Process Simulation

PS Version 14.1
Cell extension
 Index
Sr. no Content Page. no
1 Mouse controls 3
2 File tab 4
3 Home tab 5
4 Onscreen Commands 6
5 View tab 7
6 Modelling tab 8-9
7 Robot tab 10
8 Operation tab 11
9 Process tab 12
10 Data conversion 13
11 Steps for creating new project 14
12
13
14
15
 MOUSE CONTROL
To set mouse inputs:
- Right click on ribbon
- Customize Ribbon
- Customize Mouse
- Legacy
 FILE TAB

1. Recent files : opens any previously opened cell

2. Disconnected study :
-New Study
-Open In Standard Mode
-Save
-Save As
3. Import/export :
-Export Jt : exports 3D CAD data displayed on the screen in .jt format
-Export Viewers To Excel :export path editor, sequence editor data for csv
out
4. Options (F6) : settings of application
5. Exit
 Home tab

1. Viewers : selection of all viewers

2. Relation viewer : to check relation between two components
3. Attachment : to attach a two components ( local )
-one way :- when parent moves child also moves but child moves individually
-two way :- both components will move
4. Object tree : part ,resources ,notes
5. Operation tree : CSV ,path data ,locations
6. Path editor : editing of path
7. Sequence editor : to provide sequence to multiple parts
8. Collision viewer : to check collision between two parts.
ON SCREEN COMMANDS
1 2 3 4 5 6 7 8 9 10 11 12 13

1. Zoom to selection : Alt + S

2. Zoom to Fit : Alt + Z
3. View Centre : Alt + C
4. View Points :
- Normal to View –
5. View Style :
6. Display Object :
-Blank - Alt + B
-Toggle Display – to toggle btwn 2 hide/show compartments.
7. Pick Intent:
-Snap - Edges, Center Pt, or any automatic entity.
-On edge - Only points present on Edge
-Where picked - Where the mouse points
-Self Origin -(the frame considered by designer to design a part considering from
CAR origin )
8. Pick Level : To select whole component / single entity / Face / Edge.
9. Selection Filter : To select Specific types of components this filter is added
10. Placement Manipulator ( Alt + P ): Move Components
11. Relocate : From one frame to another frame
12.Pick Point:
13.Distance
 3 View tab 7 8

1 2 5
4
6

1. Viewers : Selection of all viewers

2. Relation Viewer : To Check relation between two components
3. Layout Manager : Standard Layout( Default Screen Settings )
4. Orientation View : Parallel (to view overall cell )and Perspective (to view detailed cell )
5. Modify colour : Change the colour of any cell element
6. Restore colour : restores the original colour of selected object.
7. Section : Creates a cut section of components or object.
8. Dynamic clipping : Clips out the objects that interfere in viewing the main object
 Modeling tab 3 9 11 15 16 17 18

1 2 6 7 13
4 5 8 10 12
19 20
14

1. Set Modeling Scope : Activate the modelling mode for the selected component.
2. End Modelling : Deactivate and Stores the edited component in the library .
3. Set working frame : resets or sets the world frame (Reference frame 0,0,0)
4. Reload Component : Revert the changes while in modelling .
5. Save as component
6. Insert component:
7. Point Cloud : Inserts point cloud of scanned data. (Requires File .pod )
8. Define component type : – Define the component type respectively.
9. Create part : Create new part component
10. Create compound parts : Creates folder for the parts.
11. Create Resource : Creates new resource.
12. Compound resource : Creates folder for the resources.
13. Create Frame
14. Mirror objects :
15. Solids , Curves ( Needs to be in modelling or create new resource / part )
16. Create 2D outline : Create new tool prototype in modelling and project the selected objects in 2D outline.
Entity level :
17. -Load : Breaks down the assembly in entity level
18. -Unloads : unloads the break down .
19. Set objects to be preserved : locks the entity which makes it visible even after end modelling.
20. Unpreserved : Reverse of preserved
 Modeling tab 1 2
3
5 6
7

1. Kinematic Editor : Give kinematics to any mechanism.

2. Pose editor : Edit poses to any mechanism
3. Mark pose : Record poses
4. Tool definition : Defines gun mechanism .
5. Notes : Create notes for any objects on the cell
6. Labels : Create label for any objects on the cell
7. Load PMI Information : The frames data that designer sets for the component is loaded ( eg : TCP,
MNT )
 Robot tab

Home : Jumps to home position of device .

Joint Jog : jogs the joints of selected device.
Limit Joint Motion : toggles on / off limits of any joints.
Mount : Mounts the tool to robot.
Unmount : Unmounts the tool to robot.
Robot Jog : Jogs the robot in x y z direction.
Jump to location : Jumps to location which are selected.(multiple location)
Jump Assigned Robot : Jump to selected location.(single location)
Set Robot for Auto Teach : Teaches Configuration automatically when path is run .
Clear teach location : removes configuration and taught co-ordinates for location .
Robot properties : Edit robot properties ( Defines TCP , external joints. )
 Operation tab
Set current operation :
Create new operation :
New compound operation : folder for operations
New object flow operation : creates path for objects to move
New device operation : Creates operation for mechanism to move from pose to pose
New weld operation : Creates path for weld operation
New continuous feature operation : used to create path from continuous line/profile.
Add location :
Before
After
Current
By pick
Multiple by pick
Edit path :
Manipulate location : edits location orientation
Copy orientation : matches all axis (via points)
Align location : matches Z-axis of all location (weld points)
Reverse path
Flip location
Mirror path
 Process tab

