StudentGuide RobcadBasics WKP100U V90 PDF

Robcad Basics Student Guide
Course Code: WKP100U

Updated: February 2010
Publication Number: MTXW100U-S-09
Robcad Basics
Version: 9.0
Table of Contents
Robcad Basics
Student Guide
February 2010
WKP100U Version 9.0
Publication Number
MTXW100U-S-09
ii
Manual History
Manual
Revision
Product
Version
Publication
Date
V 3.3
July 1996
V 3.4.1
April 1997
V 3.5.1
December 1997
V 3.7.1
December 1998
V 3.8.1
December 1999
V 4.0
December 2000
V 6.0.3
December 2002
V 7.1.2
December 2004
V 7.5
October 2005
V 7.5.1
July 2006
V 7.5.1.1
February 2007
V 8.0
December 2007
V 9.0
February 2010
This edition obsoletes all previous editions.
Siemens Product Lifecycle Management Software Inc.

All rights reserved.
Printed in the United States of America.
Table of Contents
Proprietary and Restricted

Rights Notices
The following proprietary and restricted rights notices apply.
This Guide is delivered subject to the following conditions and
restrictions:
) This Guide contains proprietary information belonging to
Siemens Product Lifecycle Management Software Inc. Such
information is supplied solely for the purpose of assisting
explicitly and properly authorized users of Robcad.
) No part of its contents may be used for any other purpose,
disclosed to any person or firm or reproduced by any means,
electronic or mechanical, without the express prior written
permission of Siemens Product Lifecycle Management Software
Inc.
) The text and graphics are for the purpose of illustration and
reference only. The specifications on which they are based are
subject to change without notice.
) The software described in this guide is furnished under a
license. The software may be used or copied only in
accordance with the terms of that agreement.
) Information in this Guide is subject to change without notice.
Corporate and individual names and data used in examples
herein are fictitious unless otherwise noted.
This software and related documentation are proprietary to Siemens
Product Lifecycle Management Software Inc. LIMITATIONS TO
U.S. GOVERNMENT RIGHTS. UNPUBLISHED RIGHTS
RESERVED UNDER THE COPYRIGHT LAWS OF THE UNITED
STATES. This computer software and related computer software
documentation have been developed exclusively at private expense
and are provided subject to the following rights.
iii
iv
If this computer software and computer software documentation

qualify as commercial items (as that term is defined in FAR
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Copyright 2010 Siemens Product Lifecycle Management Software
Inc. All rights reserved.
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Process Designer, Process Simulate, Web-Based BOP Manager,
Process Reports Server, Robcad, ROSE, Plant Simulation
Professional, CMM Inspection Programming, CMM Inspection
Execution, CMM Inspection Execution Inspector Function,
Machining Line Planner, Robcad Spot, Robcad Paint, Robcad Arc,
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Other company and brand products and service names are
trademarks or registered trademarks of their respective holders.
Table of Contents
Table of Contents
Chapter 1: Introduction to Robcad ...............................................1-1
Lesson 1: Training Introduction.................................................................................1-3
Lesson 2: Basic Skills .................................................................................................1-7
Lesson 3: Basic Robcad operations ............................................................................1-9
Lesson 4: View Control in Robcad.......................................................................... 1-18
Lesson 5: Customizing user configuration .............................................................. 1-26
Lesson 6: Entity selection........................................................................................ 1-30
Lesson 7: Using Robcad Layers............................................................................... 1-35
Lesson 8:Additional commands .............................................................................. 1-38
Lesson 9: Robcad Help ........................................................................................... 1-42
Chapter 2: Workcell Layout..........................................................2-1

Lesson 1: Robcad Data Structure Introduction..........................................................2-2
Lesson 2: Placement Commands................................................................................2-7
Lesson 3: Robcad Data Structure Introduction....................................................... 2-17
Lesson 4: Assembly Tree Intro ................................................................................ 2-29
Lesson 5: Attaching and Mounting ......................................................................... 2-34
Chapter 3: Modeling and Kinematics ............................................3-1

Lesson 1: Modeling Basics .........................................................................................3-2
Lesson 2: Introduction to Representation Precision ............................................... 3-10
Lesson 3: Fundamentals of Kinematics ................................................................... 3-18
Lesson 4: More on Kinematics ................................................................................ 3-27
Chapter 4: Processing ...................................................................4-1

Lesson 1: Inverse kinematics: Core technology of Robcad ........................................4-2
Lesson 2: Working with Paths................................................................................. 4-12
Lesson 3: Setting Up and Populating Libraries........................................................ 4-24
vi
Lesson 4: First Steps in a New Project .................................................................... 4-31

Lesson 5: Collision Detection ................................................................................. 4-43
Lesson 6: Other Project Related Tasks .................................................................... 4-52
Chapter 5: Basic Simulation Techniques .......................................5-1

Lesson 1: Introduction to Sequence of Operations................................................... 5-3
Lesson 2: Creating a Sequence.................................................................................. 5-8
Lesson 3: Using a Scenario ..................................................................................... 5-21
Lesson 4: Editing Operations .................................................................................. 5-26
Lesson 5: SOP Events and Settings .......................................................................... 5-28
Lesson 6: SOP Collision and Simulation Analysis.................................................... 5-39
Lesson 7: Using Camera Views (Optional).............................................................. 5-45
Lesson 8: Static Output........................................................................................... 5-49
Lesson 9: Storing Simulations ................................................................................. 5-60
Lesson 10: Creating Web Reports ........................................................................... 5-65
Chapter 6: Other Selected Topics .................................................6-1

Lesson 1: Data Menu CAD Translating (Optional Topic).......................................... 6-2
Lesson 2: More on Robot Motion............................................................................ 6-10
Lesson 3: Putting It All Together............................................................................. 6-17
Lesson 4: Where Do We Go From Here?,............................................................... 6-19
Appendix A: WKP100U Classroom Setup .................................... A-1

Appendix B: Customizing Your .robcad File .................................B-1
Introduction to Robcad
CHAPTER 1
Chapter 1
Introduction to
Robcad
About This Chapter
This chapter provides an introduction to Robcad and contains the
following lessons:
) Lesson 1: Training Introduction, page 1-3, describes how to
use the training manual.
) Lesson 2: Basic Skills, page 1-7, describes how to start Robcad
and how to navigate through windows in Robcad
) Lesson 3: Basic Robcad Operations, page 1-9, describes how to
open project, load cells, and execute a sequence of operations.
) Lesson 4: View Control in Robcad, page 1-18, describes how to
view controls using mouse or keyboard as well as using
multiple graphic windows
) Lesson 5: Customizing user configuration, page 1-26, describes
how to customize, save, and load configurations.
) Lesson 6: Object Properties and Selection, page 1-30,
describes how to select objects, change Pick Level, change
colors of objects, and view object properties.
) Lesson 7: Using Robcad Layers, page 1-35, describes how to
set, create, and add/ remove components to active layers as
well as blanking/displaying and filtering components in layers
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) Lesson 8: Additional commands, page 1-38, describes how to

use some additional commands such as viewing panel.
) Lesson 9: Robcad Help, page 1-42, describes how to retrieve
online command help and documentation and also how to use
the undo and reset commands.
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CHAPTER 1
Lesson 1: Training
Introduction
Introduction to the Training
Manual Structure
The training manual is designed for a classroom containing
between three to seven students. Each student should sit at their
own workstation using their own copy of the data.
See Appendix A for a detailed description of the classroom setup.
Training Guide Typographical

Conventions
It is important for each trainee to understand this syntax before
starting the exercises. The following typographical conventions
will be followed in this training guide:
A training manual is broken down into logical units called
chapters.
The chapters are sub-divided into small lessons that have two
sections: the instructor lecture and the student exercise.
The exercise contains all button clicks required to produce the
result of the concept being taught in the lesson. The following
syntax will be found in the exercises:
Bullet Conventions:
This bullet is used to show an important sub-grouping of a

lesson or exercise. Usually bullet points or steps to do
something follow it.
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This bullet is used to show bullet points in a lesson. It is not

usually found in an exercise.
This bullet is used to highlight the button clicks that need to
be carried out to complete a step of an exercise. Sometimes
they are used in a lesson to denote sub-bullets of the bullet
shown above.
Informational Sidebar Conventions:
This icon is used to show notes of special importance. This

icon type is used most often.
This icon is used to show tips that may be helpful after class.
The manual may only have a sparingly few number of these.
This icon is used to show areas where students usually fall
in a hole. It is meant to warn them before, help them
avoid, or help them get out once they are stuck. Hopefully
the manual has sparingly few of these situations.
Basic Exercise Conventions:
) Each exercise begins with a bold heading that begins with the
word Exercise. An exercise ends at the next bold heading.
) Each exercise is created in an outline windowat.
) The numbered steps give an overview of what is to be
accomplished.
) Detailed sub-steps enumerated by bullets follow each
numbered step.
Y For example: Here is a sub-step.
) It is suggested that the trainee read the overview step to
understand what is to be done. Then continue to the bulleted
sub-steps for each button click required to complete the step.
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CHAPTER 1
Exercise Button Click Conventions:
) In the exercises the titles of windows, pop-ups, toolbars, or

viewers, are shown in italic.
) Items that should be clicked with the mouse (i.e. action items),
are shown in bold. For example: objects, buttons, icons, menu
selections.
) However, the [OK], [Cancel], [Yes], and [No] buttons are
shown in brackets.
) Special keys from the keyboard are shown in brackets. For
example: [Enter], [Alt], [Ctrl], [Delete], etc
) When an action item from the top menu bar is found in an
exercise it is shown with an arrow between the top menu and
the action item. For example: File -> Exit.
) When an icon is referenced in an exercise of the training
manual, the name of the icon appears in bold in the step
followed by the icon. For example: Open Project
.
Example Usage of Exercise Conventions:
1 There are two ways to refer to a top menu item such as Save:
Y From the File menu, select Save. The current file is saved.
Or
Y Select File -> Save. The current file is saved.

2 Here is how an icon from a toolbar is refered to in an exercise:
Y Click Save
from the Standard toolbar.
3 Here is how a button on the keyboard or a common button on

a form is refered to in an exercise:
Y Select the [Enter] key.
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Y Click [OK].
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CHAPTER 1
Lesson 2: Basic Skills

Logging in and Logging out of the
System
On a PC:
1 Logging into the system:

Y Type the training password supplied by your instructor and
press [Enter] on the keyboard.
2 Logging out of the system (PC):
Y Select Start -> Shutdown.
Y Select Logoff from the dropdown.

Y Click [OK].
PRINCIPLE:
You must have your mouse pointer inside the window to type text in the window. If
you move your mouse out of the window your text will be thrown away.
Minimizing and Maximizing the Robcad window
1 Press the large square icon in the upper right corner of the shell
window to maximize it.
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2 Press this same square icon again to return it to the regular size.
3 Press period icon in the upper right corner of the shell window
to minimize it.
NOTE
The window is changed to an icon on your desktop.
4 Click on the icon to return the window to its regular size.
Exercise: Starting Robcad

Objective: To start Robcad
On PC:
1 Log into the computer system.

2 To start Robcad:
Y Method 1: Double-click the Robcad icon on the desktop.
Y Method 2: Select Start -> Programs -> Tecnomatix ->
Robcad -> Robcad.
3 Exit Robcad:
Y Using the left mouse button, click Robcad in the Top Menu
window.
Y A pull down menu will appear.
Y Move the mouse cursor to the Exit button and click the left
mouse button.
NOTE
It is important to exit Robcad before logging out of the system, in order to ensure
changes are saved.
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CHAPTER 1
Lesson 3: Basic Robcad

Operations
Introduction
In this lesson, we will briefly discuss the Layout and SOP windows.
The Robcad Windows
Top Menu Window:
The window across the top is the Top Menu window. It is made up
of a row of buttons for the current menu. The menus name is
shown in the title bar of this window.
It displays the version of Robcad, the current menu name, the name
of the cell, the folder path containing the cell, pick intent, and pick
level.
PRINCIPLE
Clicking each button in the Top Menu window (except the Robcad pull down menu)
causes a command Window to be displayed at the right side of the screen.
The Robcad button on the Top Menu window is used to change the
current menu shown in Top Menu window and the icons in the
Toolbox Manager window.
Graphics Window:
The large window just below it is the Graphics Window. This

window displays graphics information.
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Commands Window:
The window to the right of the Graphics Window is the current

sub-menu window. Selecting buttons on the Top Menu window
(except the Robcad button) changes the current sub-menu shown
here. Pressing buttons here activates the actual commands.
Messages Window:
This window is located under the Graphics Window. It displays up

to three lines of text, each having a distinct function:
) The message line usually contains a status message
(success/failure) for the last command completed.
) Previous messages are preserved and can be viewed by picking
the scroll arrows.
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CHAPTER 1
Status (Data) Window:
The Status Window is located along the bottom of the display. It

lists the data returned by or required for the current command.
PRINCIPLE
You may use the information displayed in the Status Window as input to any
Robcad window. Use the right mouse button to copy the information.
Toolbox Manager Window:
The window in the lower right corner is the Toolbox Manager

window. Buttons pressed here toggle the display of sub-menus that
appear over the Graphics Window. Pressing buttons on these submenus activates the actual commands.
It contains various Toolbox Managers. Some of these toolboxes are

available at all times.
PRINCIPLE
The Toolbox Manager window is always there for you, regardless of the chosen
Commands Window.
Undo, View Center, Reset, Limits Check and Collisions are always
present.
Exercise 1: Minimizing and

Maximizing Robcad
Objective: To minimize and maximize Robcad.
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This behavior is the same on UNIX and PC.

1 In the upper right corner of the Top Menu window, click the
Minimize icon.
2 All Robcad windows are minimized to one Robcad icon that

sits on top of the desktop.
3 Double-click on this Robcad icon to restore all the Robcad

windows.
Mouse Conventions in Robcad

We will cover a move complete list of mouse conventions
throughout class.
) Left mouse button - Used for clicking buttons on menus and
picking entities in the Graphics Window.
) Middle mouse button (the mouse wheel can be pressed like a
button) - Has several important functions in Robcad. (To be
discussed throughout class)
) Right mouse button - Has several important functions in
Robcad. (To be discussed throughout class). The first use of
the right mouse button we will discuss involves the right click
menu in the Graphics Window.
Y With the introduction of right-click context sensitive menus,
users need fewer mouse clicks to carry out common
operations. The result is increased speed and easier access
to frequently used tools and commands.
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CHAPTER 1
) When asked to Select or Click on a button, move the mouse

cursor over the button then quickly depress and release the left
mouse button.
) When asked to Drag, move the mouse cursor while holding the
left mouse button down. Release the button to make your
selection.
Exercise 2: Graphics Window Right

Click Menu
Objective: To use the Graphics window right click menu.
1 Change the pick level to Component.
Y Press the [F12] until the Pick Level is changed to
Component. The current value is displayed in the upper
right corner of the Top Menu window.
NOTE
Pick Level is either Entity or Component. When the Pick Level is set to
Component, the entire object is selected when any chunk of it is selected. When
the Pick level is set to Entity, only the picked chunk of the object is selected.
2 Look at the right click menu for a robot.
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3 Look at the right click menu for the E11 column.
4 This menu can be used to start all sorts of the menus quickly
and easily.
Load Cell
Load cell is used to open cells (.CE) in Robcad.
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CHAPTER 1
The thumbnail and one-cell previews can save users valuable time
otherwise lost opening an incorrect cell from the list. The preview
functionality provides users with a quick graphic display of the
cells contained in a folder, allowing them to select exactly the cell
they need.
Exercise 3: Loading a Cell and

Changing Projects
Objective: To load an existing cell from the projects/intro project
folder.
1 Go to the Layout window.
Y In the Top Menu window click Layout. The Layout window
appears on the right side of the Graphics Window.
2 Change to the projects/intro project folder.
Y In the Layout window, click Load cell.
Y In the Load Cell window, browse to the

/C=/Robcad/data/WKP100U/projects/intro folder.
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NOTES:
A different drive can be accessed by typing /* in the Filter field and pressing [Enter].
You can then double-click the desired drive.
3 Load (Open) the desired cell from this project.

Y Select the first_cell.ce workcell.
Y Click [OK].
Y The workcell contents are displayed in the Graphics
Window.
Exercise 4: Playing a Sequence of

Operations
Objective: To play a SOP in Robcad. We will learn how to layout
this cell and create the simulation later in this class.
1 Go to the SOP window.
Y In the Top Menu window click SOP. The Sequence of
Operations window appears on the right side of the
Graphics Window.
2 Open the SOP for this cell.
Y In the Sequence of Operations window, click Sequence.
Y In the Sequences window, select Station11 in the
Sequences window.
Y Click Select.
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CHAPTER 1
3 Play the simulation.

Y In the Sequence of Operations window, click Play
4 Press Stop
the simulation
on the Sequence of Operations window to stop
5 Press Rewind
on the Sequence of Operations window to
reverse the simulation
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Lesson 4: View Control in

Robcad
Introduction
In this lesson, we will briefly discuss the Graphics and Display
windows.
View Control using a Space Mouse

Optionally, a space mouse can be used to pan, zoom, and rotate in
the Graphic Viewer. Pictured below is the Space Explorer. Other
models can also be used:
This tool can be used to intuitively pan, zoom, and rotate the
object.
Pre-requisites and Setup:
In order to use a Space mouse:

) A space mouse must be connected to your computer.
) To enable space mouse usage in Robcad, add the following line
to the .robcad file: SPACE_MOUSE_ACTIVATED on
) The 3DConnexion driver must be installed and started before
starting the Robcad software.
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CHAPTER 1
) Sensitivity and Tolerance can be adjusted by clicking Space

mouse on the Robcad Setup window.
Here are the default settings:
) Pan Right/Left
- nudge left and right
) Pan Up/Down
) Zoom
) Tilt
- push down or pull up
- nudge toward or away from you
- rotate front/back
) Spin
- spin around
) Roll
- rotate left/right
If you have one of these you will not need to learn how to pan,
zoom, and rotate with a mouse.
Note:
For more information on space mice see www.3dconnexion.com
View Control using the Mouse
With the mouse cursor in the Graphics Window
) Middle button:
Y Used for zooming in or out. Moving the mouse left or right
affects the direction of zoom.
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Y
Y
Y
Y
Mouse movement left: zoom out

Mouse movement right: zoom in
Mouse distance moved: affects magnitude of zoom
For example: Click and hold middle button of mouse while
moving mouse slightly left then right.
) Right button:
Y Used for panning. Moving the mouse in any direction
affects the direction of panning.
Y Mouse distance moved: affects the speed of panning.
Y For example: Click and hold middle button of mouse while
moving mouse slightly up, down, left, or right.
) Middle+Right buttons:
Y Used for moving the eye viewpoint. Moving the mouse in
any direction controls the movement of a sphere around the
model.
Y Mouse distance moved: affects the speed of rotation.
Y For example: Click and hold middle button of mouse while
moving mouse slightly up, down, left, or right.
NOTE
Rotation is limited to + or - 180 degrees about the floor axes.
Y Zoom Window Control using the keyboard and mouse

) Ctrl + Alt & Left button:
Y Hold down Ctrl and Alt keys and then depress left mouse
button. A Zoom IN window can then be defined.
Y The first corner will be where the cursor was when left
button was depressed. The other corner will be defined
where left button is released.
) Shift + Ctrl + Alt & Left button:
Y Hold down Shift and Alt keys and then depress left mouse
button. You can then define a Zoom OUT window.
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CHAPTER 1
Y The first corner will be where the cursor was when left
button was depressed. The other corner will be defined
where left button is released.
View Control using the Keyboard
With the mouse cursor in Graphics Window:
) [Home] key: Moves to the front view of the cell

) [Right arrow] key: Rotates cell 30 degrees counterclockwise
) [Left arrow] key: Rotates cell 30 degrees clockwise
) [Up arrow] key: Rotates cell 30 degrees up
) [Down arrow] key: Rotates cell 30 degrees down
View Control using the Window

Setup Menu
To bring up Window Setup menu:
Place mouse cursor inside the Graphics Window.

1 Press the [F5] key on the keyboard. The Window setup menu is
displayed.
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2 Click on Cancel in the Window setup menu.
To change View point of Cell:
Bring up the Window setup menu by pressing the [F5] key.

