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Robot Simulation

R2022x FD01 (FP.2205)

Robot Simulation Basics

Flyout for Inserting Products and Resources

Flyout for Copying and Positioning Resources

Flyout for Attachments and Ports

Flyout for Motion Controllers and Groups

Flyout for Managing Profiles

Flyout for Axis Safety Zone

Flyout for Positioning and Limits

Flyout for Volume Creation

Flyout for New Tag Group

Flyout for Manipulate Tags

Flyout for Reach

Flyout for Synchronizing Data

Flyout for Simulation States

Programming Section

Flyout for Teach

Analysis & Output Section

Flyout for Verification

Flyout for Realistic Robot Simulation

Context Toolbars

New Tag Context Toolbar

Auto Place Context Toolbar

Using Behavior Modeling

Install the C++ Compiler

Install the C++ Compiler from Visual Studio 2010

Migrate Data Using a Batch

Robot Simulation Access Model

Content Lifecycles

Viewing a Library of Ready-to-Use Robots

Installing Ready-To-Use Robots from the Cloud

Importing Ready-To-Use Robots Installed from the Cloud

Importing Ready-To-Use Robots Installed On Premises

Creating a Robotic Cell

Inserting Existing Products

Saving or Exporting

3D Simulation Environment and Tools

3D Simulation Environment

3D Simulation Panels

Active Simulation Object (ASO)

Activate and Exit 3D Simulation

3D Simulation Panel Basics

3D Simulation Panel Contents

Default View of Panels

Simulation States

3D Simulation Panel Features

3D Simulation Panel Option Controls

Thumbnails or Text

Sorting and Grouping Thumbnails

Thumbnail Appearance

Filtering the Display of Behaviors

3D Simulation Functions

Access to Commands

Simulation Options

Messages Reporting

Impact of 3D Simulation on Graphical Properties

Update the Panel Content

Selecting the Active Simulation Object

Change Your Active Simulation Object

Change Your ASO with Selection Assistant

Creating a Simulation

About Resources

Working, Nonworking, and Organizational Resources

Programmable and Nonprogrammable Resources

Detection and Correction of Invalid Resource Structures

Using Object Frames with Cartesian Targets

Using Object Frames with Tag Targets

Working with Tags

Creating Tags using TCP

Creating a Grid of Tags

Creating New Tag Groups

Attaching a Tag Group

Creating a Tag Group from a Track

Locking Tags and Tag Groups

Manipulating Targets

Reorienting Targets

Projecting Targets

Exporting and Importing Tag Groups

Exporting a tag group

Importing a tag group

Managing Trajectories With the Trajectory Editor

Open the Trajectory Editor

Create a New Tag

Create a New Tag at the TCP Location

Import and Export a Tractory

Select the Spatial Parent of A Trajectory

View the Trajectory as a Tree

View the Tag Order in the Work Area

Validate Reachability of Tags

Display the Tool Cloud

Manage Resource Sets

Move Tags Within the Trajectory Sequence

Reverse the Order of Tags in a Trajectory

Split a Trajectory

Merge Trajectories

Validating Reachability with the Analysis Disc

Exporting Trajectories

Managing Tag Resource Sets

Define a Tag User Attributes Resource Set

Use the Resource Set Templates

Viewing and Exporting a Tool Cloud

Viewing a Tool Cloud

Exporting a Tool Cloud

Adding Attributes to a Tag

Adding Visualization to Tags

Migrating Tags and Tag Groups into V5 Data

Device Task Programming

Creating a New Device Task

Create a New Device Task

Generating a Task from a Trajectory

Splitting a Device Task

Mirroring Trajectories and Robot Tasks

Replicating Tasks

Renaming RobotTasks

Creating and Using Task Templates

Saving a Template

Using a Template

Locating the Corresponding Template in the Library

Using Cartesian Jogging

Jog Dialog Box (Cartesian)

