DELMIA V5 Training-DPM Assembly

Conventions used in the Student Guide
The following typographic conventions are used in
the student guide:
-Bold text within a sentence denotes options selected from
the DELMIA menu bar.
-Bold Red text denotes the name of a tool, icon, button, or
window option.
-Italic text within a sentence is used to apply emphasis on
key words.
-Numerical lists are used in sequential lists, such as the
steps in a procedure.
-Lower-case alphabetical sub-lists are used in sequential
sub-lists, as for steps in an exercise procedure.
-identifies areas in a picture that are associated with
steps in a sequential list, such as in an exercise.
-Upper-case alphabetical lists are used in non-sequential
lists, as for a list of options or definitions.
-Text enclosed in < > brackets represents the names of
keyboard keys that must be pressed.
-Text enclosed in [ ] brackets identifies text that must be
-Information specific to AP2 license is marked with
symbol

Create the Working Environment
The first step in building a simulation is to set up a working environment that
best reflects the needs and desired outcomes of the user’s context. This
module will begin by setting the options that will be used in this context.
A project catalog allows the user to create a catalog of commonly used items
that will be more efficient to access than going to multiple locations or to large
repositories of objects.
Once the environment is prepared, construction of the 3D Layout of a virtual
world can begin. Bringing in plant layout items, resources and product are all
items relevant to constructing the virtual world.
Duration: 2 hours
You will use the following Steps to
complete this Lesson:
Set Options
Create a Project Catalog
Create a Plant Floor
Insert Resources
Insert the Product

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Delmia Tutorial-Creating Movies and Pictures

Scope:

In this exercise using the Image selections, and the project, capture images and create a movie.

Procedure:

With the completed project, capture images, create a movie, and view the created files.

1.  In the Tools Menu, the Image / Capture ~ Album ~ Video.   Select the Capture Icon.

2.  For the ease of viewing, right-click on the TagList, and Hide/Show all.

3.  The Capture toolbar appears. One of these icons will be activated by default.

The command activated by default in the Capture toolbar depends on the type of document active when displayed by the toolbar. When a Part or Assembly document is active, the Pixel command is activated. When viewing the specification tree in a document, the Vector command is activated.
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Delmia Tutorial-Performing a SetTool for the Fixed TCP

Procedure:

In this exercise, we will use the previous tags, and insert them in to the path, and utilize the Remote TCP, and assign that RobotTask to the robot in the process.

1.  With the Robot at the Home position, set the tool to the robot, and assign the FIXED TCP.  Select the Set Tool, icon.

2.  The Robot Dressup dialog window appears.  Select the Robot IRB_6400_24_150.3 and the device select the Ped Welder (no not the gripper).  In the Mode function, click on Fixed TCP, and Click the Coordinate system at the Weld cap. Click on OK when all selections are completed.

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Delmia Tutorial-Creating a Pick and Drop Edit the Operation Positions

Scope:

This procedure explains how to create a Pick and a Place, and edit some of the Operations for the Robot Program.

Procedure:

In this exercise, we will use the RobotTask Path.

1.  In the PPR tree, expand the RobotTask.  

2.  Click on the Teach a robot icon in the Robot Management toolbar.

3.  The Dialog box appears. Using the Operations Steps buttons step the program to the position where the robot is picking up the part.

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Delmia Tutorial-Creating a Robot Path

Scope:

This procedure explains how to create a task.  A resource-oriented process dedicated to robot programming, a task is a linear sequence of activities called operations.  Each operation can contain a motion activity (Move To) and a set of actions.

Procedure:

In this exercise, we will use Tag Groups to create the Robot Task, or Path.

1.  Select the New Robot Task Icon, and select the IRB_6400_24_150.3.

2.  The command prompt asks you for a robot select it in the geometry window, and a RobotTask .4 appears in the Robot PPR tree.

3.  In the TagList, Right Click on the Tag lists, and Hide / Show, the Ped_Welder ex.1.

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Delmia Tutorial-Creating Tags in a Group

Scope:

This procedure describes how to create tags.  Tags are created within previously created tag groups.  Individual tags or tag groups can then be assigned to robot sequences.

There is three ways to create the tags.

	Creating tags that are snapped to the geometry
	Creating tags that are located at the 0,0,0 coordinate
	Creating tags at the local origin of a product

Procedure:

In this exercise, we will use the function Creating Tags that will be snapped to the geometry.

1.  With the new Tag Group created, select the New Tag Icon. 

2.  Select the newly created Tag Group, Ped Welder. The Define Plane dialog box appears. Select the Define Plane icon, if not already selected. Place 2 welds as shown.

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Delmia Tutorial-Creating a New Tag Group

Procedure:

 In this exercise, we will create a new Tag Group.

1.  Select the New Tag Group, icon.

2.  The Tag Group dialog box appears. 

3.  Enter the name of the tag group PED_WELDER

(or you could accept the default name).

