Process Simulate Training DAYS4 5 Version 12.1.3

Process Simulate on eMS Basic Robotic
SimulationTraining
Activity Guide
March 2016
MT42115 – version 12.1.3
MT42115-W-121 Process Simulate on eMS Basic Robotic Simulation Activity Guide 1

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restricted rights notice
Proprietary and restricted rights notice

This software and related documentation are proprietary to Siemens Product Lifecycle
Management Software 2 (IL) Ltd.
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2 Process Simulate on eMS Basic Robotic Simulation Activity Guide MT42115-W-121

Contents
Tecnomatix copyright, proprietary, and restricted rights notice ........................................................... 2
Contents ....................................................................................................................................................... 3
Lesson 3: Study Proposal ........................................................................................................................... 5

3.1. Activity: Importing via Robcad to PSI link ....................................................................................... 5
Update the Robcad component and set it with PSI assignment ............................................................ 5
Open the project RSA_Training .......................................................................................................... 7
Using Process-Integ Application .......................................................................................................... 9
Creating part group ............................................................................................................................. 12
Select the path to export...................................................................................................................... 13
Create your Robcadstudy in PSI project ............................................................................................. 14
Use « ROBCAD CONNECTIVITY STUDIES » to insert the part and location under the robcad
study .................................................................................................................................................... 14
Importing the Robcad cell to PSI ........................................................................................................ 16
Load the robcad study ......................................................................................................................... 20
3.2. Activity: Moving the imported data to the reference factory ........................................................... 21
Create a new Factory Part tree for the Training .................................................................................. 21
Move the parts to the reference factory part tree ................................................................................ 23
Create a new Factory Weld tree for the Training................................................................................ 24
Move the Mfg to the reference factory weld tree................................................................................ 25
3.3. Activity: Create the RobcadStudy and link the parts ....................................................................... 27
3.4. Activity: Inserting the “Brick Process” in the study ........................................................................ 28
Create reference factory operation ...................................................................................................... 28
Create reference factory resource ....................................................................................................... 31
Open the reference brick process tree ................................................................................................. 34
Use the parts, resources and operations in the new study ................................................................... 35
3.5. Activity: Organize the Process Brick ............................................................................................... 36
3.6. Activity: Check the robcad study ..................................................................................................... 37
Check the relation between the robot and the gun .............................................................................. 38
3.7. Activity: Define the parts position ................................................................................................... 39
Place the parts on the first station ....................................................................................................... 40
Create a New Object Flow Operation ................................................................................................. 42
Attach location on the tooling ............................................................................................................. 43
Place the parts and the next station ..................................................................................................... 44
Create the sequence ............................................................................................................................ 45
3.8. Activity: Creating the collision list .................................................................................................. 47
3.9. Activity: Add the collision event to the sequence editor ................................................................. 49
Update the database ............................................................................................................................ 51
Lesson 4: General robotics ....................................................................................................................... 52

4.1. Activity: Using Weld Distribution Center (WDC) .......................................................................... 52
Create a Weld operation for the Process Brick Geo ........................................................................... 53
Create a new pose for the Gun ............................................................................................................ 54
4.2. Activity: Launch the WDC search ................................................................................................... 55
4.3. Activity: Check the Multi section .................................................................................................... 60
4.4. Activity: Spot — Using Automatic Path Planner for robot paths .................................................... 62
Create start and exit location............................................................................................................... 62
Teach the location ............................................................................................................................... 64
Perform path planning and optimization............................................................................................. 64
4.5. Activity: Graphically Notes for the Weld locations ......................................................................... 67
4.6. Activity: Creating a rough mounted workpiece (pedestal welding) path ......................................... 68
Preparing the environment .................................................................................................................. 68
Define the external TCP ..................................................................................................................... 69
4.7. Activity: Organize the brick process in the workcell ....................................................................... 70
Using relocate ..................................................................................................................................... 71
Lesson 5: Exchange with supplier ........................................................................................................... 74

