Overview of the Migration of Robot Tasks

This section describes how robot tasks are migrated from V5 to V6.

Robot tasks in V5 process document are migrated into V6 Tasks. The only children of a robot task that are migrated are robot motion activities. Operations have no matching activity in V6 and migration skips them and move directly onto their children. No data on an operation is migrated other than its children. V6 robot tasks are created in a behavior representation under the same resource that owns the robot's instance controller.

This page discusses:

Migration of Robot Tasks in Product Documents

With the correct settings, it is possible to define tasks in product documents. Tasks, like controllers, are copied whenever the document containing them is instantiated into another document. Only the copies in the document are displayed to the user when that document is open. All copies of tasks are imported to ensure that no task data is lost. To allow tasks to be differentiated, tasks imported from product documents have the document name appended to the task name. Tasks that come from process documents, even if they are copies of tasks from product documents, never have their name altered.

In the above example, the task and tags were created when the line document was open. The line was then parented under the zone. This created a copy of the task in the zone document. During import, two tasks are created in V6, one from each document.

Migration of Robot Motion Activities

Four kinds of robot motion activities are migrated:

  • Tag
  • Tag target
  • Joint target
  • Home target

For each, the name, target, and sequencing migrate. The above diagrams for robot task migration also show how robot motion activities are migrated.

Migration of Device Move Activities

DELMIA V5 Workcell Sequencing allows for MoveDevice activities to be defined in the tree for an inverse or forward kinematic device. DELMIA V5 Assembly Process Simulation allows for a MoveCartesianActivity to be defined for an inverse kinematic device, and MoveHomeActivity and MoveJointsActivity activities for an inverse or forward kinematic device in the tree.

For inverse kinematic devices:

  • MoveDevice:

    A V6 RobotTask is created in the robot's rep-on-occurrence under the station with the same name as the V5 MoveDevice activity. A single V6 RobotMotion is created under this V6 RobotTask corresponding to the V5 MoveDevice activity. If the V5 MoveDevice has a Home target, the V6 RobotMotion has a target type of Home. If the V5 MoveDevice has a joint target, the V6 RobotMotion has a target type of Joint.

  • MoveCartesianActivity:

    A V6 RobotTask is created in the robot's rep-on-occurrence under the station with the same name as the V5 MoveCartesianActivity. A single V6 RobotMotion having a target type of Cartesian is created under this V6 RobotTask corresponding to the V5 MoveCartesianActivity activity.

  • MoveHomeActivity:

    A V6 RobotTask is created in the robot's rep-on-occurrence under the station with the same name as the V5 MoveHomeActivity. A single V6 RobotMotion having a target type of Home is created under this V6 RobotTask corresponding to the V5 MoveHomeActivity activity.

  • MoveJointsActivity:

    A V6 RobotTask is created in the robot's rep-on-occurrence under the station with the same name as the V5 MoveJointsActivity. A single V6 RobotMotion having a target type of Joint is created under this V6 RobotTask corresponding to the V5 MoveHomeActivity activity.

For forward kinematic devices:

  • MoveDevice:

    A V6 DeviceTask is created in the device's reference with the same name as the V5 MoveDevice activity. A single V6 DeviceMotion is created under this V6 DeviceTask corresponding to the V5 MoveDevice activity. If the V5 MoveDevice has a Home target, the V6 DeviceMotion has target type Home. If the V5 MoveDevice has a joint target, the V6 DeviceMotion has target type Joint.

  • MoveHomeActivity:

    A V6 DeviceTask is created in the device's reference with the same name as the V5 MoveHomeActivity. A single V6 DeviceMotion having target type Home is created under this V6 DeviceTask corresponding to the V5 MoveHomeActivity activity.

  • MoveJointsActivity:

    A V6 DeviceTask is created in the device's reference with the same name as the V5 MoveJointsActivity. A single V6 DeviceMotion having target type Joint is created under this V6 DeviceTask corresponding to the V5 MoveHomeActivity activity.

Migrating Tags and Tag Groups

V5 tag groups can be created in V5 process documents under the Resource/TagList. With the correct settings, tags can also be created in product documents. The above diagrams for robot task migration also show how tags and tag groups are migrated.

The rules for tag and tag group migration are:

  • If a tag group is migrated to V6, all its tags are migrated with it.
  • If a tag group is owned by a product document, it is inserted under the same parent in V6.
  • If a tag group is owned by a process document:
    • The tag group is created in V6 under the Resource, which is a child of the PPR Context, if no robot motion activities use any tag in the tag group.
    • Otherwise, the tag group is parented under the same resource that owns the task and that has the robot motion operations that use the tags. If multiple resources own multiple tasks that use tags from the same tag group, multiple copies of the complete tag group are created in V6. These multiple copies are independent in V6 and changes to one tag group or tag do not affect the other copies.