Using Joint Jogging

Teach Table Tools

Programming and Analysis Tools

Simulation Player

Teach context toolbar

Teach Parameters

Using Teach Layouts

Simulating and Editing Tasks

Simulate a Task

Edit a Robot Motion Target

Edit, Copy, and Paste Motion Attributes

Comment Instructions

Switch Between Tasks

Replicate a Task

Save a Partial Task Template

Edit a Called Task

Insert a Home Target

Insert a Spot Operation

Edit a Spot Task

Insert an Arc Operation

Using Trigger Instructions

Creating a Tag Group

Creating a Simulation State

Defining Relative Targets

Using Choreography

Creating a Motion Trace Event

Creating a Visibility Event

Copying and Pasting Choreography Events

Creating a Color Event

Creating a Text Event

Creating a Viewpoint Event

Building a Tree Display of a Task

About Motion Types

Linear Orientation Interpolation Approaches

Following a Trajectory with a Single Instruction

Defining Offset Moves

Setting Auxiliary Axes in Teach

Programming Multiple Coordinated Robot Systems (MCRS)

Selectively Pausing Specific Tasks During Simulation

Finding the Nearest Frame to an Unreachable Target

Ignoring Wait States During Simulation

Generating a Batch Collision Report

Measuring Between Objects

About Sequencing

Creating and Editing Tasks

Create a Tool Device, Robot, or Human Task

Create a Task under an Organizational Resource

Create a Subroutine

Creating a Simulation Sensor

Create a Global IO

Create a Local IO

Mapping IOs at Organizational Level

Exporting and Importing IOs

Creating Constants

Create a Global Constant

Create a Local Constant

Creating Variables

Create a Global Variable

Create a Local Variable

Exposing DOFs as Outputs

Using the Sequencing Editor

About the Sequencing Editor

About Sequences

Add, Insert, or Move Instructions

Cut, Copy, and Paste

Edit an Instruction

Verification During Editing

Breakpoint Items in IO Monitoring

Breakpoint on Instruction

Breakpoints on Resource IO

Expressions Used by Flow Control

Global Functions and Instructions

Boolean Functions

Orderable Class Functions

Numerical Functions: Class Number

Mathematical Function: Class Integer

Mathematical Functions: Class Floating

Predefined Types and Functions

Typing Mechanism

Case Expressions

Default Values for Simulation

Assigning Values

Pulse Instructions

Run Subroutines and Internal Tasks

Call Parameterized Tasks

Adding a Return Instruction

Adding Parallel Branches

Adding a Condition Instruction

Adding a Wait Instruction

Add a While-Do or a Do-While

Adding a Goto Instruction

Adding a Custom Instruction

Adding a Sub-Sequence

Exchanging IO Signals

Propagating IO Signals

Creating a Grab Activity

Creating a Release Activity

Creating a Tool Attachment Activity

Creating a Tool Detachment Activity

Rail Axis Programming

Managing Target Types

Creating a Safety Envelope

Creating Swept Volumes

Defining Interference Zones Between Multiple Robots

Automatically Distributing Fasteners

Saving and Inserting a Trajectory from a Template

Cutting, Copying and Pasting Tasks, Operations and Tags

Cut, copy and paste of tasks within the same resource

Cut, copy and paste of instructions within the same task

Cut, copy and paste of instructions across tasks of the same resource

Cut, copy and paste of tasks of different resources

Cut, copy and paste of instructions across tasks of different resources

Cut, copy and paste of tags

Cut, copy and paste of tag groups

Using the Reach Command

Using the Reach Command for Robots on Rails