5.1. Activity: Exporting the Project to the supplier ................................................................................ 74
Export Ebop + Pack&Go workflow of the data to the supplier .......................................................... 74
Export of libraries ............................................................................................................................... 75
Export of Reference Factory Resources ............................................................................................. 76
Pack&Go RobcadStudy Export .......................................................................................................... 77
5.2. Activity: Importing the Project from the supplier ............................................................................ 79
Import of the empty project_RSA_supplier.ppj .................................................................................. 79
Libraries Import .................................................................................................................................. 80
Import Reference Factory trees ........................................................................................................... 81
Pack&Go import ................................................................................................................................. 82
5.3. Activity: Export a RobcadStudy modified and import it in another project .................................... 83
Perform a PackAndGo export of the modified RobcadStudy ............................................................. 83
Perform PackAndGo import of the modified RobcadStudy in another project .................................. 83

Lesson 3: Study Proposal
3.1. Activity: Importing via Robcad to PSI link
The objective of this activity is to update the entire Robcad component and to set it
with PSI assignment before importing.
This activity must be done by a Superuser or administartor
Update the Robcad component and set it with PSI assignment
 Launch Start All program

 Tecnomatix Launch
Upgrade to CO to version

 Select the directory with the component to be upgraded
and click on Upgrade
Respect the options checked in the window above

Open the project RSA_Training
 Open the project RSA_Training

and click on OK
 Create an
Engineering Library

 Select the XNA_PIECES_1
directory with the Robcad
component to be set with PSI
type and click OK
 Select PartPrototype
and click Next
The object imported must be define as PSI type :

 PartPrototype for the part
 ToolPrototype the a generic resource
 Robot for a robot
 Gun for a gun
 etc…

Set the Library Root in Robcad
 Open the Library Root Browser
 Select the Lib Root under

Sysroot and click OK
Robcad and Process Simulate Libraries must be defined in the same

directory

Using Process-Integ Application  Open a Robacd session
and Load the workcell
Workcell data imported from Linx
 Launch the Process-Integ

application

Before executing the update, the workcell state must be as follows:
 The component loaded in the workcell is not stored in local store
 The robot in home pose
 The robot tool mounted
 The mfg assigned to the part
 The location projected and included in one / several Paths
 Open the Hierarchy Tree
 Check the component

assignment

Creating part group
The layer function is not use in PSI, you need to create groups to arrange the
part by compound
 Select the line  Open the Layers

dj and tr
 Click on Blank
 Select the component

with Outside windows
selection mode
 Create the compound  Name the compound

group group and click OK

Select the path to export
 Check if the path t_sr_bna_cx  Click Path Selection

is selected in the table
 Accept the selection
 Check the success of the selection
Do not forget to store the workcell before to

continue the data importing to PSI

Create your Robcadstudy in PSI project
 Create a StudyFolder
 Create a RobcadStudy
Use « ROBCAD CONNECTIVITY STUDIES » to insert the part and location

under the robcad study
 Right click on the Ribbon

and select Customize the
Ribbon…

 Rename it ROBCAD
 Create a New Tab CONNECTIVITY STUDIES

Importing the Robcad cell to PSI
 Launch the function ROBCAD

CONNECTIVITY STUDIES
 Click on the New Tab
 Click on Set NFS Location
 Select the empty

RobcadStudy

 Select the Workcell to be
imported and click OK
A warning message appears after validation, just click on OK
 Define the Settings
 Set the LibRoot and

click OK

 Select the Check box
of the study
 Select Update eMServer
 Check Parts,
Operations and click OK
Uncheck Resources if you don’t import resource components.