Swept Volume : Creates cloud of robot path motion

Multiple Part Appearance : Creates duplicate copy of main product .
Assign weld points to parts
CSV in : imports CSV files
Project weld points : projects weld points on assigned part.
Create weld point :
by coordinate
by pick
by TCP
Multiple Section: Creates Gun and panel section for gun study
Pie Chart : Checks the reach and joint limit of robot for specific location
Gun cloud : Copies gun at every location by given orientation in order to create gun study for fixture
Covert weld points into via
Covert via points into weld
Continuous :
Create continuous mfgs from curve
Project continuous mfgs
 DATA CONVERSION

Data Conversion
- Make different folder for diff Components ( Gun, Fixture, Panel ).
- Convert all the given products in .jt format ( using Cross Manager ).
- Make sub Folders of .cojt format of the component file with the same file name.
(Rename - F2 shortcut)
- Put the converted .jt format files into the respective folders.

Data Segregation
- Data_In : All the data provided by the client
- Data_Out : All the output data
- Library : All the Converted files to be used as input
- Project : The Final Cell . ( .psz- Cell ) ( .pszx – Library + Study Cell )
 STEPS FOR CREATING NEW PROJECT

Create New Project

Create new study
OR
File – Disconnect Study – New Study

Project Directory Setting

File – Options (F6) – Disconnect – Library Path
– General – Library Root

Define Component Type

Modeling – Define component type – Browse library path – Define the component type
respectively.

Panel ( Main Part to work on ) – Part Prototype

Component which does not fits any category – Tool Prototype

Call the Components

Drag & Drop from respective folders ( .cojt files )
Insert Component (in Modeling Tab )

After Defining Tune Data ( Type of Component ) is created in .cojt folder

Kinematics
- Select a component from part/resource tree
- Modeling – Set modeling scope
- The part will be activated in modeling (Pink M)
- Modeling – Kinematics Editor (select the part activated in modelling )
- Kinematics editor tab will open a
Fig.2
Fig
A) Simple Kinematics .1
d

- Drag a box in the K.E tab

- A link will be created (fig.1 - a) c

- Select parts to be added to the link (fig.1 - b)

b
- Similarly create second link (fig.2 - c)
- Now , drag from first (parent link) to second (child link)
- A joint will be created (fig.2- d)
- Create a axis with 2 points in the joint properties tab
- that axis will work as direction in Prismatic Joint type
- And as a Rotational axis for Revolution Joint type
- We can to add a dummy link as a fixed parent link.
B) Complex Kinematics
- Create Crank in K.E tab
- The cylinder is the first point which provides power
- Then piston
- R : Revolute P: Prismatic
- RPRR
- Input link : Cylinder
- Coupler link : Piston
- Output link : Moving parts
- Fixed link : fixed parts
- Joints : select the joints and project them on 1 plane
- After selecting the points we need to add them to a same plane ( optional custom plane
)select a parallel flat surface.
- If the points are not in line then without Offset
- If the points are in line then with Offset

Give limits to Input link( as it decides the limit of output.

Gun Kinematics
Pose Editor
- Select Pose Editor
- New Pose
- We can create different poses to jump on

Define Zero Position

- We can select the ongoing pose as zero position.
Gun Mechanism
Welding tip
Shank ( to modify the gun according to the model )
Arms : Moving & Fixed
Cylinder
Piston
Gun body
Gun has 2 frames:
TCPF : Tool Center Point Frame(Point of reference for other spots )
Drawn on the fixed arm of gun
Draw the frame to fixed tip.
Where the Z will be facing above
X at front
Y at side
MNT : Mounting Tool Frame (where the tool is going to connect )
Z Axis should be inside the gun
[ To draw TCPF parallel to inclined tip gun:
Hide the tip draw the frame on plane surface.
Pull that frame above the tip along Z axis
Show the gun tip
Calculate the minimum distance
Subtract that distance along the Z- Axis
We need to select the position of mounting frame
Joint dependency
[-(b/a)D(j1)]
b : Horizontal Linear Distance from fixed tip to Pivot point
a : Vertical linear distance from Pivot point to Coupler point
The vale of b/a should be less than 1
Create a blank link in the crank mechanism
Create link from fixed link to Blank link
Select the TCPF as axis
Joint type Prismatic

Select Joint Dependency

Tool definition select the gun

Define as gun
Robot tab
Singularity Error : where Value of j5 should be more or less than 10 it should not be 00
Two define a robot we require 2 frames
Tool frame
Base frame
Set base frame
Create frame
Attach to respective link

every robot has a data sheet which includes :

Pay load capacity : Gripper
Reach : robot has a dead zone behind it at 15 degrees area

Rb2600L L series has longer reach

Spot Welding Operation
To create weld points
- Process- Create weld points by pick / Co-ordinates
- Assign the weld points to the particular part
- Project weld points ( we can select a face to assign weld to that surface)
- We can aline the axis system orientation by – Operation – Align Locations

Steps to Create Path

-Plot all the weld points ( the check its reach - Operation – Pie chart )
-Change the arrow to blue portion.
-

Fig.1
Fig.2
Doubts
how to set a start in path editor

Kinematic editor window

Mouse controls