Positioning the Robot for a Specific Task

Positioning the robot

Saving the positioning results

Creating Tool Frames

Define a Standard Tool Frame

Define a Stationary Tool Frame

Use a Stationary Tool Frame in Teaching Tasks

Using User-defined Motions

Overriding Motion Profile Speed during Task Analysis

Using Set Turn Numbers

Teaching Seven-Degrees-of-Freedom Robots

Jogging 7-DOF Robots

Teaching 7-DOF Robots

Using Realistic Robot Simulation

RRS Client Setup

RRS Server Setup

Running the RRS Server

Running the DELMIA UNIX and Interix-based Windows RCS Server

Running DELMIA Win32-based Windows RRS Server

Connecting to an RRS Server

Connecting RRS Using RRS Connect

Connecting RRS Using RRS Connections Manager

Viewing the Robot Stamp

Loading and Saving RCS Data

Display RRS Parameters

Display Controller Attributes

Listing RRS-Connected Robots

Saving the Model with RRS Enabled

About RRS Events/Triggers

Define RRS Events

Automatic RRS Event Creation During Trigger Instruction Simulation

Display/Cancel Active RRS Events

Viewing and Saving RRS Device and Connection Parameters

Servo Gun/Spot Emulation

Setting RRS Controller-Specific Attributes/Profiles

Controller-specific Information

ABB RRS Servers

Installing the ABB S4C 3.X RRS Server

Installing the ABB S4CPlus 4.X RRS Server

Installing the ABB IRC 5.X RRS Server

Single ABB RRS Server Servicing Multiple ABB RCS Module Versions

ABB RRS Interface

Information about ABB RRS Interface

Editing the ABB_S4C.manip File

ABB RRS Profiles/Attributes

ABB Attributes for Robot Operations/Activities

Additional ABB S4C 3.XX RRS Server Information

IPC Resource Requirements

Comau RRS Servers

Comau RRS Interface

Comau RRS Profiles/Attributes

Comau C3G Attributes for Robot Operations/Activities

Duerr EcoRC2 RRS Servers

Installing the Duerr EcoRC2 RRS Server

Running the DUERR EcoRC2 RRS Server and RRS Connecting Delmia Robots

Duerr EcoRC2 RRS Interface

Setting Motion Type

Setting TCP Orientation Mode

Duerr EcoRC2 RRS Profiles/Attributes

DUERR ECORC2 Attributes for Robot Motion

Duerr EcoRPC RRS Servers

Installing the Duerr EcoRPC RRS Server

Running the DUERR EcoRPC RRS Server and RRS Connecting DELMIA Robots

Duerr EcoRPC RRS Interface

Setting Motion Type

Setting TCP Orientation Mode

Duerr EcoRPC RRS Profiles/Attributes

DUERR ECORPC Attributes for Robot Motion

Fanuc RRS Servers

Fanuc RRS Interface

Information about Fanuc RRS Interface

Altering the FANUC_RJ3.manip file

Fanuc RRS Profiles/Attributes

Fanuc RRS Attributes for Robot Operations/Activities

Hyundai RRS Servers

Hyundai RRS Interface

Computing speed/motion time

Computing flyby mode

Computing accuracy level

Hyundai RRS Profiles/Attributes

Hyundai HI4A Attributes for Robot Motion

Kuka RRS Servers

Set Up the Kuka KRC 1.XX Through 5.XX RRS Server

Set Up the Kuka KRC 8.XX RRS Server

Set Up the 3DEXPERIENCE RRS Client Machine

Starting the Kuka RRS Server

Start the server from a Korn shell

Start the server using a batch file

Start the server using SFU Korn shell aliases

Run multiple servers and RCS versions from the same machine

Verify that the server is running

Configuring and Using a Server-based License

Configuring the license server

Connecting to the license server

Kuka RRS Interface

Kuka RRS Profiles/Attributes

Kuka Attributes for Robot Motion

Nachi AR RRS Servers

Nachi AR RRS Interface

Information about Nachi AR 1.XX RRS RRS Server

Altering the NACHI_AR.manip File

Nachi AR RRS Profiles/Attributes

