Overview of the Migration of V5 Data

Explanation

In DELMIA V5 Equipment Design, there are many different data types that can used to define a device and its programs. It is also possible to define the inverse kinematics of a robot. Here is a list of data you can define in DELMIA V5 Equipment Design:

• Mechanisms and joints
• Home positions: group of values defining a specific stance for the device
• Time table: used to define the time of motions between different home positions
• Travel limits: define limits on the joint values of the device
• Tool tips: to define parts to be ignored during a clash (useful for weld guns)
• Robot tasks and robot motion activities
• Applicative parameters profiles
• Placement frames
• Joint/tcp speed and acceleration limits
• Kinematics relations
• Controller profiles
  • Tool: manage motion attributes related to the Tool Center Point (TCP) of the robot
  • Motion: manage motion attributes related to speed and acceleration
  • Accuracy: manage motion attributes related to the accuracy in terms of reachability (~Fly by)
  • Object frame: define the spatial referential for the download of the tasks as robot programs
  • Auxiliary devices: devices defined as secondary of the robot. The auxiliary devices are integrated as part of the robot, making the complete group behaving as a single programmatic entity.
• Mounted devices: list the mounted devices
• Inverse kinematics
• Frames of interests - ports for tool and base frames, axis design for design frames
• RRS connection attributes
• Auxiliary devices
• Spot welding time tables

Each of these data is needed to perform and setup different types of resources programming.

Table of Data Types

V5 Data	V6 Migration	Additional Information
Device Controllers	Migrated as V6 Device Controller	See rules for migration of instance and reference controllers in Overview of the Migration of Robot Controllers.
Controller Data: Profiles (Tool, Motion, Accuracy, Object Frame)	Migrated as V6 Device Controller Data
Controller Data: Home Positions	Migrated as V6 Device Controller Data
Controller Data: Home Position Data: Tool Tips	Not Migrated
Controller Data: Travel Limits	Migrated as V6 Device Controller Data
Controller Data: Joint/TCP Speed/Acceleration Limits	Migrated as V6 Device Controller Data
Controller Data: Inverse Kinematics	Migrated as V6 Device Controller Data
Controller Data: Inverse Kinematics Data: Multiple Kinematics Chains	Not Migrated	Only the first kinematics chain is migrated.
Controller Data: Applicative Profiles	Not Migrated
Controller Data: Time Tables	Not Migrated
Frames of Interest (FOI)	Migrated into either a V6 axis frame or a V6 port + axis frame	Behavior depend on the type of the FOI.
Mounted Devices	Migrated as V6 Engineering Connections	Connections are siblings of the instance controller.
Auxiliary Devices	Migrated as V6 Control Device	See Overview of the Migration of Auxiliary Devices.
Robot Tasks	Migrated as V6 Task	V6 tasks are siblings of the instance controller.
Device Tasks	Not Migrated
Operations	Not Migrated, but children of operations are migrated	Example: V6 Robot Motion Operations are parented under V6 Tasks.
Robot Motion Activities	Migrated as V6 Robot Motion Operation
Other detailing activities not listed above	Not Migrated	Examples: Follow path, call task, actions (weld, mount, grab, etc.), I/O, set/wait.
Tags and Tag Groups	Migrated as V6 Tags and Tag Groups	See rules for parents of migrated tag groups.
RRS Connection Attributes	Migrated as V6 RRS Connection Attributes
Workspace Envelopes	Not Migrated