1 Click on View point -> Q1. View point of cell is updated
2 Bring up the Window setup menu.
3 Click on View point -> Back
4 Explore the workcell with the other view point options in the
Window Setup Menu
Method 1:
1 Select Display from Top Menu window.

2 Select Display/All in the Commands window.
Method 2:
Put mouse cursor in Graphics Window and press the [F5] key.
2 Click on Full view.
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CHAPTER 1
Using Multiple Graphic Windows
To open multiple graphic windows:
1 From the Top Menu window, click Display.

2 On the Display window select Viewing->Open graphics
windows.
3 Click on any option from the Open graphics windows menu
4 Explore the other options
To change view parameters in all graphic windows:
Move mouse cursor to any Graphic Window.
2 Press the [F6] key to get Global setup menu.
3 Move mouse cursor to Graphic windows and Graphic windows

submenu will appear.
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4 Click on the window setting that you wish to change.
To close a graphic window:
Move mouse cursor to the window that you want to close
2 Press the [F5] key.

3 Select Close Window.
Changing the View Center

1 Rotate the cell in any direction and note center of rotation.
2 Click View Center
from the Toolbox Manager window.
3 Click on an entity. Or select Values, Enter coordinates, and

select [OK].
4 Select [OK].
5 Rotate the cell in any direction and note center has changed.
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CHAPTER 1
Exercise: Trying Some View

Control Commands
Objective: To try some view control commands.
1 Try your space mouse, if you have one.
2 Open multiple windows.
Y From the Top Menu window, click Display.
Y On the Display window select Viewing -> Open graphics
windows.
Y Select 3 windows.
3 Set same view parameters for all windows
Y Press the [F6] key in the one of the Graphics Windows.
Y Change some window settings
4 Set different view parameters for each window.
Y Press the [F5] key in the one of the Graphics Windows.
Y Change some window settings
5 Zoom, Pan and Rotate in each window.
Y In the Graphics window, hold down the middle mouse
button and move the mouse left to right (slowly).
Y Hold down the right mouse button and move the mouse in
a small slow circle.
Y Hold down the middle and right mouse button and move
the mouse in a small slow circle.
6 Close one of the windows:
Y In one of the Graphics windows, press the [F5] key and
select Close Window.
7 Set graphics window settings back to default.
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Lesson 5: Customizing User

Configuration
Introduction
In this lesson, we will briefly discuss the Setup window. The
configuration file stores the library root, window colors, and more.
Exercise 1: Customizing your

Configuration
Objective: To customize the configuration.
1 From the Top Menu window, click Setup.
2 On the Setup window, click Colors.
3 Click on Color editing. Color editing panel appears.
4 Change the color of the windows.
Y Click and hold on Choice button in Color editing panel.
Y Drag down window displayed and Select Windows.
Y Click and hold on a Color Bar. Drag cursor up and down to
adjust color. Release to move to another color bar.
Y The resulting color is dynamically updated on the display
and in the color sample.
5 Repeat step 3 and 4 to edit the colors of: cursor, graphics
background, headers and more.
6 To return to default color settings Click on Default in the
Color editing panel.
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CHAPTER 1
Exercise 2: Saving the Customized

Configuration
Objective: To save a configuration.
1 View the Configuration menu on the Setup window.
Y From the Top Menu window, click Setup.
Y On the Setup window, click Configuration.
Y The configuration buttons will appear in the Setup window.
2 Save the configuration by user id.

Y Click Configuration / Store.
Y Select User home from the window displayed.
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3 Note that you can also save by name or project.

Y Select Configuration / Store.
Y Select Name from the window displayed.
Y Enter your name, such as scott.
Y Press [Enter].
Exercise 3: Loading a
Configuration
Objective: To load a configuration.
1 From the Top Menu window, click Setup.
2 On the Setup window, click Configuration.
3 Load the default configuration.
Y Click Configuration / Load.
Y Select Default.
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CHAPTER 1
4 Load a configuration by name.

Y Click Configuration / Load.
Y Select Name on window displayed select one from the list.
Y Click Select.
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Lesson 6: Object Properties

and Selection
Introduction
In this lesson, we will briefly discuss how to select objects, change
Pick Level, change colors of objects, and view object properties.
PRINCIPLE
Click on what you want to do, then Click on what you want to do it on. (Reverse of
word processors)
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CHAPTER 1
Exercise 1: Entity Selection

1 Entity selection by clicking with the mouse
Y On the Display window, click Visibility/Modify color.
NOTE
A color pad appears at the bottom of the Commands Window
Y Click on a color. (Click on what you want to do)

Y Click on different entities in the cell. (Click on what you
want to do it on). For example: the parts of the robot, the
base, the column. Note that the color of selected entities is
updated.
Y Click on another color, then click on some other entities.
2 Entity blanking by creating a list:
Y On the Display window, click Blank/Entity. (Click on what
you want to do)
NOTE
The window below is displayed allowing you to pick one or more entities you want
blanked
Y Click on different entities of the cell. (Click on what you

want to do it on)
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Y Click Accept.
NOTE
The entities in the list are blanked. Blanked entities are not seen but they still exist.
They will be ignored by all functions except Save and Load.
Y Click on Undo in the Toolbox Manager window. The

blanked entities are displayed again.
Y Try blanking. Entities can be blanked by type and color.
The entity list window allows the selection of more than
one entity. Selecting the entities with the mouse creates a
list in the entities list window.
Y To remove an entity from the list, click on name in the
Entity List Window, then press [Backspace] on the
keyboard.
Y Entities can be displayed/blanked by entity, type, color, all
or only.
3 Check the properties of an entity.
Y Right click on an entity and select Properties.
Y Look at the contents of the tabs of the Properties window.

Y Close the Properties window.
4 Entity selection using Pick Level:
Y Press the [F12] key until the Component Pick level is
displayed on the right hand side of the Top Menu window

Y On the Display window, click Blank/Entity.
Y Click on different entities of the cell. Notice that when you
click on a part of the robot, the whole robot is selected and
not just a single entity.
Y Click Accept.
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CHAPTER 1
Y Repeat for other pick level choices.

5 Check the properties of a component.
Y Right click on an entity and select Properties.
Y Look at the contents of the tabs of the Properties window.

Y Close the Properties window.
6 Entity Selection by Creating a Pick Window
Y On the Display window, click Blank/Entity.
Y Set Pick Level back to Entity by pressing the [F12] key.
Y Click and hold the left mouse button while dragging the
mouse to your right.
Y Pick and start drag, then end drag and release.
Y Everything inside or partially inside the box is selected and

added to the entity list to be blanked.
Y Click Accept.
7 Entity Selection After Altering the Pick Window Mode / Type
Y Pressing the [F6] key and selecting Pick-window Mode
allows one to change the pick window mode to one of the
following:
Y Inside window - all entities inside or partially inside
window
Y Outside window - all entities completely outside the
window
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Y Inside visible - only visible entities inside or partially inside

the window
8 Try the different modes.
Y Pressing the [F6] key and selecting Pick-window Type,
allows the user to limit the pick window to select only one
type of entity.
Exercise 2: Reusing a List of

Entities
If a command creates a list of entities, the contents of the entity list
can be recalled whenever using that command.
1 To reuse list of entities by the same command
Y Press the [F8] key.
Y From the Top Menu window, click Display
Y On the Display window, click Blank/entity.
Y Click on some entities and Accept.
Y Click on Undo in the Toolbox Manager window to undo the
Blank/entity command. The blanked entities reappear.
Y On the Display window, click Blank/entity.
NOTE
The previous list of selected entities appears in the entity list window. Selected
entities are also highlighted in the Graphics Window
Y To remove an entity from the list, Click on the entity in the

list, then press the [Backspace] key on the keyboard.
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CHAPTER 1
Lesson 7: Using Robcad

Layers
Introduction
In this lesson we will get a brief introduction to layers.
) Layers in Robcad are more like groups of object, because an
object can be more than one layer at once.
) Layers can be created, queried, deleted, colored, modified, set
as the active layer and more. We will not cover all the abilities
of layers in this course. For more information, see the online
help.
Setup Tab
Get component Behavior
) If this box is checked, then when you get a component and the
prototype contains layers, the layers will be added to the list of
layers in the cell.
) If this box is not checked, then when you get a component and
the prototype layers will not be added to the list of layers in the
cell.
Update visibility status mode
) If this box is checked, then when you Blank or Display a layer,

the visibility will be updated in the Layers window.
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) + Layer is displayed
) +/- Some elements of layer displayed
)
- No elements displayed
Exercise: Working with Layers

Objective: To do some basic things with layers.
1 Create a new layer called robot.
Y From the Toolbox Manager window, click the Layers
.
Y In the Layers window, click Create Layer
Y In the New window, enter the name robot for the layer in
the displayed window.
Y Click [OK].
2 Adding Components to a Layer.
Y Select the robot layer in the layer toolbox by picking on its
name.
Y Set the pick level to Component by press the [F12] key until
Component is displayed in the Top menu window.
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CHAPTER 1
Y In the Layers window, click Add to Layer

.
Y Select Reset to clear the list, then start selecting components
from the graphics window. The names will appear in the
window.
Y Select [OK] when done.
3 Blanking and Displaying Layers.
Y Highlight the layer name by picking on it.
Y In the Layers window, click Blank Layer
view).
Y Click Display Layer
(blank from
(display in workcell).
Y Select Reset to clear the list, then start selecting components

from the graphics window. The names will appear in the
window.
Y Click [OK] when done.
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Lesson 8: Additional
Commands
Viewing Panel
A panel allows the user to interactively modify elements. It will
redefine the mouse button functions, so View must always be
selected to regain view control of the mouse.
Toggling the Displayed Entities

) From the Top Menu window, click Display. On the Display
menu, select Toggle display. This puts you into sort of an
alternate universe. Entities that were blanked are now
displayed. Displayed entities are now blanked. The display
and blank menus also are reversed.
Exercise 1: Using the Viewing

Panel
1 From the Top Menu window, click Display.
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CHAPTER 1
2 On the Display menu, select Viewing / Viewing panel.
3 Click on Floor Size. If the floor is not currently displayed, press

the [F5] key and select Show Floor.
4 Change the floor size.
Y With mouse cursor in Graphics Window, depress and hold
middle button of mouse while moving mouse slightly left
and right.
5 To manually change floor size:
Y From the Top Menu window, click Setup. On the Display
menu, select Floor -> Floor/Floor size
Y Enter X and Y grid sizes
Y Click Accept.
NOTE
To return to default floor height: From the Top Menu window, click Setup. On the
Setup menu, select Floor -> Floor/Adjust floor
6 Click on View on the viewing panel to regain the original

mouse viewing controls. (I.e. the middle mouse button used for
zooming in and out).
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Exercise 2: Using Toggle Display

1 Blank Entities
Y From the Top Menu window, click Display. On the Display
menu, select Blank / Entity.
Y Pick some entities
Y Click Accept.
2 Toggle the display
menu, select Toggle display. Note that the blanked entities
are displayed, and the displayed entities are now blanked.
3 Blank the blanked entities again
menu, select Blank / Entity
Y Pick some entities
Y Click Accept.
4 Toggle the display
menu, select Toggle display.
Y Note that everything is displayed again now.
Exercise 3: Using Other Commands

1 Using the Messages Window
Y Look at this window to read comments and error messages.
Y Click on the arrow buttons to scroll through messages and
errors.
2 Using the Undo command
Y From the Top Menu window, click Layout. On the Layout
menu, select Delete.
Y Select some entities and click Accept.
Y Click on Confirm.
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CHAPTER 1
Y Click Undo
in the Toolbox Manager window. Note
that the deleted entities are restored.
Y Click Undo again. Note that the selected entities are
deleted again.
NOTE
The Undo command only "undoes" the last change. Some commands do not have
an undo, and Undo will be dimmed.
3 Using the Reset Command

Y Click, hold and drag the Top Menu window down.
Y Click, hold and drag the Status Window anywhere.
Y Click on Reset
in the Toolbox Manager window.
NOTE
The Reset command only resets the position of all Robcad windows
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Lesson 9: Help
Introduction
For PCs - Context sensitive online help is only partially enabled in
this release.
Exercise 1: Using the Help

1 To Browse all the Help from the Top
Y Open the online help: Browse to Start -> Programs ->
Tecnomatix -> Robcad and select Robcad Reference
Guide
NOTE
If step 1 does not work, use the api.htm document to browse through all the
available manuals. It located in this location by default:
C:\Robcad\online\manuals\wwhelp\wwhimpl\api.htm.
Y If you are using XP SP2 (or some other popup or some other
internet security tool, you will get a warning concerning
that the web page was blocked.
Y Right click on the information bar, Allow Blocked Content.
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CHAPTER 1
Y Click Yes.
Y Browse through all the online help.
2 To View Help for a Selected Command

Y In Robcad, put your mouse point over command button you
desire in help for and press the [F1] key. For example, let
your mouse pointer hover on Load Cell and press the [F1]
key.
Y Wait for the help window to open.
NOTE
A help window containing manual pages will be open and displayed.
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Y In the help window that opens, select the hyperlink next to

load cell and look at the tabs
.
Y Click Show Navigation
Y Browse and look at the other online reference manus.
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CHAPTER 1
3 To View the Release Notes

Y Open the release notes: Browse to Start -> Programs ->
Tecnomatix -> Robcad and select Release Notes
Y Use the Bookmarks to navigate the document.
Keyboard Summary
[F1] - Help
[F4] - Output Operations (Print graphics or text windows)
[F5] - Window Setup (Full view, View points, etc...)
[F6] - Global Setup (LOD, Pick window type, etc...)
[F7] - Store global entity list (to shared between commands)
[Shift]+ [F7] - Recall stored global entity list
[F8] - Recall last entity list for the same command
[F9] - Accept (Presses accept for popup windows)
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[F10] - Toggles between Wire and Gouraud Display Mode

[F11] - Toggles between Pick Intents (Snap, Where picked, Self
origin)
[F12] - Toggles between Pick Levels (Component, Entity)
NOTE
The Abbreviation MB stands for Mouse Button. MB1 is the left mouse button.
MB2 is the middle mouse button, and MB3 is the right mouse button.
MB 1 - Picking
MB 2 - Zoom In/Out (move mouse left and right)
MB 3 - Pan (move in any direction)
MB 2 + MB 3 - Dynamic Rotation
Alt + MB 1 - Draw a box to zoom in to Alt+Ctrl+MB 1
Alt + Shift + MB 1 - Draw a box to zoom out of
Alt+Ctrl+Shift+MB1
Shift + MB - Pick a component to see its self origin
Ctrl + MB2 + MB3: Used for rotating about yourself
Home- Jump graphics window to front view
Rotate about the world frame perpendicular to the
screen (Z-axis by default) 30 degrees
Rotate about the axis perpendicular to the screen (Y-axis
by default) 30 degrees
Exercise: Hot Key Combinations

All possible user hot key combinations are now organized and
displayed in convenient tables. This makes it easy for users to
configure hot keys combinations to match the ones they use
commonly in their favorite CAD systems (e.g., display all =
[Ctrl]+[A]).
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CHAPTER 1
1 Open the Hot keys viewer.

Y From the Top Menu window, click Setup.
Y From the Setup window, click Hot keys viewer.
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2 Close the Hot keys viewer window.

Y Double-click in the upper-left corner of the window.
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CHAPTER 1
Chapter Summary
In this chapter the following was learned:
) How to start Robcad and how to navigate through windows in
Robcad.
) How to customize, save, and load configurations.
) How to set, create, and add/ remove components to active
layers as well as blanking/displaying and filtering components
in layers
) How to retrieve online command help and documentation
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Workcell Layout
CHAPTER 2
Chapter 2
Workcell Layout
About This Chapter
This chapter provides a description of workcell layout and contains
the following lessons:
) Lesson 1: Robcad Data Structure Introduction, page 2-2, gives
an example that shows the different aspects that creates a cell
) Lesson 2: Placement Command Introduction, page 2-7,
describes different tools and methodologies used to place,
mount, and attach components
) Lesson 3: Explicit Placement Commands, page 2-17, describes
how to create frames, move the working frame, set the pick
intent, and use the place and put commands.
) Lesson 4: Assembly Tree Intro, page 2-29, describes how to
display/blank and colliding entities, looking up tree nodes and
nodes grouping using the Assembly Tree window.
) Lesson 5: Attaching and Mounting, page 2-34, describes how
to use the attach and the mount commands.
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Lesson 1: Robcad Data

Structure Introduction
Introduction
This chapter of the training manual describes the basic definitions
of what a Robcad cell is, what components are, and how to create
a layout of a cell using the tools provided by Robcad. By Layout
we refer to correctly positioning the components within the cell.
When laying out a workcell you always have two options. You can
place an object where it belongs when you get it into a workcell.
Or you can put everything at one location and move it to its proper
position later. This is referred to as object placement.
Data Structure Definitions

) Project - Contains cells and prototypes. Projects can also
contain other projects. To use a prototype from another
project, you must copy the prototype to the current project.
) Library - A collection of prototypes. Prototypes in libraries can
be used by all cells in the System.
) Cell - The TOP unit in a Robcad project. A CELL consists of
COMPONENTS and ELEMENTS. It saved will a .CE extension.
) Components - The physical objects in the Robcad CELL (tables,
workpieces, products, robots ). It saved will a .CO extension.
) Elements - These are stand alone constructs such locations,
paths, frames, etc
) Entities -The building blocks of the component prototypes
(points, lines, surfaces and solids). Every entity is created with
its own self origin. The user has no capability to affect the
creation of this self-origin.
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Workcell Layout
CHAPTER 2
Component Prototypes and

Instances
) Component Prototype - Components that reside in either the
current project or a library. When modeling a component, you
are modeling a prototype.
) Component Instance - Pointers to the prototype. Physical
objects in a cell are instances of a prototype.
Characteristics of Instances
Name in cell
) Colors in cell
) Place in cell
) For instances of mechanisms: Kinematic Poses
) For instances of robots: TCPF position
) Layers in the cell
) For instances of robots: External Axis
) Relationships between components (Groups and Attachments)
Characteristics of Prototypes
) Initial colors
) Geometry
) Internal Relationships (Assemblies, Groups, Links)
) Kinematics
) Frames
) Layers
) Display Precision
) For mechanisms: Kinematic Poses
) Level of Detail
) Custom Attribute Definition
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Component What is it?
Wheres used?
Wheres it
Stored?
Prototype
Master
Component
In Modeling
Typically in a
Library (but can
be in the
current Project
as well)
Instance
Reference to the
Prototype
In the Workcell
In a workcell in
a Project
EXERCISE 1: Loading a Cell and

Change Projects
Y Click Layout from Top Menu window.
2 Create a new workcell in the layout project.
Y Select Load Cell from the Layout Window.
3 In the Load Cell window, double-click on layout to enter the
/WKP100U/projects/layout project
4 Type in mycell at the end of the line in the Selection box.
5 Click [OK].
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Workcell Layout
CHAPTER 2
EXERCISE 2: Getting Components

(instances) into a Cell
Y In the Top Menu window, click Layout. The Layout
window appears on the right side of the Graphics Window.
2 Insert all the components into the cell.
Y In the Layout window, click Get component.
Y In the Get component window, Pick the cell_base.co

prototype from the Files list.
Y Scroll to the bottom of the list.
Y Hold down the [Shift] key and pick the last prototype in the
list (wire_part.co).
Y Click on [OK] on the Get Component window.
NOTE
An instance of all the selected prototypes are added to the current workcell
3 Congratulations! You've just created your first cell in Robcad.

4 Store your workcell
Y In the Top Menu window, click Layout.
Y In the Layout window, click Store.
Saving a Cell
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Saving a Cell as Another Name

Y In the Layout window, click Store as.
Y Type in the new name and click Accept.
NOTE
The current cell displayed in the Graphics Window is still named mycell. The cell
name is displayed in the Top Menu Bar. This is because, unlike any word
processor, Robcad does not load the cell that was "saved as". The cell must be
loaded.
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Workcell Layout
CHAPTER 2
Lesson 2: Placement
Command Introduction
Introduction
Now we will cover in detail various tools required to position
instances within a cell. The following is a list of placement
commands you will learn in this section:
Place Editor
1 Xyz Shift
2 Shift
3 Rotate
4 Transfer panel
5 Place
6 Put
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Placement Methodology
1 Load a cell
2 Get a component instance
3 Use the Placement commands to move it into position
4 Store the cell
Techniques to Open the Placement

Editor
Method 1:
1 Open the Placement Editor and select the objects to be moved.