Nachi AR Attributes for Robot Operations/Activities

Nachi AW RRS Servers

Nachi AW RRS Interface

Information about Nachi AW RRS Interface

Altering the NACHI_AW.manip File

Nachi AW RRS Profiles/Attributes

Nachi AW Attributes for Robot Operations/Activities

Nachi AX RRS Servers

Nachi AX RRS Interface

Information about Nachi AX RRS Interface

Altering the NACHI_AX.manip File

Nachi AX RRS Profiles/Attributes

Nachi AX Attributes for Robot Operations/Activities

Staubli RRS Servers

Installing the Staubli RRS Server

Running the Staubli RRS Server and RRS Connecting DELMIA Robots

Staubli RRS Interface

Setting Motion Type

Setting Acceleration

Conveyor Tracking

Staubli RRS Profiles/Attributes

Staubli Attributes for Robot Motion

Yaskawa DX100 RRS Servers

Installing the Yaskawa DX100 RRS server

Connecting to the Yaskawa DX100 RRS server

Yaskawa DX100 RRS Interface

Information about Yaskawa DX100 RRS Interface

Altering the Yaskawa_DX100.manip File

Yaskawa DX100 RRS Profiles/Attributes

Yaskawa DX100 Attributes for Robot Operations/Activities

Yaskawa DX200 RRS Servers

Installing the Yaskawa DX200 RRS server

Connecting to the Yaskawa DX200 RRS server

Yaskawa DX200 RRS Interface

Information about Yaskawa DX200 RRS Interface

Altering the Yaskawa_DX200.manip File

Yaskawa DX200 RRS Profiles/Attributes

Yaskawa DX200 Attributes for Robot Operations/Activities

Yaskawa NX100 RRS Servers

Installing the Yaskawa NX100 RRS server

Connecting to the Yaskawa NX100 RRS server

Yaskawa NX100 RRS Interface

Information about Yaskawa NX100 RRS Interface

Altering the Yaskawa_NX100.manip File

Yaskawa NX100 RRS Profiles/Attributes

Yaskawa NX100 Attributes for Robot Operations/Activities

Yaskawa XRC RRS Servers

Installing the Yaskawa XRC RRS server

Connecting to the Yaskawa XRC RRS server

Yaskawa XRC RRS Interface

Information about Yaskawa XRC RRS Interface

Altering the Yaskawa_XRC.manip File

Yaskawa XRC RRS Profiles/Attributes

Yaskawa XRC Attributes for Robot Operations/Activities

Yaskawa YRC1000

Yaskawa YRC1000 RRS Servers

Installing the Yaskawa YRC1000 RRS server

Connecting to the Yaskawa YRC1000 RRS server

Yaskawa YRC1000 RRS Interface

Information about Yaskawa YRC1000 RRS Interface

Altering the Yaskawa_YRC1000.manip File

Yaskawa YRC1000 RRS Profiles/Attributes

Yaskawa YRC1000 Attributes for Robot Operations/Activities

Reference Information

Advanced Data Reference Materials

Importing a File

Using the V5 Document Cleaner

Importing the File

Overview of the Migration of V5 Data

Table of Data Types

Overview of the Migration of Robot Tasks

Migration of Robot Tasks in a Process Document

Migration of Robot Tasks in Product Documents

Migration of Robot Motion Activities

Migration of Device Move Activities

Migrating Tags and Tag Groups

Overview of V5 Device Data Not Migrated into V6

Data Objects Not Migrated

V6 Continuous Motion

Implementation of V6 Continuous Motion

Primary Motion Planning Technique

Rationale for Continuous Motion

Key Points for Continuous Motion

Circular Motion with a Via Point

Circular Motion Depending on Previous Motion

Wrist Axis Interpolation

Examples of V6 Continuous Motion

Linear Motion Among a Small Set of Targets

Circular Motion

Creating a Data Readout Probe

Configure a Data Readout Probe

Customize Data Readout Output

Play a Simulation with Data Readout Running

Door Opener Profile Dialog Box

Tag User Attributes Template Format

Sample XML File

Sample Corresponding XSD file

Accessing and Customizing Preferences