If you want to open the Log file, click on Oui

Load the robcad study
 Click to show the

element inserted under the
RobcadStudy
 Right Click on the

RobcadStudy and Load in
Standard Mode

3.2. Activity: Moving the imported data to the
reference factory
Create a new Factory Part tree for the Training
 Right Click on Reference Factory

Part and click on Navigation Tree
 Select the FAMILLE_VEH +

Click on the Ctrl keypad touch
without releasing it and Drag&Drop it
on Reference Factory Part

 Rename the Compound Tree
created to FAMILLE_TRAINING
All the nodes have been duplicated

Move the parts to the reference factory part tree
Select the 3 groups of parts imported and

Drag&Drop them to the Reference Part tree

Create a new Factory Weld tree for the Training
 Create a new factory Weld Tree by Drag&Drop

FAMILLE_VEH on the Reference Weld tree and
rename it FAMILLE_TRAINING
 Create a new MfgLibrary under

FAMILLE_TRAINING and click on OK
 Rename it Rear_Floor

Move the Mfg to the reference factory weld tree
 Expand the tree until MfgLibrary

and Navigate to the Library
 Right Click on Reference Factory

Weld and click on Navigation Tree
 Create a new MFG Library and

renae it Rear_Floor

 Select all contents of MfgLibrary and Drag&Drop
them in the Rear_Floor Mfg Library

3.3. Activity: Create the RobcadStudy and link the
parts
 Right Click on StudyFolder and click on New
 Click F2 and rename Project_Training
 Navigate to the Reference Factory Part
 Select Rear_Floor and Drag&Drop it

in the Project_Training

3.4. Activity: Inserting the “Brick Process” in the
study
Create reference factory operation
 Navigate on the Reference

Factory Part Tree

 Expand tree until Rear Floor
 Click new and create a PrLineProcess
 Click F2 and Rename Prline_Training

prline process

 Click new and create 3 PrStationProcess
 Click F2 and rename PrStationProcess

CX10, CX15, CX20

Create reference factory resource
 Navigate on the Reference Factory

Resources tree
Check if the PrLine Twin is created
 Right click PrLine in the reference Factory

Operation. And synchronize.it

Check that the .Name, Number, Comment, Order is good to
mark
 Mark the Sub-Tree
Result under reference Factory Resources must

be in relation with the Reference Factory
Operation Tree

Move the path imported to reference operation tree
 Move the imported path toon the

Reference Factory Operations tree

Open the reference brick process tree
 Navigate on the Robotic library and

expand the tree until Process_Brick
 Drag and drop the Process Brick to

CX10, CX15 and CX20
Result expected on Reference Factory Resources

Use the parts, resources and operations in the new study
 From the reference factory trees

Drag&Drop PrLine_Training’0’,
PrLine_Training to the study
Project_Training
 Right Click Project_Training
 Load in Standard Mode.

3.5. Activity: Organize the Process Brick
 Select the Process Brick on the Object tree and Use Placement Manipulator to
place it

3.6. Activity: Check the robcad study
 Select the robot and Right Click
 Select the Robot Jog
 Check if the gun is well mounted on the robot

Check the relation between the robot and the gun
 Select the robot and launch Relation

Viewer
Check the mounted Tools

3.7. Activity: Define the parts position
 Create a New Compound

Operation and name it Training
 Create a New Compound Operation by

Drag&Drop Training on PrLine_Training +
+ Ctrl
Ctrl keystroke
 Rename it Flux_Training
 Drag&Drop Flux_Training to Training

 Move imported path to Training
 Blank the parts group_tr, group_dj
Place the parts on the first station
 Select group_cx and click on

Relocate

 Check if group_cx is selected
 Select Self
 Select Tooling
(self-origin pick intent)
Result placement function

Create a New Object Flow Operation
 Select New flow operation under Flux_Training
 Set the name cx10
 Select the Part

in self origin Pick
Intent
Select Self and

click on OK

Attach location on the tooling
Select a Location
Select Attach function
Select the mobile part of the tool (entity Pick Level) and click on OK