Y Right click the object to be moved and select Placement
. The right clicked object is automatically selected to be
moved.
Method 2:
1 Open the Placement Editor.

Y Pick the Placement Editor
window.
from the Toolbox Manager
2 Pick the object you wish to move.

Y On the Placement Editor window, select Objects.
Y Select the object to be moved.
EXERCISE 1: Attempting a Cell

Layout
Objective: To introduce the basic concepts of laying out a cell's
components
1 Change project to ./WKP100U/projects/layout2 and load a
new cell called mycell.ce.
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CHAPTER 2
Y Click Layout from the Top Menu window.

Y Select layout2 project folder and enter mycell.
2 Get same components into the cell, but from this new project.
NOTE
This project has a different local library than the Layout project
Y
Y
Y
Y
Y
In the Layout window, click Get component.

Pick the first prototype, cell_base, in the list.
Scroll to the bottom of the list.
Hold down the [Shift] key.
Pick the last prototype, wire_part, in the list.
3 Click on [OK] on the get component window.

NOTE
Unlike the previous exercise, the instances are not retrieved in their proper
positions/locations
We will now learn how to use Robcad's placement commands

(shift, XYZ shift, and rotate) to move the instances to their proper
positions.
Placement Editor Window

Definitions
The key to understanding and effectively working with Robcad lies
in thoroughly understanding the following definitions.
Understanding these definitions will allow you to grasp the concept
behind the placement commands.
) Point/Position: Location defined by X,Y and Z values relative to
reference frame. Position does not posses orientation. For
example: (X,Y,Z) is a point/position
) Frame: Location having both position and orientation, an
axis system. (The origin point of a frame is a position). For
example: (X,Y,Z,R,P,Y).
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) World frame: The permanent origin of the graphics space. This

is the default location for the working frame.
) Working frame: The default position of every component in
Robcad is relative to this. A movable reference frame having a
red, green, yellow axes. Its axes are referred to by the fields X,
Y, Z in the Robcad command windows.
) Self Origin: A unique frame assigned to each prototype. Its
position and orientation is assigned to that of the World frame
at the time of modeling the prototype.
Referred to by Lx, Ly, Lz in the Robcad command windows. This is
the "local" origin of a prototype or instance. This is not the center
of gravity.
EXERCISE 2: Three Ways to

Position an Instance
Objective: Learn multiple ways to position objects in the cell.
1 Load a new cell from the projects/Layout2 project
Y In the Layout window, click Load cell
Y Type in a name other than one in list.
Y Click [OK]
Y If a Warning message appears, select NO
NOTE
Remember to look above the Top Bar Menu for the cell name to confirm the new
cell has been added
2 Get instances of components: cell_base and column.

3 Find 3 ways to move the column to its correct position of -4000
in the X direction and -5000 in the Y direction.
Using the Shift command
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CHAPTER 2
Y Right click the column and select Placement

. The
column is automatically selected to be moved.
5 Shift the object -4000 in the X.
Y Select Shift from the Placement Editor window.
Y
Y
Y
Y
Click X in the Shift window.

Enter -4000 for distance.
Click Accept.
The column should shift by 4000 in the X-direction.
6 Shift it 5000 in the Y.

Y Select shift from the toolbox again
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Y
Y
Y
Y
Click Y in the Shift window.

Enter -5000 for distance.
Click on Accept.
The column is now in the correct position of -4000 along
the X-axis and -5000 along the Y-axis.
7 Use the Shift command to return the column to the original X,

Y position.
8 Close the Placement Editor window.
Using the Xyz shift command

Y Right click the column and select Placement
. The
column is automatically selected to be moved.
10 Shift it 4000 in the X and 5000 in the Y.
Y Click on X in the Xyz shift window.
Y Enter -4000 for X distance
Y Press the [Enter] key.
Y Enter -5000 for Y distance
Y Click Accept.
Q: What is the difference between the Shift command and the Xyz
shift command?
A: The Shift command can only move an object in one direction at
a time, whereas the Xyz shift command can move an object in all
directions (X, Y, Z).
11 Delete the column
Y In the Graphics Window, right click the Column and select
Delete.
Using the Rotate command
12 Get an instance of component gmfs420 (Get Component)

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Workcell Layout
CHAPTER 2
Y Right click the gmfs420 and select Placement

robot is automatically selected to be moved.
. The
14 Click on Z in the Rotate command window.

15 Enter 180 for Rotation angle
16 Click Accept. The robot is now facing correctly.
17 Use one of the shift commands to move it to the proper
location of X shift = -2100 and Y shift = -715
Using the Placement Editor

Transfer Panel
This panel enables one to interactively move an instance relative to
the world, self or another selected frame. The default is the
working frame
1 Select an object to manipulate.

2 Choose an axis to move along (with left mouse button).
3 Move the mouse pointer into the graphics window.
4 Hold down the middle mouse button.
5 Moving the mouse left and right in the graphics window will
cause the object to mouse either positive, or negative, along the
selected axis. If you want to undo the placement of the object
click Reset.
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NOTE
You must select view on the panel to retrieve original mouse controls.
EXERCISE 3: Using the Transfer

Panel
Objective: To learn the basics of the transfer panel.
1 Get an instance of column.co component from the
projects/layout2 project)
2 Open the Placement Editor window for the column.
Y Right click the column and select Placement.
3 Explore moving and rotating the column using this panel.
Y
Y
Y
Y
Choose an axis to move along (with left mouse button)

Move the mouse pointer into the graphics window
Hold down the middle mouse button.
Moving the mouse left and right in the graphics window
will cause the object to mouse either positive, or negative,
along the selected axis.
NOTE
The step size is in the current units. The current units can be verified or changed
using the Setup -> Units menu option.
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CHAPTER 2
EXERCISE 4: Using Get Component

Position Prompt
Objective: To use the Get component window to practice and
understand the window because it is used in many other
commands in Robcad.
1 Load the frame_forms.ce cell from the projects/placement
project
Y Select frame_ forms.ce.
Y Click [OK]
Y If a Warning message appears, select NO.
2 Display all entities in the workcell
Y Click Display from Top Menu window.
Y In the Display window, click Display/All.
3 Get the column into the cell (taking all the defaults)
Y In the Layout window, click Get component
Y Select the column component.
Y Verify that the Locate At prompt is empty. If it is not,
backspace out what is there.
Y Click [OK]. Note that the Self-origin of this column
instance is superimposed on the Working frame.
4 Get the column into the cell again. This time, though, locate
the column on frame fr7.
Y Click Layout from Top Menu window.
Y Select the column component.
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Y Pick in the box to the right of the Locate At prompt. Then

either pick fr7 from the Graphics Window, or type it in.
Y Click [OK].
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CHAPTER 2
Lesson 3: Explicit Placement

Commands
Demo: Creating and Manipulating
Frames
1 Look at the Create frame window.
Y In the Layout window, click Create Frame.
Y Observe the Create frame window. Now, select the

following commands and notice that all of their windows
are very similar to the Create frame window.
2 Put command.
.
Y Right click an object and select Placement
Y From the Placement Editor window, select Put.
3 Place working frame command.
Y From the Layout window, select Working frame -> Frame
4 Place TCPF command
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Y Select Motion
from the Toolbox Manager window.
Y From the Motion window, select the Settings

Y Select Robot Settings / Tcpf.
tab.
Because this window is dispersed throughout the Robcad software,

a detailed description of its parameters is necessary. We will use
the Create Frame window to describe all of the parameters. Offsets
are always in reference to the current position of the Working
Frame Locate at, which specifies a frame at which to superimpose
the self-origin of the object. The offsets are in reference to the
Locate at frame.
NOTE
When the word Values appears in the Locate at field, and the offsets are all zero,
then the object will be placed directly on the current location of the Working Frame.
To use the window:
1 Position the input marker

at the field you wish to enter by
picking on the text of the desired field.
2 Pick the frame at which to locate the object, OR
3 Click on the Locate at arrow (<-) to open the Locate at window
to specify initial position and orientation of object relative to
the Working frame.
4 Enter the desired position and orientation.
5 Click Accept in the Locate at window.
(Working Frame Offset Window)
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(Locate at arrow)
Workcell Layout
CHAPTER 2
6 Set the offsets relative to the frame selected for Locate at

7 Click Accept in the Create frame window.
NOTE
If you pick a Locate at point in the graphics window and LOCATOR is filled into the
prompt on the popup window, this means that you have picked a point in space.
When you pick a point in space (not on an object) Robcad projects your pick point
onto the XY plane of the working frame (the plane windowed by the red axis and
green axis of the working frame).
EXERCISE 1: Creating Frames

Objective: The following steps will enable you to create frames in
Robcad.
1 Load the cell frame_forms.ce from the placement project.
Y Select frame_ forms.ce.
Y Click [OK]
Y If a Warning message appears, select NO.
2 Display all the entities in the workcell.
Y Click Display from the Top Menu window.
3 Create a new frame.
Y In the Layout window, click Create frame.
Y Click on Reset on Create frame window.
Y 0 offset in the X direction.
Y 1500 offset in the Y direction.
Y 2000 offset in the Z direction.
Y 90 offset in the Ry (rotate around the Y 90 degrees).
Y Click Accept. A frame is created at the specified
coordinates. See the Message window for the name of
frame.
4 Creating another frame.
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Y
Y
Y
Y
Y
Y
Y
Y
Y
Click Layout from the Top Menu window.

In the Layout window, click Create frame.
Click on Reset on create frame window.
For Locate at: pick the frame created above.
1500 offset in X direction.
1500 offset in Y direction.
1500 offset in Z direction.
45 offset in the Rx
Click Accept.
NOTE
These offsets are in reference to the frame just picked.
5 Experiment with the Create frame window by creating frames

located at various other frames and specifying offsets. Try
entering in the parameters to the window, and then calculating
where you think the frame will be created.
EXERCISE 2: Manipulating the

Working Frame
Objective: To move the working frame around the cell.
1 Put the Working frame on another frame in the cell.
Y In the Layout window, click Working frame -> Frame
Y Click on a frame in the cell.
Y Select Accept
NOTE
The working frame is superimposed on the selected frame.
2 Get a column into the workcell

Y Select the Column component in the Graphics Window
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CHAPTER 2
Y Verify that the Locate At prompt is empty. If it is not,

backspace out what is there.
Y Click [OK].
3 Return the working frame to its default position.
Y In the Layout window, click Working frame -> World.
NOTE
The working frame is placed in its original position on the invisible World frame
Using the Place Command

This is a relative positioning command. Place moves the selected
objects along a vector defined by two points. This command only
affects the position of the selected objects. Object orientation is
not affected.
1 Open the Placement Editor window.
2 Select the objects you want to operate on
Pick to type in Coordinates
Pick Points in workcell
Place definition:
If a single axis (X, Y, or Z) is selected, movement will be restricted

to only that axis. The distance will be limited to the length of the
vector along that axis.
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Placing Along a Singular Axis
The way that Robcad figures out how far to move your component
is by figuring the distance in X,Y,Z between the From and To
points.
) In the example above the
object is being moved using the
place command from the From point to the To point.
) If you select All axes, it will move to the To point (as above).
For example if you choose to move from point (1, 1) to point
(10, 5), then the object will be moved 9 in the X and 4 in the Y
direction.
) If you select X-axis only, it will move only the distance
specified in X (as below). For example if you choose to move
from point (1, 1) to point (10, 5), then the object will be moved
9 in the X and 0 in the Y direction.
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CHAPTER 2
Setting Pick Intent

Move the mouse pointer into the Graphics Window and press the
[F6] or [F11] keys and choose pick intent. (Recall that the [F6] key
opens a menu, while the [F11] key toggles the current setting).
) Snap: location picked will be snapped to the closest mid point
of edge, end point of edge or center of face.
) Self-Origin: location picked will be snapped to Self-origin of
entity selected.
) On Edge: location picked will be snapped to closest point along
closest edge.
) Where Picked: location picked will be interpreted from eye
position and mouse pointer position.
) The [F11] key toggles between the Pick intent options as
specified in your .robcad file. (See Appendix B for more
information on how to configure what is toggled with this
button).
NOTES:
By default, the [F11] key only toggles between Snap and Entity. In this class, we
have configured it to toggle between Snap, Entity, and Self Origin using the
.robcad file. Another place that you can go to set the pick intent is the [F6] ley Pick
intent menu.
EXERCISE 3: Using the Place

Command
Objective: To learn how to use the place command
1 Set the Pick Level and Pick Intent as follows:
Y Press the [F11] key and select Snap OR press the [F6] key
and select Pick Intent -> Snap.
Y Press the [F12] key and select Entity OR press the [F6] key
and select Pick Level -> Entity.
2 Display all the entities in the workcell
Y Click Display from the Top Menu window.
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In the Display window, click Display/All.

3 Get an instance of the column into the workcell, if none exists.
Y In the Layout window, click Get component.
Y Select column.
Y Click [OK].
4 Select the instance of the column in the workcell that was just
created. Remember that an instance is read only component
used in workcells.
Y Right click the column and select Placement.
5 Use the place command on the Placement Editor window to
move the column
Y In the Placement Editor window, click Place.
Y For Point from select the corner of the base plate of column
just loaded.
Y For Point to select fr1 (magenta/purple frame).
Y Click Accept.
Y Notice the corner of base plate of column is placed at the
origin of the frame selected and orientation of the
component is maintained.
6 Get an instance of component direct1
7 Place tip of green cone of direct1 at the self-origin of column.
Y Right click on the direct1 component and select Placement.
Y On the Placement Editor window, select Place.
Y Press the [F11] key and select Snap (or press the [F6] key
and select Pick Intent -> Snap)
Y Press [F12] key and select Entity (or press the [F6] key and
select Pick Level -> Entity)
Y For Point from, select the tip of the green cone (zoom in on
it first).
Y Press the [F11] key and select Self Origin (or press the [F6]
key and select Pick Intent -> Self origin)
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CHAPTER 2
Y Select [F12] key and select Component (or press the [F6]
key and select Pick Level -> Component)
Y For Point to, select anywhere on the column to select the
self-origin.
Y Click Accept.
8 Get another instance of component direct1 into the cell.
9 Place tip of green cone of direct1_1 at fr1 in the Z direction
only
10 Make the direct1_1 component the active object for placement
Y Right click on the direct1_1 component and select
Placement.
Y On the Placement Editor window, select Place.
Y Select Z to place only in the Z direction of the working
frame
Y Press the [F11] key and select Snap (or press the [F6] key
and select Pick Intent -> Snap)
Y Press the [F12] key and select Entity (or press the [F6] key
and select Pick Level -> Entity)
Y For Point from, select the tip of the green cone (zoom in on
it first).
Y For Point to, select the fr1 frame.
Y Click Accept.
11 Use the existing components and repeat steps 4 11 using fr2
in place of fr1.
Using the Put Command

This is an absolute positioning command. Put moves the Self-origin
(or selected frame) of an entity to a selected frame. The entity can
maintain its own orientation or take the orientation of the target.
Like in the Place command, the motion of the entity can be
restricted to only one axis direction.
) Select the From the Placement Editor window select Put
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Put definition:
Put moves an element such that its Self-origin is superimposed on the

frame selected. You may select a frame to use in place of the Selforigin. If more than one element is selected, each element's Selforigin will be superimposed. The window allows for setting additional
offsets and limiting the movement along an axis. If Source orientation
is selected, the element will be placed at the frame selected with its
original orientation.
EXERCISE 4: Using the Put Command

Objective: To learn how to Put with both source and target
orientation
1 Display all the entities in the workcell
Y Select Display from the Top Menu window.
2 Get an instance of component column.
3 Pick column as active object for placement
Y Right click on the column component and select
Placement.
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CHAPTER 2
4 Put the column from its self-origin to fr1 with target orientation.
Y Select Put from the Placement Editor window.
Y Move the input mouse pointer to the Locate At field. This
will keep the default From frame of self origin.
Y Select fr1 (magenta frame) for the Locate at field.
Y Leave All and Target orientation selected.
Y Click Accept.
Y The orientation of the column is changed to the orientation
of the object that was set in the Locate At field.
5 Get another instance of component column.
6 Pick the next column as the object you'd like to manipulate.
Y Right click on then new column component and select
Placement.
7 Put the column from its self-origin to fr1 with source
orientation.
Y Select Put from the Placement Editor window.
Y Move the input mouse pointer to the Locate At field. This
will keep the default From frame of self origin.
Y Select fr1 (magenta frame) for Locate at field
Y Leave All selected and select Source orientation
Y Select Accept. Note that the current orientation of column
is maintained.
8 Get another instance of component column.
9 Put this column at fr1 only in the Z-axis this time using either
source or target orientation.
10 Get additional instances of the column and repeat 3 14 using
fr2 in place of fr1.
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Workcell Layout
CHAPTER 2
Lesson 4: Assembly Tree Intro

Introduction
This set of commands allows hierarchical inspection of the
currently loaded workcell. It also allows viewing collisions,
grouping and querying of instances in the cell.
from the Toolbox
To open the tree window click Tree
Manager window. A window is opened displaying the componentlevel hierarchy of the currently loaded assembly.
Getting an Overview of the Cell

using Tree functions
The tree tool is very handy to get an overview of a complex cell
structure with many levels of related entities. Use the tree tool to
get an impression of how the cell is structured, which entities are in
the cell, etc.
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Querying
In the Tree window, select Tree -> Node information.
) Node information displays a window listing various items of
information about the selected nodes. The information includes
the instance name of the entity in the workcell, the name of the
prototype, the name of the library folder in which the prototype
component is located, and the coordinate location of the
instance in the workcell.
Fast Operations
To open a window that displays various tree node operations,
place the mouse pointer on the text of a node and hold down the
right mouse button. This will bring up the window and make this
the acted upon node. This menu contains nine commands that
duplicate commands that are located in various submenus of the
tree window.
) Node information: displays text window containing
information
) Delete: deletes the node
) Blank: blanks the node
) Display: displays the node
) Attach: allows you to attach this node to another
) Detach: allows you to detach this node
) Ungroup: extracts all group members and deletes the group
) Add to group: allows the node to be added to a group
) Extract from group: extracts the node from its current group
To open a window of global tree commands, place the mouse
pointer close to the right-hand border of the tree window and hold
down the right mouse button. This menu contains 4 commands:
) Undo: undoes the last command executed
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CHAPTER 2
) Update: forces a redraw of the updated tree window

) View all: makes all nodes visible
) Expand all: expands all of the compressed nodes
Fast Grouping of Nodes

Components can be grouped, ungrouped, added or extracted from
existing groups using the Edit pull-down menu in the Tree window.
Additionally, complete groups can be moved by selecting the
desired component in the tree window (Left mouse button), then
using the middle mouse button to drag the selected node and drop
it on the node of the group you wish to move it to.
Updating the Window

Changes made in the cell are not automatically updated in the Tree
window.
) In the Tree window, select Tree -> Update to force the tree to
be updated to show the changes in the cell.
) In the Tree window, set Tree -> Auto Update to off to cause the
tree to be updated when any change in the cell is performed.
Displaying Blanked Entities

In the Tree window, successively picking View -> Show blanked
causes the tree alternately to display and to hide nodes that
represent entities that are blanked in the Graphics window.
Hiding Sub-trees
To close the sub-tree under any node, pick the minus sign at the
left of a node.
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To restore the display of the sub-tree, again pick the plus sign now
displayed.
In the Tree window, use View -> Expand all to open all the subtrees.
Selecting Nodes
Any node can be selected by picking on the tree; previously
selected nodes are then deselected. To pick multiple nodes
simultaneously, press [Ctrl] and pick the additional nodes. Nodes
can also be selected from the Graphics window. For this, enable
the Auto-Update option from the Tree menu by selecting Tree ->
Auto update and make sure pick level is set to Component using
the [F12] key. If an entity is picked in the Graphics window and its
node is located in a closed sub-tree, the tree display will not
change.
Showing Colliding Nodes

Set Collisions in the Toolbox window to ANear
In the Tree window, View -> Show collision. To color red all
nodes that represent entities colliding with other entities, and color
yellow all entities in a near miss condition. Collision checking is
based upon the setting of the Toolbox window collision mode.
NOTE
The red nodes indicate the parts that are involved in a collision. The yellow nodes
indicate parts that are in a near miss condition.
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CHAPTER 2
EXERCSE: Using the Tree Window

Objective: To use the Tree window.
1 Open the Tree window.
Y From the Toolbox Manager window, click Tree
Y The Tree window is shown.
2 Confirm Auto Update Option is selected

Y In the Tree window, set Tree -> Auto update to on
3 Blank something
Y Select a node in the tree.
Y Then select Edit -> Blank.
Y Notice that the node will disappear when the entity is
blanked on the screen and Auto update is on
Y Select View -> Show blanked
NOTE
The blanked components are shown in the tree hierarchy, but notice the difference
in the name of a blanked object and a displayed object. (The text is dimmed for the
blanked objects)
4 Select nodes in the tree window and see the corresponding

parts in the Graphics window become highlighted.
5 Select parts in the Graphics window and see the corresponding
nodes become selected in the tree window
6 Use the View menu
Y In the Tree window, select View - > Show relation
Y In the Tree window, select View -> Show prototype
NOTE
This function adds a column into the tree containing the name of the prototype for
each part. The @ symbol represents the library root
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Lesson 5: Attaching and

Mounting
Attaching One Way and Two Way
in Robcad
This chart assumes object A is attached to object B:
Move A
Move B
One-Way Attached
Only A moves
A and B moves
Two-Way Attached
A and B moves
A and B moves
One-way attaching is a special principle of Robcad that offers the

user additional flexibility.
What is the Mount Command?

