Managing Trajectories With the Trajectory Editor

You can view, author, and manage the lifecycle of trajectories and tag groups in a single editor.

This task shows you how to:

See Also
Validating Reachability with the Analysis Disc

Open the Trajectory Editor

  1. In the Behavior side tab, double-click a trajectory or tag group.
    The Trajectory Editor dialog box appears.



    All tags in the tag group or trajectory appear in a table, with columns provided for:

    • Serial No.
    • Name
    • Resource
    • Current X, Y, and Z values
    • Current Yaw, Pitch, and Roll values
    • Any user-defined attributes that have been defined in the Tag > Properties > Specific tab page for the tag.
    • Prefix
    • Index
    • Suffix

    Note: Values for the above attributes can be edited in-line by double-clicking the current value in the respective cell. Values can be copied from one cell and pasted into another. The modified values are saved.

  2. Optional: Double-click additional tag groups in the Behavior side tab to add them to the Trajectory Editor dialog box.

    Selected tag groups can be shown or hidden in the left frame by selecting or deselecting them in the Trajectories list:

Create a New Tag

You can create new tags within an existing tag group.

  1. Click New Tag .
    The Plane Definition context toolbar appears.
  2. From the context toolbar, select the appropriate plane definition for the tag you want to add.
    The selected plane orientation of the tag appears on the 3D geometry.
  3. Once you have correctly positioned the tag, click OK to lock its position and create the tag.

    A new tag appears in the work area at the specified location.



  4. Optional: Repeat the previous step to create any additional new tags in the selected tag group.
  5. Click New Tag again to exit the command.

Create a New Tag at the TCP Location

You can create one or more tags at the current location of the TCP.

  1. Click New Tag using TCP .
    You are prompted to select a robot.
  2. Select the robot that you want to create tags for.
    The orientation Robot snaps to the TCP and the Insert Tag context toolbar appears.

    The Jog dialog box also appears.

  3. Using either the orientation Robot or the Jog dialog box, jog the robot TCP to the desired location.
  4. Click Insert Tag to create a tag.

    A tag is created at the coordinates of the TCP.



  5. Repeat Steps 3 and 4 to create as many tags as are required.
  6. Click Close in the Jog dialog box to exit the command.

Import and Export a Tractory

Tag groups can be saved as external files that can later be imported into a 3DEXPERIENCE session.

  1. Click Export Trajectory .
    The Export Trajectory file selection dialog box appears.
  2. Navigate to the folder where you wish to save the file and click Save.
    The tag group is saved as a Microsoft Excel (XLS) file.
  3. Click Import Trajectory .
    The Import Trajectory file selection dialog box appears.
  4. Select the file to import and click Open.
    The imported tag group is displayed in the Behavior side tab.

Select the Spatial Parent of A Trajectory

When a trajectory is attached to a product, you can select and highlight it to see the product that the current trajectory is attached to.

Click Select the spatial parent .

The product that the trajectory is attached to is highlighted and selected.



View the Trajectory as a Tree

You can display the tags in the table as a tree.

  1. Click Switch to Tree View .

    The tags in a the table are displayed in tree format.



  2. Click Switch to Table View to exit the tree view and return to the table format.


View the Tag Order in the Work Area

You can view the order of the tags withing a group in the work area by connecting tags with a line.

  1. Double-click a tag group in the Behavior side tab.
    The tags within the group appear as normal.



  2. Select Display Trajectory Visualization in the Authoring toolbar.
    The tags within the group are now connected by lines that indicate the order of the tags in the work area.



    You can toggle this feature on or off by selecting Display Trajectory Visualization again in the Authoring toolbar.

Validate Reachability of Tags

You can select a robot and perform a reachability check for each tag in a trajectory.

  1. Click Validate Reachability of Tags .
    You are prompted to select a robot.
  2. Select a robot, followed by a tag.

    The Analysis Disc appears on the tag to and indicates its reachability status.



    The Analysis Disc Details dialog box also appears, providing disc information and ability to analyze a location for multiple tool profiles and robot configs.

  3. Select other tags in the trajectory to view the reachability of each.
  4. Click Validate Reachability of Tags to close the command.

Display the Tool Cloud

You can view the tool on each tag of a tag group simultaneously.

  1. Click Display Tool Cloud for Tags .
    The Tool Cloud - Preferences panel appears, and you are prompted to select a tool.
  2. Select a tool in the work area.
    The selected tool appears on each tag of the tag group.

Manage Resource Sets

You can assign and edit Resource Set Templates and attribute values directly from the trajectory editor.

Click Manage Tag Resource Sets .

The Manage Tag Resource Sets dialog box appears.

If an entered value differs from the default value in the template attributes, a persistent attribute is created under the corresponding item.

Template attributes are displayed in the Trajectory Editor:

Move Tags Within the Trajectory Sequence

You can select one or more tags in the table and move them up or down in the sequence.

  1. Select one or more tags in the Trajectory Editor table. Multiple selections can be made by pressing Ctrl when selecting.
  2. Click Move up the selected tags in the trajectory or Move down the selected tags in the trajectory to move the tags up or down by one position.

    The tags are moved up or down one level:



    Repeat as necessary to achieve the desired result.

Reverse the Order of Tags in a Trajectory

You can reverse the order of the tags inside a tag group.

  1. Double-click a tag group in the Behavior side tab.
    The Trajectory Editor appears, and the tags are shown in the table in their initial order.



  2. Select Reverse the order of all the tags in the trajecotry
    The order of the tags is reversed:



Split a Trajectory

You can split a selected tag group at a selected tag. The succeeding tags are moved to a new tag group.

  1. Double-click a tag group in the Behavior side tab.
    The Trajectory Editor appears and displays a table of the tags in the group.
  2. Select the tag where the tag group is to be split.


  3. Select Split the current trajectory at the selected tag
    The tag group is split at the selected tag:



    The remaining tags are automatically saved in a new tag group that appears in the Behavior side tab:

Merge Trajectories

You can join a selected tag group with the current tag group. All of the tags of the selected tag group are appended to the end of current tag group.

  1. Double-click a tag group in the Behavior side tab.
    The Trajectory Editor appears, and the tags are shown in the table.



  2. Select Merge the selected trajectory into the current trajectory
    You are prompted to select a tag group to merge into the current tag group.
  3. Select a tag group in the Behavior side tab.
    The tags from the selected tag group are appended to the current group, and the tag group selected in the Behavior side tab is deleted.