4. 
Does the tag group need to be associated with a device or product? Yes. Click on the A Pillar Inner (Shown below in PPR tree), and the geometry name appears in the Owner Name.

An explanation of where to find the tag group on the PPR tree appears below. Select the device or product, either from the 3D inventory space or from the PPR tree. The name of the selected device or product appears in the owner name field; the path to the file containing the item's data appears beneath.

The lock icon in the dialog box indicates that the product data is stored in a read-only file.

Do you want the link mode to be local or modify reference?

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Delmia Tutorial-Steps in creating a Remote TCP for the Ped Welder

Scope:

This procedure describes how to review functions for a Remote Tool Center Point for the Pedestal Welder. There is different ways to do this function, this is the “best practice” way.

Procedure:

In this exercise, we will go over all the procedures for a Pedestal Welder.

1.  To do a remote Tool Center Point for the Gripper select the Snap function. 

2.  The command prompt asks what  to snap, select the Gripper from the PPR tree. (This way you get all components). Click on OK.

3.  Then select the face of the robot plate, and select the Mode: Define Plane, and define the reference plane, select the Plane of the robot face plate.

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Delmia Tutorial-Pick and Drop Operations

Scope:

Just like weldgun actions, gripper actions can also be created and these are picking, and drop which are available for the user to incorporate in to the simulation. 

Procedure:

These procedures explain how we will assign Pick and Drop functions to the Robot.

1.  In the PPR Tree, expand the RobotTask.3.  

2.  Select the Pick Action icon. 

3.  Click on Operation.4, and in that operation, select the Robot Motion, and in the Options dialog box, OK.

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Delmia Tutorial-Teaching the Robot on a Rail

Procedure:

Assign the Resource to the Activity, and create a Path.

1. Select the Teach a robot icon in the Robot Management toolbar, and Select the IRB_6400_24_150.2.

2. From the Teach Dialog box, Toggle on the Jog Panel.

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Delmia Tutorial-Mounting a End Effector to a Robot

Procedure:

In this exercise, insert the grippers into our project and attach one to the robot IRB_6400_24_150.2.

1.  In the Tools / Insert, select Insert Resource.  In the Path select …3Geometries / Resources / PedGripper.CATProduct, and Station_Gripper.CATProduct.

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Delmia Tutorial-Setting up the Auxiliary Device

Procedure:

This procedure explains how to set up the devices with the rail, and jog the robot.  

1.  In the Robot Task Definition workbench, use the Snap Surface function in the Layout Tools toolbar, move the robot onto the rail (if not done previously).

       

2.  In the Layout Tools toolbar, select Attach 

and select the slide plate of the rail then pick the robot from the PPR tree in order to select the entire device. In the child selection, select OK.

3.  Hide the Link in the Geometry window.

4.  Select the Icon Define Auxiliary devices in the Robot Controller toolbar.

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Delmia Tutorial-Offline Programming

Procedure:

In this exercise, the S-420iS robot is utilized.  Create a download program from a RobotTask. 

1.  In the OLP toolbar, select the Offline Programming command.  Select the S-420is RobotTask.1.

2.  The software generates the Robot Program, and the robot program dialog box appears. 

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Delmia Tutorial-Clamping functions

Procedure:

In this procedure, set the clamping functions for one of the clamps in Station 1.

  

1.  Click on the Creates a Predefined Move Activity icon.

2.  Click on the Clamping.1 in Station 1 in the PPR tree. The Option dialog box appears, Select After, and OK. 

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Delmia Tutorial-Listing Activities

This procedure describes how to view non-hierarchical lists of:

·         Products

·         Resources

·         Unassigned products

·         Associated activities of a product

·         Associated activities of a resource

·         Hyperlinks

Procedure:

Using the Icons we will check our relationships with some of the objects.  When viewing the product list, any existing sub-parts are also shown.

Listing Products or Resources

1.  The system prompts you to select a process. Select either the List Products or List Resources icon. Select a single activity, or select the top-level process to view a list of all resources or products assigned to all processes.

2.  A dialog box displays the products (or resources, if the List Resources command was selected) used by the selected activity, as well as the type of assignment the product or resource has. 

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Delmia Tutorial-Data Readouts and Documentation

With the robot programs completed, create cycle time data readouts and graphics.

Procedure:

Using the Data Readout functions create documentation from this project.

1.  Select the Data Readout from the Simulation Analysis Tools, and select the Display Icon in the Options toolbar.

     

2.  Select the S-420iS robot, and all of the information is displayed.

3.  In the Options toolbar, deactivate the icon, and activate the Sensor Icon.  This will show you more of the data relating to the robot. 

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Delmia Tutorial-Exporting I/O Information

Excel spreadsheet Text file (tabs serve as the delimiters between data; consequently, this file can be opened as an Excel spreadsheet even after it is saved as text.)