The Mount command is a shortcut for doing two commands. If the
mount command did not exist, you would have to put the gun onto
the TOOLFRAME of the robot. Then you would have to one-way
attach the gun to the TOOLFRAME.
Mount = (Put on TOOLFRAME) + (One-way attach)
EXERCISE 1: Using the Attach

Command
Objective: To see the difference between one-way and two-way
attachments in Robcad.
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CHAPTER 2
NOTES:
Objects can be attached and Detached using the Assembly Tree window. To use
this method, right click on the desired object in the Assembly Tree window and
select either Attach or Detach.
1 Load the cell chair_man from the projects/layout2 project

Y Select chair_man.ce.
Y Click [OK].
2 Open the Tree window, if it is not already.
Y From the Toolbox Manger, click Tree
NOTES:
The exercise assumes that the previous exercise was performed in which Auto
update, Show Relation, and Show Blank modes where turned on in the Tree
window.
3 One-way attach the man with the One Way Attached sign
above his head to the chair under him.
Y In the Tree window, right click the big_chair and select
Attach.
Y Select One way.
Y Select m50.
Y Click [OK].
4 Two-way attach the man with the Two Way Attached sign
above his head to the chair under him.
Y In the Tree window, right click the big_chair1 and select
Attach.
Y Select Two way.
Y Select m50_1.
Y Click [OK].
5 Move the One-Way Attached man using the Placement Editor
windows Transfer panel. Only he moves.
6 Move his chair using the Placement Editor windows Transfer
panel. Both the man and his chair move.
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7 Move the Two-Way Attached man. Both the man and his chair
move.
8 Move his chair. Both the man and his chair move.
EXERCISE 2: Using the Mount

Command
Objective: To see how to use the mount command
1 Create a new cell called mount_test in the layout2 project
Y Enter mount_test in the Selection field.
2 Get the robot and the gun into the cell. Place the gun off to the
side so that it will be easier to pick.
Y Select gmfs420
Y Pick somewhere on the floor
Y Select gun1
3 Select the robot as the Active mechanism
Y
Y
Y
Y
Y
In the Toolbox Manager window, click Motion

In the Motion window, click Active Mechanism.
Click on gmfs420 in the list.
Click Select.
Press the [Enter] key.
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CHAPTER 2
4 Mount the Gun to the robot

Y In the Motion window, select the Settings
Y Click Mount.
Y For Tool name, pick the gun.
tab.
Y Click Accept.
5 Rotate the gun about its Lz so that the tips are up
Y Right click on the gun and select Placement.
Y In the Placement Editor window, click Rotate.
Y Click Lz.
Y Enter 90.
Y Click Accept.
6 Move the robot and notice how the gun is attached to the
robot.
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Chapter Summary
) How to construct and load cells from projects.
) How to get components and place them using the Placement
Editor window.
) How to use the Assembly Tree window
) How to mount and attach components
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Modeling and Kinematics

CHAPTER 3
Chapter 3
Modeling and
Kinematics
About This Chapter
This chapter provides a description how to model solids, change
entity precision, and create kinematic definitions in Robcad. It
contains the following lessons:
) Lesson 1: Modeling Basics, page 3-2, describes how to do some
basic modeling in Robcad.
) Lesson 2: Introduction to Representation Precision, page 3-10,
describes how to change the entity representation precision.
) Lesson 3: Fundamentals of Kinematics, page 3-18, describes
how to add kinematics to a simple component and move it
around.
) Lesson 4: More on Kinematics, page 3-27, describes how to
add kinematics to a very basic robot.
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Lesson 1: Modeling Basics

Introduction
The Robcad modeling menu allows you to create geometry that
can be used in Robcad. You can also import data from other
supported CAD systems such as CATIA, NX, ProEngineer, and
AutoCAD.
This chapter will cover the concepts of Robcad modeling menu. In
addition to creating geometry, the Robcad modeling menu provides
tools to create kinematics (joint motion) to the geometry so that
Robots, CMMs, heads, guns, moveable fixtures, and so on can have
realistic motion.
Modeling Methodology
1 Open a component prototype in cell or independently
2 Design prototype geometry
3 Edit geometry
4 Define kinematics
5 Store prototype
6 Close the component prototype
Let's return to our city of Robcad, Michigan to explain our
modeling methodology:
Ways of Creating & Placing

Objects in Modeling
Method 1:
Create it at the working frame then move with Placement Editor

window.
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CHAPTER 3
Method 2:
Move the Working Frame then create it
Method 3:
Use the optional Frame prompt in most entity creation pop-ups to

locate it when you create it. (This works best when not picking the
tops of cylinders for the optional frame).
Using the Working Frame to Build

The working frame is a special frame in Robcad. It can be placed
anywhere on the screen. Many of the menus in Robcad place
objects on the working frame (wherever it is in the cell) by default.
This can be a very powerful tool.
->
) The Frame/Working Frame option is used to place the working
frame where ever you want it
) The World option will place the working frame back on the
world origin (the default location for the working frame)
Object Hierarchy in Robcad

) Project - A folder that contains cells. Components can also be
placed in a project.
) Cell - The highest level of the Robcad world is a cell. It consists
of component instances, frames, locations, and paths.
NOTES:
We will discuss locations and paths in the next chapter.
) Component - An object made up of entities.
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) Entities - The lowest element in the Robcad world. Examples

found in a component are solids, surfaces, points, lines, and
frames. In a workcell, locations and paths are also considered
entities.
NOTES:
Components found in a workcell are component instances. Components found in a

project, library, or that are being modeled are component prototypes.
Modeling Definitions
) Primitives - Robcad works with 8 basic solid primitives: Cube,
Box, Cylinder, Sphere, Wedge, Torus, Ring and Cone. Out of
these primitives, a designer can create many required shapes.
) Solid creation - Robcad supports several operations to convert
surface data into solids: Sweep, Sweep Curve, Thickness
(extrude), and Revolution.
) Boolean Operations - These are key operations for the solid
modeler. Robcad supports the following operations:
Y Intersect - Creates a solid out of the common volume of
two solids.
Y Subtract - Creates a solid by using the volume of one solid
to remove volume from another solid.
Y Unite - Creates a solid out of all the volume occupied by
two or more solids.
The Modeling Process
Begin Modeling
1 Change to the Modeling menu.

Y Select Robcad-> Modeling
2 On the Top Menu window, click Files. On the Files window,
click Open.
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CHAPTER 3
Editing an Existing Prototype:
1 Click on a prototype in the prototype list

2 Click Select.
NOTES:
Select Files -> Display/Cell display -> Dim to Dim all entities not part of prototype
being modeled.
Modeling a New Component:
1 Type in a name for the prototype where it says Component.
2 Click Accept.
PRINCIPLE:
You always model a prototype. A component in a cell is a copy of a prototype with a

pointer to the prototype.
Storing the Prototype

click Save.
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2 Click Confirm.
PRINCIPLE:
When a prototype is saved, the Self-origin is placed at the World frame. The
location of each entity in the prototype is relative to the Self-origin. When the
instance is created in a workcell, the Self-origin will be placed at the Working frame
unless a different position is specified.
NOTE:
When an existing prototype is saved, all instances in all cells using it will be
updated. To update all instances in current cell before saving. Select Files ->
Update cell.
End Modeling

click Close.
NOTE:
When you are done modeling a prototype, you must Close (end modeling). Failure
to do so will result in entities being added to the prototype instead of the cell.
Indications that Close has not been selected:
Y On the Top Menu window, click Robcad -> Workcell. On

the Files window, click Layout.
Y Try to click Load, Save and Save as. They are disabled.
Y Modeling Prototype is written on the Top Menu window.
Storing the Prototype with

another name
1 On the Top Menu window, click Robcad -> Modeling. On the
Top Menu window, click Files. On the Files window, click
Save as.
2 Type name in the form, then press [Enter]. Click Confirm.
EXERCISE: Modeling a Table

Objective: To learn the basic functions in modeling.
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CHAPTER 3
NOTE:
The examples are in the projects/model_kinematics project. If you would like to

look at them, click Load Cell on the Layout window or Files window to browse into
this folder and load a dummy workcell.
1 Change your top menu bar to Modeling

Y On the Top Menu window, click Robcad -> Modeling.
NOTE:
If Open is grayed out, select Close then Discard.
2 Start modeling your own table.

Y On the Top Menu window, click Files.
Y On the Files window, click Load cell.
Y Open a new workcell in the
./WKP100U/projects/model_kinematics folder.
Y Click [OK].
Y On the Files window, click Open.
Y For Component enter: mytable
Y Click Select.
Y Click Independent.
Y Click Accept.
Y Click Confirm.
NOTE:
Above your top menu bar, should be the words MODELING PROTTYPE: mytable.
If not, ask your instructor for assistance.
3 Create a cube
Y From the Toolbox Manager window, click 3D Sketcher
.
Y From the 3D Sketcher window, select cube
Y For Edge length enter: 1000.
Y Click Accept.
4 Create two boxes to cut out the table legs
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Y
Y
Y
Y
Y
From the 3D Sketcher window, select Box

For Box1 enter: 800 x 2000 x 800.
Click Accept.
For Box 2 enter: 2000 x 800 x 800.
Click Accept.
5 Subtract the two smaller boxes from the big box
Y
Y
Y
Y
Y
From the 3D Sketcher window, select Subtract

.
Pick the two long boxes.
In the Subtract window, pick the From Solid prompt.
Pick the cube.
In the Subtract window, click Accept.
NOTE:
A table is modeled. The Self-origin of the last solid picked becomes the Self-origin
of the result.
6 Modify color of your table

Y Right click on your table and select Modify Color
Y Pick a color.
7 Save the table and close modeling.
Y On the Files window, click Save.
Y On the Files window, click Close.
8 Extra credit modeling:
Y Model and place a donut or bagel onto your table:
Y Model a wedge of cheese and place on your table:
Y Model and place a drinking glass for your table:
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CHAPTER 3
Y Make the glass translucent: On the Top Menu window,

click Display. On the Display window Visibility / Low
Y Model a coffee mug: 1
Y Model two chairs for your table: 1
Y Put a sun umbrella over your table on a pole: 1
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Lesson 2: Introduction to
Entity Precision &
Representation
Solid Entity Representation in
Robcad
There are two types of solids that can be created within Robcad:
polyhedral solids and exact solids.
Polyhedral solids
) Can have up to 40 facets

) The math model is the same as the display model.
) The display accuracy is determined when they're created
) Default number of facets is 12
Exact solids
) Do not have facets

) The display model can be either the same as the math model,
or a simplified version to speed up simulation
) The display accuracy can be changed at any time.
) Default display precision is a 3 on a scale from 0 to 9
Surface and Wireframe Entity

Representation in Robcad
Surfaces and Wireframe representation:
) Do not have facets
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CHAPTER 3
) The display model can be either the same as the math model,
or a simplified version to speed up simulation
) The display accuracy can be changed at any time.
) Default display precision is a 3 on a scale from 0 to 9
Changing Display Precision
Change the display precision
1 On the Top Menu window, click Display.

2 On the Display window Precision & direction -> Modify
display precision
3 Select entities to change
4 Enter a value 0 to 9
5 Click Accept
A good display precision is 6. Display precisions of 9 should be
avoided, since it will greatly slow visualization performance
A good number of facets for polyhedral solids is 20. Creating solids
with 40 facets should be avoided, since it will greatly slow
visualization performance and negatively affect translation from
Robcad.
EXERCISE 1: Basic Surface Creation

Objective: To learn some of the curve and surface creation
commands
1 Open a new prototype called mysurface
Y In the Top Menu window select Robcad-> Modeling.
Y On the Files window, click Open.
2 Create a curve by points that does not cross the x-axis of the
working frame.
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Y From the Toolbox Manager window, click 2D Sketcher

.
Y From the 2D Sketcher window, click Curve by Points
Y Pick several points on the floor defining a curve.
Y Click Accept to create the curve.
3 Create a surface of revolution

Y From the Toolbox Manager window, click Surface
Y
Y
Y
Y
Y
Y
From the Surface window, click Revolution

For Curves pick the curve created
For Axis pick the x-axis of the working frame
For Start angle enter: 0
For End angle enter: 270
Click Accept
4 Turn the floor off

Y Right click on nothing in the Graphics Window and select
key and select Toggle Floor
5 Change the display precision
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CHAPTER 3
Y On the Top Menu window, click Display.

Y On the Display window, click Precision & direction ->
Modify Display precision.
Y Click Select All.
Y For Value 0 to 9 enter: 9
Y Click Accept.
6 Turn on a double light source so that the inside of the surface is

shaded too.
Y Press the [F6] key and select Face Lighting -> Double.
Y Rotate it around and look at the inside and outside of the
object.
7 Turn on a single light source so that the inside of the surface is
not shaded.
Y Press the [F6] key and select Face Lighting -> Single.
Y Rotate it around and look at the inside and outside of the
object.
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EXERCISE 2: Manipulating Entity

Display Precision
Objective: To be introduced the concepts of entity representation
and display approximation
1
This exercise will use the part from the previous exercise.
Close and Save the component, if you have not already done
so.
Y On the Top Menu window, click File.
Y On the File window, click Save.
Y On the File window, click Close.
2 Let's go to the workcell menu for this exercise.

Y On the Top Menu window, click Robcad -> Workcell
3 Toggle from shaded display to wireframe display.
4 Notice how many lines are needed to represent the surface that
we have created at the current display precision (currently set
to 9, the highest).
5 Now set the display precision to 3.
Y On the Top Menu window, click Display.
Y On the Display window Precision & direction -> Modify
Display precision.
Y Click Select All.
Y Click Accept.
6 Look at how many lines make up your surface with your part at
a display precision of 3.
7 Now set the display precision to 6.
NOTES:
A good display precision is 6. Display precisions of 9 should be avoided, since it

will greatly slow visualization performance without giving high benefit to the
representation of the surface.
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CHAPTER 3
What is Level of Detail

Level of details (LOD) has been known to give a 100% to 200%
speed improvement in visualization and simulation performance
since 3.5.1. All new components created, translated into, or CAD
integrated into Robcad 3.8 (or above) will have level of details
information (except for kinematic components).
PRINCIPLE:
At the heart of this technology is the fact that an object that is far from the viewer's
eye, does not have to be displayed in the same level of detail as an object that is
close to the viewer.
In order for Robcad to use level-of-details (LOD), preprocessing is

required to add the LOD information for a component.
Preprocessing can occur in one of four ways:
) After CAD-linking, the generated components automatically
include the LOD information.
) After CAD translating, the generated components also include
automatically the LOD information.
) After modeling a component in Robcad, the LOD information is
built for the prototype component when it is stored.
) For components from previous versions of Robcad (before 3.8),
it is recommended to issue the genlod command to add LOD
information to them.
Improving Visualization
Performance
These abilities can be accessed by pressing the [F6] while the
mouse pointer is in the Graphics Window.
) Level of details - Is an LOD tool to lower the highest level of
detail slightly to improve the speed of simulations. It is turned
off by default. To turn it on, press the [F6] key and select Level
of Details.
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Y LOD Level Move the slider to the desired level between

accurate and fast.
) Wire Viewing - Allows users to instantly jump to wire frame

while rotating, panning, and zooming, to improve performance.
It is turned on by default. To turn it off press the [F6] key and
select Wire viewing. (Can decrease performance in some
cases).
) Simplified Viewing - Allows users to instantly jump to a lower
level of detail while rotating, panning, and zooming, to
improve performance. It is turned on by default. To turn it off
press the [F6] key and select Simplified Viewing. (Can decrease
performance in some cases).
EXERCISE 3: Using Level of Details

Objective: To be introduced the concept of level of details
1 Let's go to the workcell menu for this exercise.
Y From the Top Menu window, click Robcad-> Workcell
2 Load the first_cell.ce from the ./WKP100U/projects/intro
project.
Y From the Top Menu window, click Layout.
Y From the Layout window, click Load cell
3 Center it in the workcell
Y Press the [F6] key and select Full view.
4 Zoom out with the middle mouse button
5 Zoom in with the middle mouse button.
NOTES:
The display of the surface_part keeps changing. This is because simplified

viewing is turned on
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CHAPTER 3
6 Turn it off and turn rotating some more.

Y Press the [F6] key and select Simplified viewing to turn it
off.
Y Zoom in and out some more to see the difference.

7 Set the highest displayed level of details to a couple levels
lower.
Y Press the [F6] key and select Level of Details.
Y Move the slider to 2.
Y Zoom in and out some more to see the difference.

NOTES:
Read the previous page for more information on LOD
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Lesson 3: Fundamentals of
Kinematics
Definitions
) Kinematic chain - collection of links and joints
) Link - minimum non moving segment of a kinematic chain.
Default names begin with the letter K (i.e. K1, K2, K3)
) Joint - minimum moving part of chain. A joint consists of 2
links and an axis. Default names begin with the letter J (i.e. J1,
J2, J3). There are 2 types of joints.
Y Revolute joint - rotates around axis
Y Prismatic joint - linear movement along axis
NOTES:
You must be in Modeling mode to define kinematics.

A kinematic tree has an order established by the relationship of the joints and links.
The parent link precedes a child link in the sequence order. When the parent link
moves the child link will follow. The parent takes the child with it.
In a typical kinematic tree, the number of links is equal to 1 more than the number
of joints. For example: if there are 6 joints, there will be 7 links.
Methodology to Define a
Kinematic Device
1 Envision the kinematic chain and create a kinematic tree on
paper
Y What are the links, what type of joints, and so on)
NOTES:
Whenever modeling kinematics, first draw a kinematic tree. Each box represents a
link. A joint is represented by drawing an arrow from the parent link to the child link.
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CHAPTER 3
NOTES:
The first link is always the fixed link. The geometry of second link cannot contain
any of the geometry of the any other link.
2 Create the links

Y Verify that desired entities have been selected as part of the
desired link
3 Create the axis for each joint
Y An axis is defined by its two end points. The positive
direction is from the first point to the second. (right hand
rule)
4 Define each joint (parent link, child link, axis and joint type)
Y Joints are defined between one object/assembly to a
second object/assembly. The father is the stationary object.
Axis (right hand rule)
Child link
Parent link
5 Define the device.
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6 Store component prototype

7 Test joints on mechanism using joint jog
8 Define a range for each joint
9 Define the device
10 Test joints in the device again
11 Store component prototype
Methodology for Defining Device

States
1 Open a gun prototype
2 Make the gun the active mechanism
3 Edit the gun states to define the OPEN, SEMIOPEN, CLOSE
states
4 Jog the joint(s) of the gun.
5 Enter the joint value(s) for the OPEN state.
6 Define the CLOSE and SEMIOPEN states for the gun using the
same technique.
7 Save the gun.
EXERCISE 1: Add Joints to a Simple

Component
Objective: To add joints to the door
The completed example is called room_door_demo.co that your
instructor showed you. You will open the component called
room_door.co and add the joints to it.
1 Verify that you are in the
./WKP100U/projects/model_kinematics project. If you are
not, then change your project.
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CHAPTER 3
Y Open a new workcell in the projects/model_kinematics

folder.
2 Verify the menu you are on should be MENU: Modeling. This
is printed above the top Menu bar. If it is not then, change it to
modeling.
Y On the Top Menu window, select Robcad -> Modeling.
3 We must open the room_door to add the joints to it.
Y On the Top Menu window, select Files.
Y On the Files window, select Open.
Y For Component select room_door.
Y Click Select.
Y Click Independent.
Y Click Accept.
Y Click Confirm.
4 Envision the kinematic chain on paper (Dont click in the
software yet). There are only two joints in this case. One for
the door at the hinges and another for the handle.
Y First Joint: The doorframe is fixed and does not move when
the door opens. So, this link will be the parent to the door
hinge joint. The door will be the child link to the door
hinge joint.
Y Second Joint: The next joint goes through the center of the
door handle. Relative to the door handle joint, the door is
the parent link and the handle is the child link.
NOTES:
The links and axis have already been created for you. All you have to do is define
the joints and the mechanism.
Kinematic Tree
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5 Open the Kinematics Editor.