Place the parts and the next station
The creation of new object flow operation and the attachment on the tooling
is similar between Cx10 and Cx20.So follow same operation (above)
Related to CX15, there is one particularity. You attach the location on the tool
frame.If the TCPF is not define on the 0VEH of the gripper, you need to define it
on robot properties function.
 Select a Location created for

the station CX15
Select Attach function
Select Cx15 Location
Select TOOLFRAME in the

tree and Click OK

Create the sequence
Select Flux_Training
 Right Click and select SET

CURRENT OPERATION
In the sequence Editor, now you have cx 10, cx15 and cx 20 operations

You must now organize the operations
 Select by making a left click on cx10 and go at the other operation (cx15)
Cx15 has to be later cx10
 Select by making a left click cx15 and go to the other operation (cx20)
 Cx20 has to be later cx15

3.8. Activity: Creating the collision list
 Create a new collision set
 In the Project tree, select the group_cx and

the tool for the first list and c1, clra_cg, c11 for
the second list
Second list
First list
 Emphasize the collision

list

 Do the same for the
station CX15 and CX20
In this case of part handling, the robot and the gripper are in the same list of the
parts

3.9. Activity: Add the collision event to the sequence
editor
At the beginning of the sequence, the collision list needs to be deactivated.
 Right click on the

sequence and select
Deactivate Collision Sets
Event
 Select the list and Add
 Select After Start of

Task and click OK

 Right click on the flow
operation cx10 and click on
Activate
 Set 0s, Select After

 Select the list cx10 Start of Task and click OK
and click on Add
 At the end of the operation,

desactivate the collision list
 Set 0s, Select Before End

of Task and OK
Do the same for the flow operation cx15 and cx20

Update the database
 Choose eMServer
Selective Update

Lesson 4: General robotics
4.1. Activity: Using Weld Distribution Center (WDC)

In this activity, you learn how to use the Weld Distribution Center with automatic
approach angle.
All the weld points under t_sr_bna_cx are available to be done by the
Process Brick loaded in the RobcadStudy, WDC will check if they
could be done in the each Process Brick

Create a Weld operation for the Process Brick Geo
The initial state of the workcell should be :

 Sequence editor at the cx10 flow operation
 Just display the Process Brick CX10 + part group_cx
 Check the collision list turned on
 Right Click on CX10 and Select

New Compound Operation
 Create a new Weld Operation

for the Robot c1 and click OK

Create a new pose for the Gun
 Right Click on Gun C11
 Select New C11
 Set the new axis value, Rename it to

SEMI_OPEN and click OK

4.2. Activity: Launch the WDC search
 Select the 2 paths and

launch WDC

 Check the Settings
 Select some line and

calculate the weld ability

Reachability status – There are several values:
o — the robot has full reachability to the weld point.
o — the robot has partial reachability to the weld point. The robot reaches the weld
point, but must rotate its TCPF to match the TCPF of the weld point.
o — the robot cannot reach the weld point.
o — the robot has full reachability to the weld point if it exceeds its working limits.
o — the robot has partial reachability to the weld point if it exceeds its working limits.
The robot reaches the weld point, but must rotate its TCPF to match the TCPF of the
weld point.
o — the robot has full reachability to the weld point if it exceeds its physical limits.
o — the robot has partial reachability to the weld point if it exceeds its physical limits.
The robot reaches the weld point, but must rotate its TCPF to match the TCPF of the
weld point.
Assign the MFG to the path t_sr_c1 by clicking on check box

Perform the weld ability for the other mfg
If the MFG is already in status you need to launch an automatic approach

angle
 Select the MFG and

an automatic approach
angle

Update the database
 Choose eMServer
Selective Update

4.3. Activity: Check the Multi section
 Open a Multi Sections on the path

t_sr_c1
 Move the display to Side View
Check if you not have

collision with the gun

 I you want to check an other gun  Change the size of the cutting box
pose, you can change the Gun Pose to on X axis
OPEN
 For exporting the section,

