism can be used:
10 In the Spreadsheet window, select Data −> Find −> c2450
(point wp81).
11 Select all the lines before wp81.
12 In the Spreadsheet window, select Worksheet −> Hide −> Row.
13 Go to line 65 (point wp114) select all the rows until the end.
14 In the Spreadsheet window, select Worksheet −> Hide −> Row.
Y The weld time in the cell is limited to about 55 seconds,
thus the cell cannot include all the weld points. First, the
geometric points should be assigned, those points must be
welded before the other points.
15 In the Spreadsheet window, select change all the geo points (in
type column) to op10 instead of master in station column
(points 84, 85, 87, 93, 95, 97, 100, 101).
Y This can be done by using copy and paste features: [Ctrl]-
[C] and [Ctrl]-[V], or by marking the desired word and paste
it using the middle mouse button.
Y After assigning the geo points, assign some other points to
the cell. It seems that 16 points are enough for one cell.
16 In the Spreadsheet window, select station column−> assign the
following points to op10 (points 83, 86, 88, 89, 102−105).
17 In the Spreadsheet window, select File −> Save project.
Y The save project command will create new file wp.ssp in
op10.ce folder. This file includes the information about the
weld points which were assigned to the cell. Browse the
messages in messages window to see the message about the
saving op10.ce/wp.ssp file.
Y Select Accept.
7 Set the scale of the view:
Y From the Drafting window, select View contents / Scale.
Y Pick in the view.
Y Click Accept.
8 Select the desired scale.
Y Click Select.
9 Set the view mode.
Y From the Drafting window, select View contents / View
mode.
Y Pick the view.
Y Select the desired mode such as HLR.
NOTE
HLR=Hidden Line Removed; HLD=Hidden Lines Dashed.
Horizontal
Y For Points, pick the start and end for the dimension(s).
Y For Place, pick where to put the dimension(s).
Y Click Accept.
4 Add some text.
Annotation .
Y Type some text into the box.
Y Click Accept.
5 Select where to position the text on the drawing (not a view).
Y Click Accept.
6 Change the text.
3 Select the red frame on the oil filter (sect_fr) as the frame at
which to locate the section plane.
Y Set the creation frame to Xy.
Y Select xx.
Y All components as the components to cut.
Y Set Width to 400.
Y Set Height to 400.
Y Give the section a name of your choosing.
Y Click te Accept.
Y The section plane will appear on the screen.
4 You will notice that the section plane created is not centered
about the frame selected.
Chapter Summary
In this chapter the following was learned:
) How to use and create cables.
) How to use servo guns.
) How to get parts with the browser.
) How to use the spreadsheet.
) How to use the PLP and rough volumes.
) How to output pictures and text.
) How to use the assembly tree.
) How to use the interactive section cutting tool.
EXPERT
SYNTHESIZE PUTTING IT
ALL
TOGETHER
ANALYZE
PRACTICE
EXPOSURE
NO KNOWLEDGE
Lesson 9: 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:
) 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
Appendix A
WKP202U
Classroom Setup
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
rd
) During the Robcad install the following 3 Party software are
also installed:
Y MKS version 9.2 patch2
Y Exceed 13
Y FlexLM version 11.6
Y Type: cmd
Y Change directories to the C:\Robcad\data folder.
Y Type: attrib –h /s
Y Type: attrib –r /s
6 Close the command window.
7 Copy the usr_attrubutes.demo and usr_families.demo files to
the %ROBCAD%\dat folder.
button.
6 Exit from Robcad
Y In the Top Menu window select the Robcad button.
Y On the dropdown menu, select Exit.
Appendix B
Customizations
Used in Training
Lesson 2: Customizing
Families and Attribute Files
Introduction
The default files that determine the attributes associated with each
family and the type of each attribute are:
C:\Robcad\dat\families or /usr/local/robcad/dat/families
C:\Robcad\dat\attributes or /usr/local/robcad/dat/attributes
For the training we created special files and placed them in the
Robcad usr folder (C:\Robcad\usr or /usr/local/robcad/usr). We
added the following lines to the .robcad file:
USER_ATTRIBUTES usr_attributes.demo
USER_FAMILIES usr_families.demo
USER_ATTRIBUTES_PC usr_attributes.demo
USER_FAMILIES_PC usr_families.demo
This is the content of the families file (usr_families.demo):
FAMILY ug_gun
ATTRIBUTE WEIGHT
ATTRIBUTE THROAT_DEPTH
ATTRIBUTE THROAT_HEIGHT
ATTRIBUTE WELD_FORCE
ATTRIBUTE WELD_CURRENT
ATTRIBUTE GUN_TYPE
END_FAMILY
Appendix C
Update Locations
Lesson 1: Displaying
Unupdated Locations
Introduction
Display unupdated is a spot application under weld locs menu.
This command opens a window displaying information about
component instances in the workcell that have changed subsequent
to the time when welding locations were placed on them.
The window also shows new welding points that were imported
into the workcell by means of the
Weld_Locations -> Points -> Import
Locations that were created in the workcell or that were brought to
the workcell from the Toolbox spreadsheet by means of the
Weld_Locations -> Points -> Create
This command opens either a short or a long window. The short
window lists the names of welding points and their respective
welding locations, if any. The long window also lists the welding
points and their respective welding locations for cases where they
no longer correspond to each other. It lists their respective names
and coordinates, and also the names and values of their attributes
that do not correspond.
These details enable determining precisely what needs to be
changed in order to cause the welding points and their respective
welding locations again to correspond. The long window
terminates with the same summary list that the short window
displays. In addition to the window that opens, the Display
unupdated command also colors the entities magenta in the
graphics window, including locations and points that were
modified.
Exercise: Using it
Objective: To use the command.
1 Load cell -> op10_update
2 Spreadsheet -> open
3 Make changes in attributes for two locations
(SSP_WP_CURRENT, SSP_WP_VOLTAGE)
4 Change some comments (est_time)
5 Change placement of weld point
6 Spreadsheet -> robcad -> update robcad
7 Close the spreadsheet
8 Spot -> Weld locs -> points, create two new points by pick
9 Spot-> Weld locs -> points, delete two points
Y In the cell there are some deleted points, some new points
and some modified points. Using the Display unupdated
command all the changes can be seen.
10 Spot-> Weld locs-> display unupdated-> long
NOTE
The colors of the weld points had been changed using the update automatic
command all the locations be updated according to the weld locations changes