Y On the Top Menu window, select Kinematics.
Y On the Kinematics window, select Kinematic editor.
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CHAPTER 3
Y In the Kinematics Editor window, click door1 from the Links

of room door list.
Y The entities of this link are displayed in the Link entities list.
Y Click Highlight Links.
Y The entities of this link are highlighted in yellow in the
Graphics Viewer.
Y Click Highlight Links.
Y Repeat this process for frame1.
6 Define the first joint:
Y On the Kinematics Editor window, click Create. (The one
on the lower half of the window).
Y For Parent Link select frame1 in the Graphics Viewer.
Y For Child link select the door1 in the Graphics Viewer.
Y For Axis select the line though the hinges
Y For Joint Type click Revolute.
Y Click Accept.
7 Define the second joint:
Y For Parent Link select the door1 in the Graphics Viewer.
Y For Child Link select handle1 in the Graphics Viewer.
Y For Axis select the line though the handle
Y For Joint Type click Revolute.
Y Click Accept.
8 Define mechanism:
Y On the Kinematics Editor window, click Define.
Y Click Close.
NOTES:
A message should be printed below the Graphics Window that says Device has
been defined
PRINCIPLE:
You must define the mechanism every time you modify the kinematics.
Current joint values are saved for home position when define is selected.
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NOTES:
Kinematics -> Query/Mechanism displays kinematic details of the mechanism in the

Status Window.
9 Save mechanism.
Y On the Files window, select Save.
10 Test the joint in mechanism
Y
Y
Y
Y
.
From the Toolbox Manager window, click Device Jog
For Active mechanism pick CURRENT_MECHANISM.
For Joint select J1.
Move the mouse into the Graphics Window; hold down the
middle mouse button; move the mouse left and right to see
the selected joint move.
Y For Joint select J2.
NOTES:
If you need to edit your joints click Kinematic editor, select the desired joint, and
click Edit.
Y Move the mouse into the Graphics Window; hold down the
middle mouse button; move the mouse left and right to see
the selected joint move.
IMPORTANT:
Select Reset Mechanism on panel before saving the component or defining it

again.
EXERCISE 2: Defining OPEN and

CLOSED States
Objective: Create OPEN and CLOSE states for the door
The kinematics must already be defined from the last exercise.
Verify that the project is set to
./WKP100U/projects/model_kinematics.
1 Open the room_door prototype, if it is not already open
Y On the Top Menu window, select Robcad -> Modeling.
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CHAPTER 3

Y On the Files window, select Open.
Y Select room_door.
2 Jog the door to an OPEN state.
Y For active mechanism select CURRENT_MECHANISM.
Y For Joint select J1.
Y Jog the door open.
3 Edit the states to create an OPEN state
Y On the Top Menu window, select States
Y On the States window, select States / Edit
Y On the States window, select Define state / State
Y Type OPEN at the prompt
NOTES:
The current joint value is shown
Y Press Accept at the bottom of the states menu.

4 Now, define another state called CLOSED.
Y On the States window, select Define state / State
Y Type CLOSED at the prompt
5 This state will have a joint value of 0.
Y Click in the J1 box and enter 0
6 Move the door to the OPEN and CLOSED states
Y From the Toolbox Manager window, click Device Jog
.
Y On the Device Jog window, click Move.
Y Select OPEN.
Y Select CLOSE.
7 Reset the mechanism
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Y On the Device Jog window, click Reset mechanism

8 Save and close
Y On the Top menu window, click Files
Y On the Files window, click Save
Y On the Files window, click Close
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CHAPTER 3
Lesson 4: More on Kinematics

Introduction
This lesson will slightly expand our knowledge of kinematics to
include a basic robot. Much more can be learned about
kinematics by attending the WKP209U Robcad Modeling &
Kinematics course.
EXERCISE 1: Adding Kinematics to

a Robot Model
Objective: To add kinematics to the robot created in an earlier
exercise in order to learn the kinematic tools provided in Robcad.
The example is in the ./WKP100U/projects/model_kinematics
project.
1 Go to the Modeling Menu
Y On the Top Menu window, click Robcad -> Modeling
2 Open the my_robot for modeling from the model_kinematics
project
Y On the Top Menu window, click File
Y On the Files window, click Open
Y Select my_robot.
NOTES:
Steps to create this simple robot are in Appendix C. We will not cover these steps
in class.
Y
Y
Y
Y
Click Select.
Click Independent.
Click Accept.
Click Confirm.
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3 Envision the kinematic chain

Y What are the links, axes, and joints?
Y How will the kinematics be structured?
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CHAPTER 3
Y Hint: There will be 7 links, 5 axes (already created), and 6

joints.
4 Open the Kinematics Editor.
Y On the Top Menu window, select Kinematics.
Y On the Kinematics window, select Kinematic editor.
5 Create the first link:

on the upper half of the window).
Y Select the bottom three solids, the blue ones, for the first
link. Notice that these three solids are all the same color to
help you.
Y Click Accept.
NOTE
The default name k1 is assigned to this link.
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6 Create the second link:

on the upper half of the window).
Y Select the next three solids, the orange ones, from the
bottom. Notice that these three solids are all the same color
to help you.
Y Click Accept.
NOTE
The default name k2 is assigned to this link.
7 Continue this process to create all 7 links.
8 Look at the joint axis lines that have already been created.
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CHAPTER 3
NOTE
In this exercise the axis lines are already created. However, if you had to create
them yourself you could use any Robcad line creation technique including:
On the Kinematics Editor window, click Create Axis.
Click on the first point arrow of the axis form
Type zero for X and press the [Enter] key
Type zero for Y and press the [Enter] key
Type zero for Z and press the [Enter] key

Click Accept.
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9 Define the first joint:

Y For Parent link, select the first link geometry we created (the
link containing the bottom three blue solids).
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CHAPTER 3
Y For Child link, select the second link geometry we created

(the link containing the three orange solids).
Y For Axis, select the axis line under the blue link. You will
have to go to wire frame mode [F10] to pick it because it is
inside the other solids.
Y Click Revolute.
Y Click Accept.
10 Define the second joint:
Y For Parent link, select the orange link geometry.
Y For Child link, select the brown link geometry.
Y For Axis, select the axis line on the brown cylinder.
Y Click Revolute.
Y Click Accept.
11 Define the other 4 joints in the same way:
Y For joint 3, select brown (parent), cyan (child), and the line
on the cyan cylinder (axis).
Y For joint 4, select cyan (parent), magenta (child), and the
line on the magenta cylinder (axis).
Y For joint 5, select magenta (parent), gray (child), and the
line desired (ax5).
Y For joint 6, select gray (parent), yellow (child), and the line
on the magenta cylinder (axis).
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12 Define mechanism:
Y Click Close.
Y A comment appears in the Message Window.
NOTE
You must define the mechanism every time you modify the kinematics.
NOTE
Current joint values are saved as home position when define is selected.
NOTE
Kinematics -> Query/Mechanism displays kinematic details of the mechanism in

the Status Window.
13 Save mechanism
14 Test the 6 joints in mechanism.
Y
Y
Y
Y
Y
.
From the Toolbox Manager window, click Device Jog
Click on Active Mechanism on the device jog panel.
Click on robot to make it the active mechanism.
Select a joint (J1, J2, etc.)
Select Jog and test the joint utilizing the middle mouse
button in the Graphics Window.
Y Determine and record the desired range of each joint from
the Status Window.
Y Click on Move -> Home pose before leaving this window.
NOTE
The current value of the joint being jogged is displayed in the Status Window.
Values are relative to home pose.
NOTE
The range is specified based upon all joint values being 0 at the home pose. Home
pose is defined by the position of the links when you click Robots/Define from the
Kinematics window or Define from the Kinematics Editor window.
IMPORTANT
Select Reset Mechanism on panel before leaving panel.
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CHAPTER 3
EXERCISE 2: Adding Ranges to the

Joints of the Robot Model
Objective: To add ranges to the joints.
1 Define range of each joint: (See below for values)
Y On the Top Menu window, click Kinematics.
Y On the Kinematics window, click Kinematics editor.
Y On the Kinematics Editor window, select j1.
Y Click Edit.
Y
Y
Y
Y
Y
Y
On the Joint Editor window, click Range.

Select Constant on the Joint Range window.
Enter -180.
Press [Enter]
Enter 180.
Click Accept.
Y Click Apply and Close.
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2 Repeat for all 6 joints.

Joint
Low Limit
High Limit
J1
-180
180
J2
-70
70
J3
-25
25
J4
-190
90
J5
-110
110
J6
-340
240
NOTE
Reference joint range values for the purposes of this exercise only:
3 Define mechanism
Y Click Close.
PRINCIPLE
Optionally, the Robots / Define button on the Kinematics window could also be
used.
4 Test joints in the mechanism using Device Jog
NOTE
Select the HOME pose on panel each time before leaving panel.
5 Save mechanism
EXERCISE 3: Making a Mechanism

into a Robot
Objective: To create a simple Robcad robot.
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CHAPTER 3
The example is in the ./WKP100U/projects/model_kinematics

project
PRINCIPLE
If a component has kinematics, then it is a mechanism. If it also has a tool frame,

then it is a robot.
Make a mechanism into a Robcad robot

Y To make the newly created mechanism a robot, add a tool
frame to the end of its kinematic chain.
Y On the Top Menu window, click Kinematics.
Y On the Kinematics window, click Robots/Toolframe.
Y Pick Locate at prompt.

Y Pick location for the TOOLFRAME: snap to the k7 (yellow
link) center
Y Pick Attach to link prompt.
Y Pick k7 (yellow link)
Y Click Accept.
2 Define mechanism
Y On the Kinematics window, click Robots/Define.
Y Click Confirm to override existing kinematics.
3 Try setting and moving the robot to various locations using
Joint jog. Return to the home pose when done.
4 Save mechanism
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5
End modeling.
Y On the Files window, click Close.
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CHAPTER 3
Chapter Summary
) Described how to do some basic modeling in Robcad
) Described how to change the entity representation precision
) Described how to add kinematics to a simple component and
move it around
) Described how to add kinematics to a very simple robot
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CHAPTER 4
Chapter 4
Processing
About This Chapter

In this chapter, we will use the knowledge gained in the first three
chapters to setup our own paths and work with the Robcad library
structure. It contains the following lessons:
) Lesson 1: Inverse Kinematics: Core technology of Robcad,
page 4-2, describes how to use inverse kinematics to make the
robot in Robcad move.
) Lesson 2: Working with Paths, page 4-12, describes how to
work with robotic paths in Robcad and rename instances.
) Lesson 3: Setting Up and Populating Libraries, page 4-24,
describes how to use the library utilities.
) Lesson 4: First Steps in a New Project, page 4-31, describes
how to start a new project in Robcad.
) Lesson 5: Collision Detection, page 4-43, describes how to
setup and use collision detection.
) Lesson 6: Other Project Related Tasks, page 4-52, describes
how to use the view manager, note flags, and cell previews.
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Lesson 1: Inverse Kinematics:

Core technology of Robcad
Definitions
) Mechanism/Device - A component with kinematics
) Robcad Robot - Creating a TOOLFRAME at the end of a
kinematic chain and compiling (defining) mechanism will
transform a simple kinematic device into a Robcad robot (or
CMM).
Placement Editor Put Command
Put with source orientation:
Putting an object from the source frame to the target frame will:
) Move the object from the source frame to the target frame
) Orientation of the object is not affected (orientation of the
source frame is maintained)
Put with target orientation:
Putting an object from the source frame to the target frame will:
) Move the object from the source frame to the target frame.
) Orientation of the object is changed to the target frame
Direct Kinematics
) Easy for Robcad to do because Robcad already knows the joint
values
) Direct kinematics can be used for any kinematic device such as
guns, clamps, robots, etc . . .
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How direct kinematics work:
1 You give Robcad a state/pose. The state/pose contains the

exact values for each joint of the mechanism.
Current Position
Target Pose
J1=0
J1=10
J2=10
J2=120
Move to Pose J3=100
J3=0
J4=15
J4=45
J5=40
J5=32
J6=20
J6=46
2 Robcad moves the mechanism from the current position to the

destination pose
Inverse Kinematics
) Takes more effort from Robcad, because the destination pose
must be calculated on the fly. However, this gives more
flexibility to the user.
) Only available for robots (and CMM's).
How inverse kinematics work:
1 You give Robcad a location. The location contains the target

position and orientation of the TCPF of the robot.
Current
Position
Move to
Target
Location Location
Calculated
Pose
J1=0
X=10
J1=10
J2=10
Y=2547
J2=120
J3=0
Z=301
J3=100
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J4=15
Rx=35
J4=45
J5=40
Ry=145
J5=32
J6=20
Rz=76
J6=46
2 Internally, Robcad tries to put the TCPF of the robot onto the
location
3 Once Robcad puts the TCPF on the location, Robcad then looks
at the joint values required to reach this location
4 Robcad moves the mechanism from the current pose to the
calculated pose which places the TCPF of the robot on the
target location.
Level of Kinematic Inverse

The goal is to put, with target orientation, the TCPF of the robot
onto the target location (both the position and orientation of the
target location are used). This is referred to as a Full Inverse.
Sometimes it is not possible for the robot to perfectly place its TCPF
onto a location. However, it may be able to put with source
orientation onto the location (only the position of the target
location is used). This is referred to as a Partial Inverse. A partial
inverse can be used to get a full inverse using special tools in
Robcad.
In some cases, the robot may not be able to reach the location's
position or orientation. This is referred to as No Inverse. There are
some tools in Robcad to fix this situation also.
EXERCISE 1: Move a Component to

a Library
Objective: To move the robot we modeled to the robot library
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1 Open the move to library window.

Y From the Top Menu window, click Data.
Y From the Data window, click Library Utilities.

Y From the Library utilities window, click Component.
Y From the Library utilities window, click Move to Library.
2 Move the robot to library.

Y Verify that you are in the source project that contains the
robot that you modeled. If this is not right, then browse to
the correct folder.
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Y When you get into the right source project, pick the robot
myrobot once.
Y Pick the robots library once.
Y Click Move to move myrobot to the robots library.
EXERCISE 2: Get Component from

a Library
Objective: To get a component from a library.
1 Load a new cell.
Y From the Layout window, click Load cell
Y Enter new1.ce and click [OK].
2 Go to the Get component window.
Y From the Layout window, click Get component
Y Change to the robots library: Pick Libraries
Y Double click on robots.
Y Get your robot into the cell: Pick my_robot (or my_cmm
from the list of components)
Y Click [OK].
3 Also get the gmfs420.co robot into the cell. (Leave this robot
located at 0,0,0. You can move the other robot if you want.)
EXERCISE 3: Intro to the

Mechanism Status Window
Objective: To see inverse kinematics in action with your robot (or
CMM)
1 Open the Mechanism Status window.
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Y From the Toolbox Manager window, click Mechanism

Status
2 View the mechanism status for the robot.

Y From the Status window, click Mechanism Status.
Y From the Mechanisms window, select the robot (gmfs420).
Y Click [OK].
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3 Follow the same process to open a mechanism status window

for the other robot in the cell.
Motion Window
These tools can be accessed in several places in Robcad including
the Motion
window.
) Move commands
Y Target Used to select the locations for the active
mechanism (i.e. robot) to move to.
Y Play - A full Inverse command, it moves the robots TCPF to
a locations position and orientation.
Y Move XYZ A partial Inverse command, it moves the
robots TCPF to a locations position, but not orientation of
X, Y, and Z.
Y Move Align Z A partial Inverse command, it moves the
robots TCPF to a locations position, and aligns the Z axis
of the TCPF with the Z axis of the location (but ignores the
locations orientation of the X and Y axes).
Allows the movement of all the joints of the
) Robot Jog
active mechanism by repositioning the TCPF.
) Joint Jog
Allows the movement of one joint of the
active mechanism at once.
EXERCISE 4: Introduction to the

Motion Window
Objective: To see inverse kinematics in action with your robot (or
CMM)
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1 Bring up the Motion window.

Y From the Toolbox Manager window, pick Motion
once.
2 Make the robot the active mechanism. There are two ways to
do this:
Y Method 1: Right click the gmfs420.co robot and select
Active Mechanism.
Y Method 2: In the Motion window, pick Active Mechanism;
pick the robot, and press Accept.
3 Let's look at Robot Jog tab:
Y In the Motion window, pick the Robot jog
menu.
Y In the Motion window, click Tcpf to move relative the
TCPF.
Y In the Motion window, click X.
Y In the Graphics Window, depress the middle mouse button
and move the mouse left to right.
Y In the Motion window, click Y.
4 Let's look at Joint Jog tab:
tab.
Y In the Motion window, pick the Joint jog
Y In the Motion window, choose one joint of the robot from
the list.
Y Click Jog.
Y In the Motion window, select the next joint of the robot and
move it in the same way.
5 Jump to the HOME pose.
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Y On either the Joint Jog
or Robot Jog
the Motion window, click Home

to its home pose/state.
tabs of
to return the robot
6 Create a location to mark the current position of the TCPF

(which is currently sitting on the TOOLFRAME).
or Robot Jog
tabs to move
Y Use the Joint Jog
the robot around.
Y Click Mark loc at the bottom of the Motion window.
7 Repeat step 6 three or four times to create several locations in
the workcell.
8 Turn the Automatic mode to Move.
.
Y In the Motion window, click Move commands
Y In the Motion window, for Automatic mode, select Move.
9
Move to each location (Notice a full inverse is used). There

are two ways to do this:
Y Method 1: In the Graphics Window, double click on the
location (very fast double-click)
Y Method 2: In the Motion window, pick Target; select the
location from the Graphics Window; and click Accept.
10 Jump to the HOME pose.

Y On either the Joint Jog
or Robot Jog
the Motion window, click Home

to its home pose/state.
to return the robot
11 Turn Automatic mode to off on the motion toolbox
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CHAPTER 4

.
Y In the Motion window, for Automatic mode, select Off.
Y In order to make it move to the location desired with
Automatic Mode set to Off you need to click Play. (This will
try to move the location using a full inverse).
12 Save your work.
Y From the Layout window, click Store.
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Lesson 2: Working with Paths

Introduction
In this lesson, we will work with paths. Lets note the similarities
and differences between a real robot and a Robcad program.
) Robot program
Y Created by the teach pendant of the real robot
Y Consists of a sequence of poses (robot joint angles) with
associated instructions
) Robcad program (path)
Y Robcad uses inverse kinematics to determine the joint
values needed to reach a given target location
Y Consists of sequence of target locations (TCP position and
orientation) with associated attributes
Y Can use Robcad OLP to convert the Robcad program to a
real robot program
Robcad Path Editing Tools

) Robcad Basic tools:
Y Path Editor
) Robcad OLP tools (covered in WKP211U):
Y Location Attributes
Y Program Editor
Y Various teach pendants
) Robcad Spot (WKP202U), Robcad Paint (WKP203U), Robcad
Arc (WKP204U):
Y Other application specific tools are available in these
applications for editing paths
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NOTE
Properties of a location can also be viewed by clicking Properties from the right
click menu.
EXERCISE 1: Introduction to the

Path Editor
Objective: To create a path from the locations we created in the
previous exercise and move along it.
1 Continue using the same workcell.
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2 Use what you have learned to insert a second gmfs420.co robot

offset 3000 in the Y direction (a.k.a. at working frame absolute
coordinates 0, 3000, 0, assuming that the first robot is at
absolute coordinates 0, 0, 0). If you are not sure what to do,
follow these steps:
Y From the Layout window, click Get Component.
Y (The robot should already be selected).
Y In the Get Component window, click Position.
Y Click Offset.
Y In the Offset window, enter 3000 for Y.
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Y Click [OK].
Y Click [OK].
Y Click [OK].
3 Bring up the Path Editor.
Y From the Toolbox Manager window, click Path
Editor
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4 Create a path to determine the order of locations for simulation.