Store the sections as JT

4.4. Activity: Spot — Using Automatic Path Planner for
robot paths
The objective of this activity is to plan automatically a path taking into account the
environment
Before launching WDC, the state of the RobcadStudy should

be :
 Robot in Home Pose
 In each location with collision free (using WDC)
 Adding a start and an exit location
 All the locations taught
Create start and exit location
 Select the path and click on

to add it on Path Editor

 Right click on the first log
and select Add Location Before
 Use the compass to

move the robot
Do the same for the exit location
 Right click on the last log and

select Add Location After

Teach the location
 Activate AutoTeach
 Play the Path
At the end of the simulation, do not forget to deactivate the

AutoTeach mode.
Perform path planning and optimization
 Select the path and

Automatic Path Planner

 Execute Path
Planning+Optimization
This process may take a couple minutes to complete. During the

process, the Working Status symbol appears in the Status column.
WDC create some via location to avoid collision

Update the database
 Choose eMServer
Selective Update

4.5. Activity: Graphically Notes for the Weld locations
 Select the Weld points
Launch Object Notes function

4.6. Activity: Creating a rough mounted workpiece
(pedestal welding) path
The objective of this activity is to learn how to rough mounted workpiece in the
path.
Preparing the environment
To initialize the environment state you need to :

 Display only the brick INT
 Move the sequence editor to CX15 position
 Create a new weld operation for the robot d0
 Define the external TCP
 TCPF defined on the 0veh of the gripper

Define the external TCP
 Create a new path for
the robot d0
 Open the Operation

Properties of the path
 Select the pedestal gun weld

and check External TCP and
click OK
Perform the study by applying the activities done before

 WDC
 APP

4.7. Activity: Organize the brick process in the
workcell
The objective of this activity is to arrange the position of the process brick in the
workcell
Ref Gauche
Ref Droite
The Process Brick are defined with 2 references frame:

 Ref Droite
 Ref Gauche
Theses frames are used to place each Process Brick with the other ones in the
workcell
The Process Brick INT has

ref brick under the base of
the Robot

Using relocate
 Right click on BP A_Cx_X_Int_SR_ and

select Relocate
 Select ref_brick (A_Cx_X_Int_SR_) ref-droit (Pick Intent

Snap) under the PB A_Cx_X_Geo_SR_ and Apply

A straight line is displayed to show the relocate placement
 Relocate the A_Cx_X_Fin_SR from ref_gauche to

ref_droit of A_Cx_X_Geo_SR_

Update the database
 Choose eMServer
Selective Update

Lesson 5: Exchange with supplier
5.1. Activity: Exporting the Project to the supplier

Export Ebop + Pack&Go workflow of the data to the supplier
You need to export the file :
 Head node project of the factory (provided by Renault)
 EBOP of the Libraries
 EBOP of the reference factory
 Pack and Go of the study
Project node (of the factory)



Export Ebop of the libraries (xml or ppd)
Export Ebop of the instances:

  Reference factory Resources
 Reference factory Operation
 Reference factory Parts
 Reference factory Weld
P&Go export of the RobcadStudy (pgz)

Export of libraries

Export of Reference Factory Resources
Perform the export for :

References Factory Operation
References Factory Part
References Factory Weld

Pack&Go RobcadStudy Export
 Select the RobcadStudy and Pack and

Go Export
 Click 2 times on Next and define a

location to store the export file
CAD data : CAD data includes the following

fields: 3DRep, JT3DRep, Web3DInfo, Picture,
2DRep. If the checkbox is not activated, these
fields are not included in the export zip file.
Customization : Check to include

customization in the export.
 Select the location for the log file

 Name the file and click OK
 Click Next until Finish button is available
Write your IPN and your

password 2 times

5.2. Activity: Importing the Project from the supplier
Import of the empty project_RSA_supplier.ppj
 Import Projet_RSA_supplier.ppj from

c:\eMSData\Exchange_data

Libraries Import
 Import Libraries.xml from


Import Reference Factory trees
 Import Reference Factory Operation.xml from

Perform the import for :