Two kinds of information are available: IO details:  This includes information about the inputs and outputs defined for the resource involved, IO name, IO number and the interference zone name (if any). IO map: This includes information pertaining to the IO mapping between different IO items belonging to the resource involved.  This data is provided in the form of output -> input connections.

Users can choose to get both or either kind of IO data.  The different types of data can appear in different files or in the same file

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Delmia Tutorial-I/O Map and Monitoring

Procedure:

This procedure describes how to view I/O Mapping, which is a static representation of the I/O connections within one or more robot tasks, and I/O Monitoring, which is a dynamic representation of the I/O connections as robot simulation takes place.

1.  Using the IO Management toolbar, select the IO Map and Monitoring icon.

2.  The dialog box below appears.

3.  Select the robot task or tasks for which you want to see the mapping. The names of the tasks appear in the dialog box. Click on the Station.1 in the PPR tree.

4.   Select the Display IO Map Information bar. 

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Delmia Tutorial-Automatic Task Collision

Scope:

This feature has an automatic computation of interference zones based on robot collisions.  This command analyzes a selection of robot tasks and automatically inserts within the tasks the needed IO instructions to model the interference zones.

Procedure:

In this exercise, the Automatic computation is used to create the interference zones for the welding robots.

1.  Using the Interference Zones Toolbar, select the Automatic Task Collision Analysis.

 

2.  The task Collision dialog box appears and the 2 tasks.

3.  Select RobotTask.2, and then RobotTask.1. Selecting the RobotTask.1 second means this will be the robot that will be managing the I/O’s that are automatically created. (Click on the arrow down to select the tasks).

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Delmia Tutorial-Adding Weld Tags to the Path

Using the Teach toolbar, new weld tags will be added to an existing path, to make the project more complex with robot paths overlapping.

Procedure:

This procedure explains how we will add weld locations to the existing path.  

1.  Return back the Robot Task Definition Workbench (Start / IGRIP).

2.  In the Robot Management toolbar, select Teach a robot, and select the S-420iS robot.  The welds 8 and 10 are added to the RobotTask.

3.  Using the Teach a robot icon, move the robot to the Operation (5) after Pounce.  (Your number might be different).

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Delmia Tutorial-Running the Process Simulation

In this procedure, using the Resource Centric Approach, a RobotTask will be assigned to each Robot, and run through the simulation from beginning to end.

Procedure:

This procedure explains how run through the complete Process using the Simulation Icon.

1.   For our PPR tree, select View / Tree Expansion / Expand First Level.

2.  Open up our Process Station.1 and both of the Spot Welding Activities.

3.  In our Resource Program toolbar, select the Set an Active Task icon.  

4.  Verify in Spot Welding 1, 2 have tasks assigned.

 

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Delmia Tutorial-Running a Process in Parallel

Procedure:

This procedure explains how to edit our Process so that both robots will start at the same time. 

1.  Select the Open PERT Chart from the Data Views toolbar. The command prompt asks; what Process or Activity, select Station 1.

The Pert window appears showing the process activity flow of the Station 1. Notice the links between the activities. 

Therefore Spot Welding 1 has to finish before Spot Welding 2 can start.

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Delmia Tutorial-Multiple Resource Simulation

Procedure:

This procedure explains how we view running our Robots at once.  

1.  In the Workcell Sequencing workbench, Click on the Icon.

This command serves as a lead-in to the Process Simulation command. Once invoked, the Multiple Resource Simulation command, the Multi Resource Simulation dialog box appears.

2.  Select the Robots as shown.

3.  The dialog box lists all the resources in the PPR tree that have tasks associated with them.  Use the pull down menu to select the tasks to run simultaneously.  (Remember that NONE is an option for each resource's pull down menu.)  Once the tasks are selected, click on the OK button, the toolbars associated with the Process Simulation command appear. 

4.  Click on the Run icon.

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Delmia Tutorial-Automatic Configuration of Singularity Set Turn Numbers

Procedure:

Now if you were lucky enough not to set your robot in a position where the robots wrist doesn’t spin uncontrollably then this function will not have to be performed.

1.  In the Sequence toolbar, select the Set TurnNumbers icon.  Select the S-420iS robot.

2.  The Set TurnNumbers dialog box appears with Cartesian Target Type selected.  Leave the default settings and select Set. 

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Delmia Tutorial-Modifications to the Path

Procedure:

This procedure explains how to use the settings that were previously created for Accuracy and motion, and activate them in the Robot Program.

1.  Select Teach a Robot Icon  and select the S-420iS robot. In our Teach dialog box, select in the Format field, Table.

2.  Highlight all the weld points, (hold down the ctrl button) and select Motion from the legend. The Parameter Selection box appears Select Custom Motion.1, and OK.

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