Y From the Path Editor window, click Create Path
.
Y Select the locations in the order that you want them in the
path.
Y Click [OK].
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5 Simulate the path in Automatic mode.

.
Y In the Motion window, for Automatic mode, select Move.
Y In the Graphic Window, double click the path (real fast).
6 Rename the path and its locations.
Y In the Path Editor window, pick the pa1 path.
.
Y In the Path Editor window, click Rename
Y In the Rename window, enter robot1_path1 for the New
path name field.
Y Click Path and locations.
Y For the Prefix, enter r1p1_.
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Y Click [OK].
7 Make a copy of the first robots path for the second robot.
Y Select the robot1_path1 path.
Y In the Path Editor window, click Copy
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Y In the Copy window, enter robot2_path1 for the New path

name.
Y For Find what, enter r1,
Y For Replace with, enter r2.
Y Click Offset.
Y In the Offset window, enter 3000 for Y.
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Y Click [OK].
Y Click [OK].
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EXERCISE 2: Continue using the

Path Editor
Objective: To do more with the Path Editor window.
1 Delete location from the workcell.
Y Select a location from the second path.
Y In the Path Editor window, click Delete
Y Click [OK].
Y Note: you can also delete a location by right clicking on it
in the Path Editor and selecting Delete.
2 Extract a location from the path.
Y Select a location from the first path (robot1_path1).
.
Y In the Path Editor window, click Extract
Y Look at the effect in the Graphics Window and the Path
Editor window.
3 Insert a location into a path.
Y
Y
Y
Y
Y
In the Path Editor window, click Insert

.
In the Add window, pick in the Destination path field.
Select the first path (robot1_path1).
Pick the After checkbox.
Pick in the Reference location field.
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Y Select the first location in this path.

Y Pick in the Locations to add field.
Y Select the extracted location.
Y Click [OK].
Y Close the Path Editor window by clicking the Path Editor
icon again.
4 Rename the second robot to robot2.
Y From the Layout window, click Rename.
Y In the Rename window, click Add.
Y In the Object drop down, select gmfs420_1
Y Pick in the New name field.
Y For the New name type robot2.
Y Click Add and Close.
Y Follow the same process to rename the other robot robot1.
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Y Click [OK].
Y Click Continue.
Y Click Yes.
5 Move along the path. There are two ways to do this:

Y Method 1: In the Motion window, turn the Automatic mode
to Move; and double-click on the path (the dotted line, do
not pick on a location in the path)
Y Method 2: In the Motion window, pick Target; pick the path
(dotted line); and click Accept. Then click Play
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Lesson 3: Setting Up and

Populating Libraries
Process to Manipulate Libraries
) From the Toolbox Manager window, click Data
) From the Data window, click Library Utilities
) From the Library Utilities window, click Library
Here are some library commands:

) Create - create a new library
) Rename - rename existing library
) Remove - remove library and contents
) Query - list prototypes being edited in selected library
) Copy - copy library and contents
Process to Manipulate
Components in Libraries
) From the Toolbox Manager window, click Data
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) From the Data window, click Library Utilities

) From the Library Utilities window, click Component
) Get for edit - puts a copy of selected prototype in current

project. No one else can get a copy for edit until this one is
returned.
) Cancel for edit - removes copy that was created for editing and
allows others to get for edit.
) Rename - allows renaming of prototype file. Will modify
connections of workcells that use this prototype.
) Return from edit - makes a backup of the existing prototype in
the library and then moves edited prototype back from current
project.
) Move to library - moves project prototype to library selected.
Fixes all cells in project to reference library prototype.
) Remove - removes a component from library.
) Recover from edit - used to fix prototype usage if prototype is
gotten for edit and never returned.
Using the Data Forms

) Double click on ../(Up) to move up one level.
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) Double click on folder name to move into project. The project

path name is updated.
) Select to enter from keyboard
EXERCISE 1: Creating Libraries

Objective: To create some libraries to place some components
into them.
1 Go to the Libraries tab of the Library Utilities window.
Y From the Data window, click Library Utilities.
Y From the Library Utilities window, click Library.
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2 Create the parts library.

Y From the Library Utilities window, click Create.
Y From the Create Library window, click Create.
Y Type in parts

3 Create the clamps library
Y Type in clamps
4 Create the misc library
Y Type in misc
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EXERCISE 2: Populating the

Libraries
Objective: To move some components into the libraries that were
created in the last exercise.
1 Go to the Libraries tab of the Library Utilities window.
Y From the Data window, select Library Utilities.
Y From the Library Utilities window, click Component.
2 Prepare to move components to library.
Y From the Library Utilities window, click Move to Library.
Y Verify that the source project is ./WKP100U/projects/intro.
If it is not, then change it.
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3 Move the following components to the robot library

Y Move the gmfs420 to the robot library
Y Click on gmfs420 in the Source Component window, then
click on robot in the Target Library.
Y Click Move.
4 Move the following components to the guns library using same
procedure of step 5.
Y Move the gun1 to the guns library.
5 Move the following components to the clamps library.
Y Move r1_clamps, r2_clamps, and r3_clamps to the clamps
library.
6 Move the following components to the parts library.
Y Move surf_part and wire_part to the parts library.
7 Move all the components that are left in the project to the misc
library.
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Y Move the remaining components to the misc library.
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Lesson 4: First Steps in a New

Project
The Process: From Least
Constraints to Most Constraints
1 Place workpiece in cell.
2 Create target locations on the work piece (Method depends on
the Robcad application being used).
3 Create the path (Method depends on the Robcad application
being used).
4 Bring in the gun and perform a first run along the path.
5 Bring in the robot.
6 Test the reachability of robot.
7 Check for collisions.
8 Refine the path.
9 Optimize path cycle time (method depends on the Robcad
application being used).
10 Off-line Program the path and output reports.
Setting Up Projects
Create, Rename, Remove, Copy and Move Projects
) From the Toolbox Manager window, click Data.

) From the Data window, click Project Utilities.
) From the Project utilities window, click Project.
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To Explode, Resume or Replace Connections
) From the Toolbox Manager window, click Data.

) From the Data window, click Project Utilities.
) From the Project utilities window, click Connection.
Here are some commands on this menu:

) Explode - Allows user transfer a reference to a library prototype
to a project prototype for selected workcell.
) Resume - allows for the restoration of connections to
prototypes.
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) Replace - allows the user to replace the connection from a

workcell to a prototype with a connection to a different
prototype.
Creating an Envelope Around the

Robot and Gun
To create an envelope around both the robot and the gun (TCPF),
use:
) From the Top Menu window, click Robcad -> Workcell.
) From the Top Menu window, click Layout.
) From the Layout window, click Robot envelope.
This takes a few minutes to generate.
NOTES:
The old way of creating a quick envelope around just the robot is still available in
the modeling menu
- From the Top Menu window, click Robcad -> Modeling.
- From the Top Menu window, click Kinematics.
- From the Kinematics window, click Envelope.
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EXERCISE 1: Creating a New

Project
Objective: To create a new project under the projects folder.
1 Prepare to create a new project.
Y From the Toolbox Manager window, click Data.
Y From the Data window, click Project Utilities.
Y From the Project utilities window, click Project.
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2 Prepare to create your own project.

Y From the Project window, click Create.
Y Reset the Source project area of the Project window so that
we are looking at what is currently in the
./WKP100U/projects folder.
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3 Create the myproject project.

Y Click Create.
Y Type in myproject.

NOTES:
You should now see this project listed in the window along with the rest
EXERCISE 2: Create a Cell from

Library Components
Objective: To review the placement commands we learned.
1 Create a new workcell called my_cell_layout.ce in the
myproject project using the Load Cell.
2 Get instances of the following components and use the
placement commands to create a cell layout identical to
first_cell.ce in the ./WKP100U/projects/intro project. A picture
of the layout follows this exercise.
REFERENCES:
3 Get cell_base: no offsets.
4 Turn on some reference frames that are currently blanked.
Y From the Display window, click Display / Entity.
Y Press the [F12] key and select Component
Y Pick the cell_base.
Y Press the [F12] key and select Entity.
5 Get column: offset -4000 in X and -5000 in Y.
Y Use Get Component, Shift, or XYZ-Shift to place it
6 Get robot (gmfs420): Put robot on the white frame behind
cell_base.
Y Use Get Component or Put to place it.
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7 Get coll_box: It will be placed okay (no need to move it).

Y Use Get Component.
8 Get wire_part, surf_part & all clamps: Put all of these on the
green frame near the front of cell_base.
Y Use Get Component or Put to place them.
9 Get instance of component gun1 (from the guns library). Locate
it at any random point in your cell (preferably away from the
robot, otherwise it will be under the base).
Y Use Get Component.
10 Turn on some reference frames that are currently blanked.
Y From the Display window, click Display / Entity.
Y Press the [F12] key and select Component.
Y Pick the gun1.
Y Press the [F12] key and select Entity.
11 Mount the gun to the robot.
.
Y From the Toolbox Manager, click Motion
Y Right click the robot and select Active Mechanism.
Y
Y
Y
Y
.
From the Toolbox Manager, click Settings
Click Mount.
Pick the gun that you just got into the workcell.
In the Mount window, click Accept.
NOTE
If the active mechanism is not currently set, Robcad will prompt you for it in the
message window (simply click anywhere on the robot you want as the active one).
12 The gun may need to be rotated so that tips are facing up.
13 Define the TCPF (Tool Center Point Frame).
Y Right click the robot and select Active Mechanism.
menu, select TCPF.
Y In the Motion window Settings
Y Pick the frame between the gun tips.
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14 Get overhead (misc library): It will be placed okay (no need to

move it).
15 Make the cell look cleaner by blanking all the frames.
Y From the Display window, select Blank / By Type ->
Frames.
16 Get the fencing (2 instances from the Misc. library). Put them
together end-to-end. Parallel to the rail, just beyond the robots
envelope. See the picture at the end of the exercise.
NOTE
Just guess where the robots envelope is for now. In general, it would be at a
position where, if you swung the robot around J1 with the gun mounted, the fence
will not be hit. We will use a Robcad command to place these fences better in the
next exercise).
Y Put two fences end-to-end, parallel to the rail. Move these

fences to a distance behind the robot envelope.
Y See the picture at the end of this exercise.
17 Get the cable_hook, man (m50), and controller (controller) and
place them in the cell.
Y controller (misc library): put behind the fence in line with
the robot. You may have to rotate.
Y cable hook (misc library): put it next to the controller
Y m50 (HUMAN_MODELS library): put in front of the
controller. You may have to rotate.
Y See the picture at the end of this exercise.
18 Store the cell.
Y Click Confirm.
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CHAPTER 4
EXERCISE 3: Create and Use a

Robot Envelope
Objective: To create and use a robot envelope
1 We will use the workcell from the last exercise as a starting
point.
NOTES:
From the last exercise, you should have a gun mount to the robot and a TCPF
defined at the gun tips.
2 Create the envelope.

Y From the Layout window, click Robot envelope.
Y For Robot pick the robot in the workcell.
Y For Tolerance enter: 100.
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Y For Clearance enter: 10.

Y Click Accept.
Y Select Confirm to continue.
NOTES:
The computer will now sit for about 5 minutes to generate the envelope.
3 Turn shading mode on.

Y Press the [F10] key until the Graphics Window shows
shaded objects (i.e. once or twice).
4 Change the display of the envelope.
Y From the Display window, click Visibility / Wire.
Y Pick the envelope.
Y Click Accept.
5 Look from the top view.
Y Method 1:
Y Press the [F5] key and select View point -> Top.
Y Press the right and left arrow keys (on keyboard).
Y Method 2:
Y Press the [Home] key.
Y Press the up arrow key three times (on keyboard).
Y Press the right and left arrow keys.
6 Notice that everything behind the back fence can be hit by the
robot. Let's fix this problem by moving the fence (and the stuff
behind it) back past the robot's reach.
Y Press the [F12] key and select Component.
Y From the Toolbox Manager window, click Placement
.
Editor
Y From the Placement Editor window, click Objects.
Y Select all four fences, the controller, cabe_hook, and the
man.
Y Press Accept
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Y Click X on the transfer panel of the Placement Editor.

Y Hold down the middle mouse button in the Graphics
window and move the mouse left and right to move the
selected objects back past the envelope.
7 Store the cell.
Y From the Layout window, click Store
Y Click Confirm.
EXERCISE 4: Read Path Into Cell

Objective: To read a path into a cell. This exercise builds on the
results of the last three exercises.
Note: In this exercise we will read in an existing path. Normally
however, you would create a path using knowledge gained in the
WKP202U Robcad Spot, WKP203U Robcad Paint, WKP204
Robcad Arc, WKP208U Robcad Laser/Gluing/Sealing courses.
1 Copy the path into your project folder.
Y Open the Microsoft Windows Explorer, browse into the
.\projects\intro folder.
Y Select pa1.no_robot and select Edit -> Copy.
Y Browse into the .\projects\myproject folder.
Y Select Edit -> Paste.
Y Close the Microsoft Windows Explorer window.
2 Load the robot path just copied.
Y From the Toolbox Manager window, click Path Editor
, if it is not already up. (If it is already up, this will
close it, so click it again).
Y From the Path Editor window, click Load path
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Y In the Load Path window, select pa1.no_robot from the list

of paths.
Y Pick in the box next to the Robot: prompt.

Y Then pick the robot in the cell. (The name of the robot will
now be displayed in the box next to the robot).
NOTES:
The name of your robot may be different than the one in the training manual.
Y Click [OK].
Y The robot path should now be shown in the Graphic
Window in front of the robot, and in the Path Editor
window.
3 Move the robot along the path.
Y In the Graphic Window, right click the robot and select
active mechanism.
Y In the Motion window, set the Automatic mode to Move
Y Move along the path (double-click the path)
4 Store the workcell
Y From the Layout window, click Store
Y Click Confirm.
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CHAPTER 4
Lesson 5: Collision Detection

Introduction
Define a collision list:
Collision detection is accomplished by looking for a collision

between each component in one list and each component in
another list. We must create a pair of lists to use for collision
detection.
) From the Toolbox Manager window, click Collision setup
.
) From the Collision Setup window, click Define pair.
Defining a collision pair:
) Manually Can be used to specify exact objects for collision

detection.
) Automatically Defines collision lists for each robot in the
workcell based on several options.
Note: It is recommended to not use the All collision detection
mode.
More on Detecting Collisions
Collisions Can Be Missed If:
) The collision lists are only processed at the graphics update

time interval. This means that a collision will only be detected
if it occurs at a time interval boundary. It is possible that the
interval is such that a collision occurs between updates and will
not be detected. The smaller the interval, the less likely this
will occur.
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Y The default value is 0.2 seconds. It is suggested to use

lower values only after all collisions have been removed at
the default value. It is not suggested to stay at the lower
value because of the decrease in performance.
) The speed and acceleration of the object can affect the
detection of collisions. If they are very high, it may be advisable
to reduce the update time interval.
To Set the Time Interval:
There several places in Robcad where the time interval can be

changed (They all refer to the same internal variable):
) From the Motion window, click Settings and then click Time
interval.
) From the Workcell Status Window, click Time interval.
Additional Collisions May Be Found or Missed If:
Collisions are determined by the distance between surface facets of

the objects. Hence, if objects to be checked for collisions have
curved surfaces, higher display precision should be used.
From the Display window, click Visibility / Precision & direction
to adjust precision. The default value for surfaces, exact solids and
wire-frame is 3 (on a scale from 0 to 9). It is best to not increase
the precision higher than 6 because of decreases in performance.
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Near Miss (a.k.a. Clearance):
Robcad can not only detect collisions (i.e. when the robot hits an
object they are highlighted red), it can also detect when it gets
within a specified distance to the object (objects are highlighted in
yellow). This is called a near miss. A near miss value can be
entered for each specific collision list or a global value can be
entered for all collision lists. In order to detect near misses your
collision detection mode must be set to L Near (instead of Lists).
EXERCISE 1: Automatically
Creating Collision Lists
Objective: To setup collision lists and see collisions detected.
1 Get the clamps.
Y Bring the clamps into the cell (r1, r2, r3 clamps), if you have
not already, and locate them at the green car reference
frame.
2 Open up the Collision Setup window.
Y From the Toolbox Manager window, click Collision setup
.
3 Automatically, define a new collision list.
Y From the Collision Setup window, click Define pair.
Y
Y
Y
Y
Click Automatic robot pairs.

Click For each robot in cell.
Click Vs all in cell.
Click Accept.
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4 Store the workcell.
EXERCISE 2: Manually Creating

Collision Lists
1 Continue working in the Collision Setup window.
2 Deactivate the list created in the previous activity (so it will not
be used in collision detection).
Y In Collision Setup window, select the clp_gmfs420 collision
list pair from the list.
Y Click Inactive.
3 Manually, define a new collision list.
Y From the Collision Setup window, click Define pair.
Y The Pair Definition window will appear.
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4 Add components to the first list.

Y In the Pair Definition window, click Add under First list
box.
Y Pick the r1_clamps, r2_clamps, r3_clamps, wire_part, and

surf_part.
Y Select Accept on the Add window.

NOTES:
Do not press the Accept on the Pair definition window yet.
5 Add components to the second list.

Y In the Pair Definition window, click Add under Second list.
Y Pick the gun and the robot.
Y Click Accept on the grey window in the upper-right corner
of Graphics Window.
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6 Create the collision list.

Y Now click Accept on the Pair definition window.
EXERCISE 3: Using Collision

Detection
1 Continue working in the Collision Setup window.
2 Make a bell ring, when collisions occur. This button is on the
Collision Setup window.
Y For Collision parameters / Bell select On.
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3 Start checking for collisions

Y In the Toolbox Manager window, change collision checking
from Off
to Lists.
4 Store the cell.

5 Use the Motion window to move the robot kinematically
Y
Y
Y
Y
.
Right click the robot and select Joint Jog
Select a joint from the list.
Click JOG.
Depress the middle mouse button and move the mouse left
to right in the Graphics Window.
Y
Y
Y
Y
.
From the Motion window, click Robot jog
Click Tcpf.
Click Y.
Depress the middle mouse button and move the mouse left
to right in the Graphics Window.
6 Move the robot into the part using the Placement Editor
window.
7 Simulate the robot along the path.
Y From the Motion window, click Move Commands
Y
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Y For Automatic mode, select Move.

Y Double click the path.
Y Watch the simulation, and listen for the collision beeps.
EXERCISE 4: Using Collision

Detection Wisely
Objective: To understand how collision detection works and to
use it more effectively.
1 Read the previous page first. Collision detection should be set
to Lists and collision lists defined for this exercise.
2 Set the Display precision to 2. To see the difference better, turn
the shading off first.
Y From the Display window, click Precision & direction ->
Modify display precision
Y For List pick the Surf_part
Y Click Yes, dont ask again (about precision changes).
Y Click Accept.
3 Set the time interval to 1 and simulate
Y From the Motion window, click Settings
Y Click Time interval.
Y For Time Interval enter: 1
4 Move the Robot along its path by double-clicking on it
automatic mode should be set to Move in the Motion window.
5 Set the Display precision to 6. To see the difference better, turn
the shading off first.
Y From the Display window, click Precision & direction ->
Modify display precision
Y For List pick the Surf_part
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Y Click Accept.
6 Set the time interval to .05 and simulate
Y From the Motion window, click Settings
Y Click Time interval.
Y For Time interval enter: .05
Y Click Accept.
7 Simulate the robot along the path.
Y From the Motion window, click Move Commands
Y For Automatic mode, select Move.
Y Double click the path.
8 Reset the time interval to 0.2.
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Lesson 6: Other Project

Related Tasks
View Manager
In general the View Manager is used to create custom view points.
When a custom view is applied to the Graphics Window, the
stored object display (Object vis), pose/states (kin poses), etc can
also be applied.
Note Editor
This toolbox enables adding notes to entities in the workcell.
To select a note, pick its name in the note-editor list.
To select multiple, consecutive notes, drag the mouse through the
list, or press the [Shift] key and pick a second note. To select
multiple, individual notes, press the [Ctrl] or the [Ctrl] key and pick
the desired notes.
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To toggle between see the notes as flags or text in the Graphics

window use: Press the [F6] key and select Text notes
The font and font size can be changed for all notes in the graphics
window by adding two .robcad parameters.
See the online documentation for the note editor for more details.
Introduction to Cell Previews

This area of the Layout window is used to add a preview image and
description to our workcell.
NOTE
To make preview images of components, run the macROSE

create_lib_icons or create_proj_icons scripts.
EXERCISE 1: Using the View

Manager
Objective: To use the View Manager toolbox to setup views for
our workcell.
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1 Bring up the View Manager window.