References Factory Resources
References Factory Part
References Factory Weld

Pack&Go import
 Import RobcadStudy_export.pgz from

c:\eMSData\Exchange_data and Ouvrir

5.3. Activity: Export a RobcadStudy modified and
import it in another project
Perform a PackAndGo export of the modified RobcadStudy
Modify the placement modification of the Process Brick Report
Refer to page P75
 Uncheck CAD data to export just the

RobcadStudy
Perform PackAndGo import of the modified RobcadStudy in another

project
Refer to page P80

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Process Simulate on eMS Basic Robotic

MT42115-W-121 Process Simulate on eMS Basic Robotic Simulation Activity Guide 1

Proprietary and restricted rights notice

2 Process Simulate on eMS Basic Robotic Simulation Activity Guide MT42115-W-121

Tecnomatix copyright, proprietary, and restricted rights notice ........................................................... 2

Lesson 3: Study Proposal ........................................................................................................................... 5

Lesson 4: General robotics ....................................................................................................................... 52

MT42115-W-121 Process Simulate on eMS Basic Robotic Simulation Activity Guide 3

Lesson 5: Exchange with supplier ........................................................................................................... 74

4 Process Simulate on eMS Basic Robotic Simulation Activity Guide MT42115-W-121

3.1. Activity: Importing via Robcad to PSI link

Update the Robcad component and set it with PSI assignment

 Launch Start All program

MT42115-W-121 Process Simulate on eMS Basic Robotic Simulation Activity Guide 5

Respect the options checked in the window above

6 Process Simulate on eMS Basic Robotic Simulation Activity Guide MT42115-W-121

 Open the project RSA_Training

MT42115-W-121 Process Simulate on eMS Basic Robotic Simulation Activity Guide 7

The object imported must be define as PSI type :

8 Process Simulate on eMS Basic Robotic Simulation Activity Guide MT42115-W-121

 Open the Library Root Browser

 Select the Lib Root under

Robcad and Process Simulate Libraries must be defined in the same

MT42115-W-121 Process Simulate on eMS Basic Robotic Simulation Activity Guide 9

 Launch the Process-Integ

10 Process Simulate on eMS Basic Robotic Simulation Activity Guide MT42115-W-121

 Open the Hierarchy Tree

 Check the component

MT42115-W-121 Process Simulate on eMS Basic Robotic Simulation Activity Guide 11

 Select the line  Open the Layers

 Select the component

 Create the compound  Name the compound

12 Process Simulate on eMS Basic Robotic Simulation Activity Guide MT42115-W-121

 Check if the path t_sr_bna_cx  Click Path Selection

 Accept the selection

 Check the success of the selection

Do not forget to store the workcell before to

MT42115-W-121 Process Simulate on eMS Basic Robotic Simulation Activity Guide 13

Use « ROBCAD CONNECTIVITY STUDIES » to insert the part and location

 Right click on the Ribbon

14 Process Simulate on eMS Basic Robotic Simulation Activity Guide MT42115-W-121

MT42115-W-121 Process Simulate on eMS Basic Robotic Simulation Activity Guide 15

 Launch the function ROBCAD

 Click on Set NFS Location

 Select the empty

16 Process Simulate on eMS Basic Robotic Simulation Activity Guide MT42115-W-121

A warning message appears after validation, just click on OK

 Define the Settings

 Set the LibRoot and

MT42115-W-121 Process Simulate on eMS Basic Robotic Simulation Activity Guide 17

Uncheck Resources if you don’t import resource components.

18 Process Simulate on eMS Basic Robotic Simulation Activity Guide MT42115-W-121

MT42115-W-121 Process Simulate on eMS Basic Robotic Simulation Activity Guide 19

 Click to show the

 Right Click on the

20 Process Simulate on eMS Basic Robotic Simulation Activity Guide MT42115-W-121

 Right Click on Reference Factory

 Select the FAMILLE_VEH +

MT42115-W-121 Process Simulate on eMS Basic Robotic Simulation Activity Guide 21