Y From the Toolbox Manager window, click View Manager
.
2 Rotate, Pan, Zoom the Graphics windows a little.

3 Create a view.
Y From the View Manager window, click Create.
4 Repeat steps 2 though 3 about three times.
5 From the View Manager window, click VIEW_1 once. What

happens?
6 From the View Manager window, click VIEW_2 once.
7 Jump to View.
8 Move to View.
Y In the View Manager window, set the Apply mode to Move.
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Y Pick Steps, type 70, and press [Enter].
Y Double-click on VIEW_1. What happens?

Y Double-click on VIEW_2.
9 Select Open to open another graphics window.
Y From the View Manager window, click a view.
Y Click Open.
10 To resize a window:
Y Move the move pointer over the grey border of the graphics
window to be resized. (The mouse pointer will change from
pointing down to pointing up).
Y Pressing the right mouse button will now display a menu.
Y Select Size from the menu. (The border of the window will
become highlighted with red lines and the mouse pointer
will be jumped to the middle of the graphics window).
Y Now move the mouse point past one of the window borders
and you will see the window stretching or shrinking in that
direction.
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11 To close a Graphics window (if you have more than one):

Y Move the mouse into the window to be closed
Y Press the [F5] key and select Close window.
EXERCISE 2: Flagging Problem

Areas
Objective: To create some notes in the Graphics Window
1 Bring up the Note Editor window.
Y From the Toolbox Manager window, click Note Editor
.
2 Create some notes by pick.
Y In the Note Editor window, select CreateByPick.
Y Change pick intent to Where picked : Press the [F11] key

and select Where picked.
Y Pick a couple of places on your part to put flags.
Y Click Cancel when done picking places.
3 Enter some text for a note.

Y Pick note1
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Y Pick in the empty box at the bottom of the Note Editor

window and start typing some text for this note flag. (It's
the box near the bottom of the Note editor window).
Y Select Apply.
4 Repeat step 3 for note2.
5 Toggle between see text on the note flags or just a flag
Y Press the [F6] key and select Text notes.
Y The notes are turned into flags in the Graphics Window.
Y Press the [F6] key and select Text notes.
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Y The notes are turned back into text in the Graphics

Window.
EXERCISE 3: Labeling Objects in

the Graphics Window
Objective: To add labels to objects in our workcell.
1 Continue using the Note Editor window.
2 Setup the Multi Note.
Y In the Note Editor window, pick the Settings tab.
Y For Default text, select Name.
3 Create Multi Notes.

Y In the Note Editor window, pick the Notes tab.
Y Pick Create.
Y In the Create Note window, pick the Multi-notes tab.
Y Change the Filter type to Components.
Y In the Graphics Window, window all the compenents.
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Y Click [OK].
4 Reposition Notes.
Y In the Note Editor window, click Reposition.
Y In the Graphics Window, pick a note and pick where to
move it to.
Y Click Cancel in the Reposition window when finished.
EXERCISE 4: Creating a Cell

Preview Image and Description
(Optional exercise)
Objective: To add a cell description to our workcell. This activity
can be skipped to save time in class.
1 Turn off the floor.
Toggle Floor
2 Change the background color.

Y From the Top Menu window, select Setup.
Y From the Setup window, select Colors.
Y Select Color Editing.
Y For Choice, select Graphics Bgd.
Y Pick in the top area of the first three color bars.
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3 Set the view point.

View Point
-> Q1.
Y Press [F3] to do a Full View.
4 Enter a description for your workcell.
Y From the Layout window, enter a description in the Cell
description textbox.
Y Click Apply.
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5 Create the preview image.

Y From the Layout window, click Generate cell preview.
Y Click Store.
6 Look at the preview information just created.
Y From the Layout window, click Load cell.
Y In the Load cell window, select your workcell once (do not
open it).
Y Look at the preview information you just created.
NOTE
In order to save cell preview information automatically, select Setup ->

Environment -> Save Preview -> Auto.
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Chapter Summary
) How to use inverse kinematics to make the robot in Robcad
move.
) How to work with robotic paths in Robcad.
) How to use the library utilities.
) How to start a new project in Robcad.
) How to setup and use collision detection.
) How to use the view manager, note flags, and cell previews.
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Basic Simulation Techniques

CHAPTER 5
Chapter 5
Basic Simulation
Techniques
About This Chapter
This chapter provides various techniques for creating and viewing
simulations in Robcad and contains the following lessons:
) Lesson 1: Introduction to Sequence of Operations, page 5-3,
describes the basics of SOP in Robcad.
) Lesson 2: Creating a Sequence, page 5-8, describes how to
create a sequence.
) Lesson 3: Using a Scenario, page 5-21, describes how to create
a scenario.
) Lesson 4: Editing Operations, page 5-26, describes how to edit
operations.
) Lesson 5: SOP Events and Settings, page 5-28, describes how to
add events to an SOP and change the SOP settings.
) Lesson 6: SOP Collision and Simulation Analysis, page 5-39,
describes how to analyze the simulation and collisions in a
SOP.
) Lesson 7: Using Camera Views (Optional), page 5-45,
describes how to create and use camera views.
) Lesson 8: Static Output, page 5-49, describes how to output
pictures.
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) Lesson 9: Storing Simulations, page 5-60, describes how to

output simulations to various formats.
) Lesson 10: Creating Web Reports, page 5-65, describes how to
create web reports of the workcell.
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CHAPTER 5
Lesson 1: Introduction to
Sequence of Operations
Introduction
To access the SOP menu:
) From the Top Menu window, click Robcad -> Workcell.

) From the Top Menu window, click Sop.
Until now, we have simulated individual parts of an assembly
process.
Sequence of Operations combines separate operations to an entire
assembly process.
This set of commands determines operations for the currently
displayed assembly, combines them into a sequence of operations,
and simulates a selected sequence. The purpose of these
commands is to demonstrate and verify the feasibility of a complete
assembly procedure in the dynamic mock-up environment, and to
produce a detailed assembly report.
Demo
1 Load the first_cell.ce cell from the ./WKP100U/projects/intro

project.
2 Open the SOP for the station.
Y From the Top Menu window, click Robcad -> Workcell.
Y From the Top Menu window, click Sop.
Y From the Sequence of Operations window, click Sequence.
Y Pick Station11 and click Select.
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3 Play the simulation.

Y From the Sequence of Operations window, click Play
to play the simulation.
SOP Organization
Sequences are made up of operations; and operations are made up
of procedures:
) Sequence - Operations performed in a certain order make up a
sequence. A sequence is associated with a workcell and is
saved as a file under the workcell folder. The sequence is stored
separately from the cell.
) Operation - One or more procedures of the same type and
starting time. It is included in a sequence, starting at a specific
time after the start of the sequence, and is stored as part of the
sequence file.
) Procedure - Basically, a procedure associates a part with a
path, and assigns the amount of time it takes to complete the
procedure.
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CHAPTER 5
Types of SOP Operations

There are 6 types of operations:
1 Flow: Consists of the movement of the part along its partsassembly path, created with Path menu. Flow operations are
green on the Gantt chart. (Created with Robcad Assembler)
2 Robot: Consists of any type of robot, gun or tool function, such
as painting, gluing and welding. Robot operations are orange
on the Gantt chart. (Created with Robcad Arc, Robcad Spot,
Robcad Paint, etc)
3 Manual: A procedure consisting of any type of human
operation. Manual operations are pink on the Gantt chart.
(Created with Robcad Human)
4 Mechanical: A procedure consisting of any mechanical device
moving to different poses. Mechanical operations are cyan on
the Gantt chart. (Abbreviated mechanic or mech).
5 Non-Simulation: Any activity that you would like to include in
the sop, that requires time, but is not being simulated. Nonsimulation operations are brown on the Gantt chart.
(Abbreviated non-sim)
6 Sub-sequence: A way of adding all the operations from a
previously created SOP sequence to the current sequence.
(Abbreviated sub-seq)
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Overview of an Operation
) Operation - Operation name

) Type - Type of Operation
) Start Time - Time the operation begins relative to the previous
operation
) Procedures that are part of this operation. In this case robots are
moving along their paths
) Add (Previous Operations) - Operation previous to this one is
defined here and listed in the text window.
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CHAPTER 5
) Add (Events) - Events, such as blanking/displaying and

attaching/detaching are defined here
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Lesson 2: Creating a
Sequence
Introduction
Operations performed in a certain order make up a sequence.
There are several types of operations that were briefly discussed in
the previous lesson. Within each operation, multiple events can be
performed.
Open a Sequence
1 Open a sequence
Y From the Sequence of Operations window, click Sequence.
Y Select from the list, type in a name, or select NEW for a

default name for the sequence.
NOTE
A cell can have more than one sequence. This command lists all existing
sequences for the loaded cell. If you want to edit an existing sequence, select the
sequence name in the list.
Define an Operation
These are the steps involved in creating an operation that is part of

the current sequence. These steps will be used in the exercise that
follows.
2 Create or open an existing operation to put in the sequence
Y From the Sequence of Operations window, click Operation
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CHAPTER 5
Y Type in a name for the operation or select NEW for a

default name
NOTE
A sequence can have more than one operation. This command lists all existing
operations for the current sequence. If you want to edit an existing operation, select
that operation name from the list.
3 Determine the type of operation this will be. This step must be
done before anything else.
Y Select Operation -> Type.
4 Enter the procedure, or procedures. (i.e. matching a robot and

path)
5 Determine when this operation will occur by adding

previous operations. Use the Sequence window to select the
previous operation.
6 Determine if any events need to take place during this

operation.
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7 Click Accept.
8 Repeat these steps until all desired operations for this sequence
have been defined.
Store the Sequence of Operations
It is very important to note that a sequence is NOT stored when

performing the Store cell command. A sequence can only be stored
using the command (can store or store as)
9 Store the sequence
Y From the Sequence of Operations window, click store or
store as.
Simulate the Sequence of Operations
Simulating a sequence is similar to simulating a path for a part.

10 Simulate the sequence
EXERCISE 1: Planning a Workcell

Sequence of Operations
Objective: To plan the sequence for the training cell
The first steps are to figure out what the sequence is for this cell.
Then we need to figure out what type of Robcad operation that we
should use to perform each step in our sequence.
Here is the sequence of operations for this cell:
1 Part enters the cell on a rail
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CHAPTER 5
2 Part is loaded into fixture

3 Part loader is retracted
4 Clamps are closed
5 Welding of parts
6 Open clamps
7 Lower loader
8 Unload part from clamps
9 Part exits the cell on rail
Match each of the above operations with one of the operation types
below:
A Robot (A Robot does the work)

B Manual (A Human does the work)
C Mechanical (Move from one state to another)
EXERCISE 2: Add a Robot

Operation to the SOP
Objective: To add a spot-welding operation to the Sequence
1 Go to the workcell menu, if you are not already there
Y From the Top Menu window, click Robcad -> Workcell.
2
Create a New Sequence

Y From the Sequence of Operations window, click Sequence
Y For Sequence, type in: mysop
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3 Setup the SOP defaults.

Y From the Sequence of Operations window, click Settings.
Y Click Operation Duration.
Y For Duration, enter 0.1.
Y Press [Enter]. (This will allow the joint speed and

acceleration determine the time for the operation).
Y Close the Settings window.
4 Create a new operation using these steps:
Y From the Sequence of Operations window, click Operation.
Y (You may have to click Operation on the Operation
window).
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Y At the operation name prompt enter: Welding

5 Add the details to the operation:
Y From the Operations window, click Type -> Robot.
Y Pick in the first box in the Robot column
Y Select the gmfs420 robot.
Y In the Robots window, click Select.
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Y Pick in the first box for the Path/Program column and select
the path.
Y Select the pa1 path.
Y In the Programs & paths window, click Select.

NOTE
Robcad will figure out the duration for you later when the simulation runs
Y Pick in this box and enter a description of this operation.
Y Click Accept on the Operation window (You may have to

click Confirm also).
Y Close the Operation window.
6 Simulate it.

7 After the simulation is finished, reset the sequence.
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Y From the Sequence of Operations window, click Reset

.
8 The SOP file must be stored to save changes. The Cell is not
stored with this button, however.
Y From the Sequence of Operations window, click Store.
EXERCISE 3: Make the Clamps

Open and Close
Objective: To Add a mechanical type operation to our Sequence
1 Create a new operation.
Y From the Sequence of Operations window, click Operation.
Y (You may have to click Operation on the Operation
window).
Y At the operation name prompt enter: Open_clamps.
Y Click the [Enter] key.

2 Add the details to this operation:
Y On the Operation window, select Type -> Mechanic
(Mechanical).
Y Pick in the first box of the Device column and select
r1_clamps.
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Y Pick in the first box of the From column and select

CLOSED.
Y Pick in the first box of the To column and select OPEN.
NOTE
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CHAPTER 5
Y Now, pick in the box below r1_clamps and select

r2_clamps. Move the r2_clamps from the CLOSED state to
the OPEN state.
r3_clamps. Move the r3_clamps from the CLOSED state to
the OPEN state.
3 Select the Welding operation as the previous operation:

Y On the Operation window, select Predecessors /
Operation:
Y Pick the big orange bar in the Gantt chart

Y (You may have to press Confirm also)
4 Finish defining this operation:

Y Pick in the description box and enter a description of this
operation such as Open all the clamps.
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Y Click Accept on the bottom of the Operation window. (You

may have to press Confirm also).
5 Follow these steps to create another operation to close the
clamps before the welding operation begins. Here are the
steps:
Y Click Operation on the Operation window.
Y At the operation name prompt enter: Close_clamps.

Y Click the [Enter] key.
Y On the Operation window, select Type -> Mechanic
(Mechanical).
Y Pick in the first box of the Device column and select
r1_clamps.
Y Pick in the first box of the From column and select OPEN.
Y Pick in the first box of the To column and select CLOSED.
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CHAPTER 5
NOTE

r2_clamps. Move the r2_clamps from the OPEN state to the
CLOSED state.
r3_clamps. Move the r3_clamps from the OPEN state to the
CLOSED state.
After creating the Close_clamps operation, edit the Welding

operation and add Close_clamps as the previous operation.
Y Click the Welding operation from the Gantt chart.
Y Click Predecessors / Operation.
Y Click Close_clamps.
Y Click Accept on the bottom of the Operation window. (You
may have to press Confirm also).
7 Reorder the operations by time
Y From the Sequence of Operations window, click Reorder ->
By time.
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Y The first operation should now be Close_Clamps, followed

by Welding, followed by Open_Clamps.
8 If the clamps are not in the OPEN pose right now, use the
Motion window to move each to this pose before playing the
simulation.
9 Simulate it
10 After the simulation is finished, reset sequence

Y From the Sequence of Operations window, click Reset
.
11 The SOP file must be stored to save changes. The Cell is not
stored with this button, however.
Y From the Sequence of Operations window, click Store.
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CHAPTER 5
Lesson 3: Using a Scenario

Introduction
Scenarios allow you to turn off the simulation of part of an SOP.
This can be helpful when building very complex simulations.
EXERCISE: Making the Overhead

Move
Objective: To add three operations into the SOP to make the part
loader move into the cell, lower, and then rise.
1 Create a new scenario so that we cannot simulate spot welding
and clamps opening and closing. We only want to see the part
loader move into the cell, raise and lower.
Y From the Sequence of Operations window, click Scenario.

Y Click New.
Y In the Scenarios window, click Select.
2 Edit the new scenario.

Y From the Sequence of Operations window, click Edit
scenarios.
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Y Move the operations for welding, and closing and opening

the clamps to the Inactive side by highlighting them and
press the >> button.
Y The inactive operations are shown hallow in the Gantt chart

and will not be simulated (for now).
3 Create three more operations in our sequence as described

here:
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4 Simulate the sequence. Notice only the active operations are

simulated
Y From the Sequence of Operations window, click Run
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Y From the Sequence of Operations window, click

Reset
5 Edit the new scenario.

Y From the Sequence of Operations window, click Edit
scenarios.
Y Move all the active operations to the inactive list using the
>> button.
6 Create three more operations in our sequence as described
here.
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7 To prepare for the next exercise select the all active scenario
Y From the Sequence of Operations window, click Scenario > All Active.
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Lesson 4: Editing Operations

Introduction
Previous operations:
) An operation can have more than one previous operation.
) Two operations can both have the same previous operation.
In this exercise, we will edit the operations and add additional
previous operations. There are two ways to open an operation for
editing:
)
Method 1: Just pick the operation on the Gantt chart. The

operation is opened for editing.
) Method 2: From the Sequence of Operations window, click

Operation. Click Operation, select the desire operation from
the list, and click Select. The operation is opened for editing.
EXERCISE: Creating More Complex

SOPs
Objective: To add all the operations in our sequence for your cell
in your project that is similar to the sequence station11 from the
./WKP100U/projects/intro project.
1 This exercise builds on what was done in the previous exercises
2 The previous operation for Welding (operation 5) will be both
Close_clamps (operation 4) and Retract_loader (operation 3).
Y In the Gantt chart window, pick the Welding operation.
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Y The operation is opened for editing.
Y In the Operation window, click Operation.

Y Pick the Retract_loader from the Gantt chart.
Y In the Operation window, click Accept. (You may also

have to click Confirm).
3 The previous operation for Unload_part (operation 8) will be
both Open_Clamps (operation 6) and Lower_loader (operation
7).
Y In the Gantt chart window, pick the Unload_part operation.
The operation is opened for editing.
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Y In the Operation window, click Operation.

Y Pick the Open_Clamps from the Gantt chart.
Y In the Operation window, click Accept. (You may also

4 Two operations can both have the same previous operation.
Add these relationships in the same way:
Y The previous operation for both Retract_loader (operation
3) and Close_clamps (operation 4) is Load_part (operation
2).
Y The previous operation for both Lower_loader (operation 7)
and Open_clamps (operation 8) is Weld (operation 6).
5 Play the simulation and then reset it afterwards.
6 Store the SOP and store the workcell.
NOTE
We will add the events in the next exercise to complete our SOP.
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CHAPTER 5
Lesson 5: SOP Events and

Settings
Introduction
There are many settings related to the Gantt chart:
) Show/ Hide sub operations
) Show/ Hide operation time
) Show/ Hide events
) Show/ Hide dependencies
) Show/ Hide locations
) Etc
In this example sub-operations and operation time are shown:
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SOP Events
An event is an activity that requires zero time, such as attach or
detach.
Events happen relative to the start or the end of an operation. Each
of the different types of operations can contain multiple events.
Events can happen before, after, or at a specific time offset within
an operation. Here is a brief description of SOP events.
There are 15 SOP events:
(Listed here as shown in the Gantt Settings button / window)

) Blank - Hide an entity during simulation
) Display - Unhide an entity during simulation
) Change View Change the viewpoint during simulation, using
a view created in the View Manager.
) Change Color Change the color of an object during
simulation.
) Attach - Attach two components during simulation
) Detach - Detach two components during simulation
) Group - Group several components during simulation
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) Ungroup - Ungroup several components during simulation

) Change TCPF - Change the TCPF of a ROBOT during
simulation
) Change CP frame - Change the CP frame of a HUMAN during
simulation
) Put - Put an component at a specific location during simulation
) Collision Pair - Activate or deactivate a collision pair during
simulation
) Set Time Interval Change the time interval during simulation
) Drive Device Change the pose for a device during simulation.
) Send Signal Send a signal (i.e. stop or go) between two robots
during a simulation.
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To add, edit, or remove an event on an operation:
) Open the operation in the Operation window.

) Click one of the three event buttons:
EXERCISE 1: Adding Attach and

Detach Events
Objective: To finish the sequence of operations by adding the
events.
1 This exercise builds on what was done in the previous exercises
2 Using the Motion window, set the initial pose for the overhead
to ENTER_CELL. Set the initial pose for the clamps to OPEN.
Y Hint: Make the desired kinematic device the active
mechanism, select the Pose
desired pose.
tab, and double click the
3 Position the part before the attach event.

Y Change the Pick Level to Component.
NOTE
This Pick Level should not be Entity in this step. We are using this technique to
display all of the entities of the Overhead, including blanked frames.
Y From the Display menu, click Display/Entity.

Y Pick the Overhead, and click Accept.
Y In the Graphics Window, right click the wireframe part and
.
select Placement
Y From the Placement Editor window, click Put.
Y Change the Pick Level to Entity.
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CHAPTER 5
NOTE
We are not changing the Pick Level to Entity to make it easier to pick the frame we
just displayed. Also this will allow attaching the cardoor to the carrier entities,
instead of the entire overhead component.
Y From the Put window, for the Target Frame, select the
frame floating in space (named overhead.carriage).
Y Click Accept.
4 Edit the Enter_cell operation.

Y In the Gantt chart window, pick the Enter_cell operation.
5 Create an attach event at the beginning of the simulation.
Y In the Operation window (for the Enter_cell operation),
click Events/Add.
Y Select the event type such as Attach.

Y In the Attach window, for Cell elements, pick the wireframe
part. (It doesnt matter whether your Pick Level is Entity or
Component for this pick).
Y Change the Pick Level to Entity.
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Y In the Attach window, for Attach to, pick one of the suction
cups (black objects) on the overhead.
Y In the Attach window, click Rel to start. (Our time offset
will be zero so we do not have to enter it).
Y In the Attach window, click Accept.
Y In the Operations window, click Accept. (You may also
Y In the Gantt chart window, a white diamond is shown at the
beginning of the Enter_cell operation.
6 Look at the events color legend.
Y In the Gantt chart window, click Gantt Settings.
Y Select Marks -> Colored.
Y If the events show in black (not with the colors from the
legend): In the Gantt chart window, click Events & signals > Colored.
7 Initialize the start position for the wireframe part.
Y From the Sequence of Operations window, click
Simulation.
Y From the Sequence of Operations window, click Reset and
Initialize before running the simulation (after changing the
positions of objects).
8 Create a detach event after the part is put into the clamps:
Y Edit the Load_part operation by picking it on the Gantt
chart (its contents should be shown in the Operation
window).
Y In the Operation window, click Add and select detach.
Y Add a detach event for the wireframe part at the end of the
Load_part operation.
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Y In the Detach window, click Accept.

Y In the Operation window, click Accept.
Y In the Confirm window, click Confirm.

9 Create an attach event after the welding is completed:
Y Edit the Unload Part operation by picking it on the Gantt
chart (its contents should be shown in the Operation
window).
Y In the Operation window, click Add and select attach.
Y Add an attach event for the wireframe part (component) to
the surface part (entity) at the beginning of the Unload Part
operation.
Y In the Detach window, click Accept.
Y In the Operation window, click Accept.
10 Play the simulation and reset it afterwards.
11 Store your SOP.
12 Store your cell.
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EXERCISE 2: Adding Change to

View Events
Objective: To finish the sequence of operations by adding the
events. Putting It All together: Recall what you have learned to
perform this exercise.
1 Using the View Manager
position. Name it Full_View.
create a view at the Full View
create a view zoomed in on

2 Using the View Manager
the clamps (i.e. where the parts will be welded). Name it
Zoomed_In.
3 Add a Change to View event at the beginning of the SOP which

references the Full_View.
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4 Add a Change to View event at the beginning of the

Retract_Loader operation which references the Full_View.
Apply the view in 50 steps.
5 Play
the simulation and reset
6 Store your SOP.

7 Store your cell.
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CHAPTER 5
Lesson 6: SOP Collision and

Simulation Analysis
Simulation Report
Generates a CSV file (Excel Spreadsheet) containing:
) Joint value speed and accelerations
) Tcpf speed and acceleration
) Locations
) Signals
This tool can generate a file per device or one common file and
filter the required exported information.
Collision Analysis
This tool enables users to analyze collisions occurring during a
SOP:
) Displays an interactive report of all collision occurrences
detected within a SOP.
) Enables users to jump to a selected collision occurrence.
) Highlights collision occurrences in the Graphics Viewer.
) Provides an option to save the collision report to a .CSV file.
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Exercise 1: Create Simulation

Reports
Objective: To create simulation reports for each device in a SOP.
8 Continue where the last exercise left off.
9 Setup the report options
Y From the Sequence Of Operations window, click
Simulation Report.
Y Look at the settings.
Y Turn on all the settings except Display.
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10 Generate the reports.

Y In the Simulation Report window, click Generate report.
Y The files are stored in the .CE folder of the currently loaded
cell.
Y In the Simulation Report window, click Close.
11 Look at the reports.
Y Open a Microsoft Windows Explorer and browse into your
.\projects\myproject folder.
Y Browse into your .CE folder in this folder.
Y Double click each one and look at what was generated.

Y Minimize the Microsoft Windows Explorer and return to
Robcad.
Exercise 2: Analyzing Collisions in

a SOP
Objective: To analyze collisions in a SOP.
1 Continue where the last exercise left off.
2 Activate collision detection.
NOTE: The collision lists where created in the last chapter will be
used here.
Y From the Toolbox Manager, collision the collision mode
from Off to Lists.
3 Open the Collision analysis window.
Y From the SOP (Sequence Of Operations) window, click
Collision analysis.
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4 Start the analysis.

Y In the Collision analysis window, click Compute and wait
for the simulation to finish.
5 Look at the results.

Y Select one of the items in the list.
Y Click Jump.
Y Click Highlight.
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Y Look at the Graphics Window.

Y Click Reset.
6 Output the results to Excel.
Y Click Save as CSV file.
Y For File name, just press [Enter].
Y The file is stored in the .CE folder of the currently loaded
cell.
Y Click Close.
7 Look at the reports.
Y Open a Microsoft Windows Explorer and browse into your
.\projects\myproject folder.
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Y Browse into your .CE folder in this folder.
Y Double click each one and look at what was generated.

Y Minimize the Microsoft Windows Explorer and return to
Robcad.
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CHAPTER 5
Lesson 7: Using Camera Views

(Optional Lesson)
Introduction
This lesson can be skipped to save time.
We can create cameras (viewpoints) in the cell, and camera views
known as viewfinders. The viewfinder windows display the views
as seen by their respective cameras; these windows have a red
border.
The position of every camera is specified. If the attach command in
the layout menu subsequently attaches a camera to a moving
entity, the camera moves together with the entity.
Types of Camera Views

The view of a camera can be specified as one of three modes:
) If the view follows a moving entity and the camera is not
attached to a moving entity, the camera pivots as necessary to
maintain the specified view, i.e., it maintains the same position
but its orientation changes. Viewpoint mode is Follow entity.
) If the view is a fixed point or follows a moving entity and the
camera is attached to a moving entity, the camera pivots as
necessary to maintain the specified view, i.e., it maintains the
same position relative to the entity to which it is attached but its
orientation changes. Viewpoint mode is Fixed on point.
) If the camera view is free and the camera is attached to a
moving entity, the camera does not pivot but remains stationary
relative to the entity; neither its relative position nor its relative
orientation changes. Viewpoint mode is Free.
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Generating a new camera with an unspecified (free) viewing mode

causes it to point initially toward the viewing center of the
Graphics Window: either the reference frame or as determined by
the view center command in the Utilities Window. In this mode the
camera view is controlled either by the movement of the entity to
which the camera is attached if any, or manually by means of the
transfer panel.
Viewing Through the Eye of the

Robot
The view mode of an existing camera can be changed. This feature
permits generating a camera located at the TCP of a robot with a
view along its approach vector, attaching the camera to the TCP,
and then freeing the view of the camera from any external entity.
As the robot moves during a simulation, the viewfinder window
corresponding to the camera displays the changing view along the
approach vector. This use constitutes the camera as an eye of the
robot.
Manipulating Viewfinders
Any graphics window either can be activated as the viewfinder of a
selected camera, or it can be used for the usual Robcad display:
) If the graphics window acts as a camera viewfinder and if the
projection is parallel, the camera itself appears in the
viewfinder window as a small rectangle surrounding a circle.
Zooming the view does not affect its size. If the projection is
perspective, the camera appears in the viewfinder window as a
box surrounding a circle. Zooming the view moves the
observer closer both to the view and to the camera and
therefore affects the size of the camera, until the camera
disappears behind the viewing plane, i.e., the observer.
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) - If the graphics window is used for the usual Robcad display, it

shows the cameras in their specified locations; if a camera
pivots and/or moves during a simulation, the display is updated
accordingly. The cameras are always displayed in the
wireframe mode regardless of current selection of the display
mode command in the Window Setup and Global Setup
menus, and they remain the same size of zoom operations.
However, the Query windows Current Cell Lists/components
command lists the cameras; they are named vp1, vp2, etc. The
Query windows Information commands return pertinent
information on specified cameras.
Instructor Demo: Creating a Free

Camera Viewpoint
1 From the Display window, click Viewing / View Points.
2 Select View points -> Create view point
3 Pick where to locate it
Y Select Free (view mode).
Y Click Accept.
4 Attach the camera to something that moves along a path. (the
camera viewpoint moves with the part).
Y From the Layout window, click Attach.
Y Create a 2-way attachment.
Y Click Accept.
Instructor Demo: Changing the

Camera Viewpoint
1 From the Display window, click Viewing / View Points
2 Change the viewpoint mode.
Y Select View points -> View point mode.
Y Select the new mode Fixed at a Point.
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Y Pick the point.

Y Click Accept.
Instructor Demo: Closing a Camera

Viewpoint
1 Place your mouse pointer into the camera view point.
2 Press the [F5] key and select Close Window.
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CHAPTER 5
Lesson 8: Static Output

Outputting the Workcell
A static image of the workcell can be created by placing the mouse
pointer in the graphics window and pressing the [F4] key or using
the View Manager toolbox.
) Screen to a File - Can create an RGB, JPG, or TIFF file (it's best
to specify the full path of where you want the file
) Screen to Printer - Sends the RGB file to a Robcad defined
printer. Robcad printers can convert the RGB to Postscript or
PCL printer languages.
) VRML-2 to file - Creates a VRML file (a.k.a. .WRL file). The VR
stands for Virtual Reality. This is the format allows users with
Netscape or Internet Explorer to view the Robcad cell in 3D.
They can pan, zoom, and rotate the workcell. An example of a
shareware Internet Explorer plug-in that can be used is
Cortona_vrml50.exe.
Outputing a Robcad Text Window

A text file can be created by placing the mouse pointer in the text
window and pressing the [F4] key.
) Screen to a File - Creates a text file (it's best to specify the full
path of where you want the file)
) Screen to Printer - Sends the text file to a Robcad defined
printer.
EXERCISE 1: Generating Output

from the Graphics Window
Objective: To create a picture of the graphics window
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1 To save ink in the printer, change the graphics background

color to white.
Y From the Setup window, click Colors.
Y From the Setup window, click Color Editing.
Y On the Color Editing window, select Choice -> Graphics

Bgd.
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Y Make it white by dragging the red, green, and blue bars to

the top.
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2 Turn the Floor top to white.

Y On the Color Editing window, select Choice -> Floor top.
Y Make it white by dragging the red, green, and blue bars to
the top.
3 Turn the Floor grid to black.
Y On the Color Editing window, select Choice -> Floor grid.
Y Make it black.
4 Save this as a configuration named for_printing
Y From the Setup window, click Configuration.
Y From the Setup window, click Store -> Name.
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Y Name it for_printing.
Y Click Accept.
5 Move cursor to the Graphics Window.
6 Make a picture of the Graphics Window.
Y In the Output operations window, select Screen to JPEG
file.
Y For File name enter: mypicture.jpg.
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Y Click [OK].
7 Return to the default configuration
Y From the Setup window, click Load -> User Home.
NOTE
This is different from Default in that it has the library root defined correctly.
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CHAPTER 5
EXERCISE 2: Generating Output

from a Text Window
NOTE
The printer must be defined by the system manager before sending output to the
printer with the option.
1 Move cursor to a text window. (Status Window)

2 Press the [F4] key.
NOTE
An Output operations window appears with option to output the text to a printer or to
a file.
3 Click Cancel to close the Output operations window. We will

not output a text file at this time.
EXERCISE 3: Using the View

Manager to Output Pictures
Objective: To create a picture of the graphics window a second
way
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1 Load the configuration you stored in a previous exercise called

for_printing.
Y From the Setup window, click Load -> Name.
Y Select for_printing.
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CHAPTER 5
Y Click Select.
2 You should already have created at least one view in the
previous exercises. We will now send one them to a picture
file.
3 From the Toolbox Manager, click View Manager
4 Select one of the view you created.
5 Create the picture.
Y In the View Manager, pick either JPEG or TIFF.
Y Click Export.
Y In the Store image window, for Name, enter
AnotherPicture.jpg
Y Click Accept.
6 Load the default configuration again
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Y From the Setup window, click Load -> Default
EXERCISE 4: Generating VRML

Files
Objective: To view the VRML file in a VRML player.
1 Move cursor to the Graphics Window.
2 Make a picture of the Graphics Window.
Y In the Output operations window, select Screen to VRML 2
file.
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CHAPTER 5
Y For File name enter: my3d.wrl.

Y Click [OK].
3 View the WRL file.
Y
Y
Y
Y
Open Internet Explorer

.
Select File -> Open.
Browse and select the my3d.wrl.
Click [OK].
NOTE
The instructor should verify that a VRML Internet Explorer plug-in such as
Cortona_vrml50.exe is installed prior to performing step of this exercise.
Y Rotate, Pan, and Zoom the results.
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Lesson 9: Storing Simulations

Outputting the Simulation
A movie of the workcell can be created in two ways
) VRML-2 - Creates a 3D simulation of the workcell that can be
played in a web browser (with a VRML2 plug-in) without the
need of Robcad. Or static 3D workcell can be viewed in a web
browser.
NOTE
A (3D) VRML-2 simulation can be recorded using SOP -> Simulation -> Record
VRML2.
NOTE
The web browser (using a plug-in) must support VRML-2 format in order to run the
simulations. (For example the Cortona_vrml50.exe Internet Explorer plug-in).
) MPEG Simulation - Creates a 2D movie that can be played on

any computer with a MPEG player without the need for
Robcad.
NOTE
The Robcad CDROM contains a freeware MPEG player for UNIX and another for
PC
You can open VRML files in two ways:
) Locally using file -> open file in a web browser.

) Remotely by placing it in a website and accessing it using a
web browser (with a VRML2 plug-in).
EXERICSE 1: Creating a VRML-2

File for Web Browsers
Objective: To create and view our cell in a web browser (using a
plug-in such as the Cosmo VRML2Player)
1 Create a VRML-2 file
Y In the Graphics Window, press the [F4] button.
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CHAPTER 5
Y Select VRML 2 to file.

Y Enter cell1.wrl for the file name.
Y Click [OK].
2 Minimize Robcad by pressing this button in the upper right
corner.
3 On UNIX: In a shell window with a prompt, type Netscape and

press the [Enter] key. On a PC, double-click on the Microsoft
Internet Explorer desktop icon (or other web browser with a
VRML-2 plug-in installed).
4 Open the VRML file using a web browser.
Y Select File -> Open
Y Browse into your project folder (projects/myproject)
Y Browse into your cell folder
(./WKP100/projects/myproject/mycell.ce)
Y Select the VRML file (such as cell1.wrl )
Y Click [OK].
NOTE
If the Cortona
VRML plug-in is installed, your 3D workcell will be shown in the
Internet Explorer window. It can be panned, zoomed, or rotated. If the plug-in is
not installed, it will just show the contents of the WRL text file.
NOTE
A (3D) VRML-2 simulation can be recorded using SOP -> Simulation -> Record
VRML2.
EXERCISE 2: Recording Robcad

Simulations (for Creating an
MPEG movie)
NOTE
Ensure that the current condition of the contents of the graphics space is easily
reproducible. It is usually preferable to begin recording a command file immediately
after loading the desired contents of the graphics space.
1 Open the Logger.
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Y From the Top Menu window, click Robcad-> Utilities.

Y From the Utilities window, click logger to display the logger
window.
2 Begin recording a logger session.

Y Select Record.
NOTE
If A window appears listing the names of the existing command files, click Close.
Y
Y
Y
Y
Y
Click on the question mark [?].

Type the new filename.
Press [Enter].
The recording triangle turns red.
Issue Robcad commands as desired, such as playing a
simulation or simply pan, zoom, or rotate.
NOTE
Each command is recorded in the named command file as it is issued, and

accordingly increments the counter.
Y To exclude commands from the command file, select Pause.

NOTE
Stop is then deactivated, leaving only pause active; subsequent Robcad commands
are then not recorded in the command file. To resume recording commands, again
select pause; the stop function is again activated.
Y To close the command file, select Stop.
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CHAPTER 5
NOTE
The name of the command file disappears from the file value field, the count value
field is reset to 0, the play, record and erase functions are activated, and the pause
and stop functions are deactivated. The command file is preserved in the database
and its name is included in the window list that appears when the play, record, and
erase functions are selected.
NOTE
Exiting the logger before terminating the command file, or exiting the Robcad
operating session even without preserving changes, nevertheless preserves the
command file in the database. Use the erase function to delete a command file.
EXERCISE 3: Creating a MPEG file

from a Recorded Session
NOTE
Ensure that the contents of the graphics space are suitable for the sequence of
commands contained in the command file. Commands that cannot be performed
exit with an error message; some errors terminate the playing of the entire
command file.
1 Continue using the logger window from the last exercise.

2 Set the size for the final video.
Y Pick X size.
Y Enter a size such as 800.
Y Press [Enter].
Y Pick Y size.
Y Enter a size such as 600.
Y Press [Enter].
3 Create the video.
Y Select Play & create movie.
Y A window appears listing the names of the existing
command files.
Y Select the one just created.
Y Click Select.
NOTE
The Graphics Window resizes to the defined size, the name of the selected
command file appears in the file value field, and the command file begins issuing
the Robcad commands as they were recorded. The count value field increments
accordingly.
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NOTE
To interrupt the command file, select the pause function. Stop is then deactivated,
leaving only pause active; Robcad commands can then be issued as desired. To
resume playing the command file, again select pause; the stop function is again
activated.
NOTE
To cancel the command file before it finishes, select stop. The logger panel reverts
to its condition when it was invoked. The same occurs if the command file finishes
normally, with the addition of a corresponding message in the messages window.
4 Show the movie.

Y Click Show movie.
Y Select the one just created.
Y Click Select.
NOTE
Alternately, the movie could be selected by browsing to it with Windows Explorer,

double clicking it, and viewing it with the default video player.
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CHAPTER 5
Lesson 10: Creating Web

Reports
Introduction
The Report Creator window is a tool for the automatic creation of
reports from the current workcell for viewing on standard browsers.
The Report Creator window contains options for creating views
manually or automatically for inclusion in the report. Add an
optional description that displays on the title page of the report in
the browser.
1 Select target dir and define the path and location of the Web
folder where the browser opens and the report is stored.
2 Press prepare images to create images in JPEG format of the
components that will display in the report. Choose from the
matrix of options to include exactly the images needed for the
report:
Y Automatic prepares images of cell components using
view parameters determined by the system
Y Set Viewpoint prepares images of components with view
parameters set by the user
Y Create new prepares a new image of a component, even
if one already exists
Y Use existing uses component images that were already
prepared
Y All prepares an image for every component in the cell
Y Selected list user picks the components in the graphics
window for which to prepare images or types the selected
component names in the Selected list window
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3 It is possible to select a combination of prepare image options.

For example, by choosing Automatic/Create new/Selected list,
the system prepares new images of components selected by the
user (even if images for these items already exist) with view
parameters that are automatically determined.
4 Press Generate to create the report and open the browser
automatically (Netscape by default, or configure the .robcad file
to determine which browser is used by adding the flag:
WEB_BROWSER <full_path>). The command creates a cell
view with default view parameters.
The browser opens a page in the Web folder which contains links
to Cell reports and other reports. Click on the Cell report link to
display the image of the cell and links to various cell sub-reports.
The report page contains the name of the project, date, name of the
reports creator, and the optional description that was added when
generating the report. Choose the all in one page option to view the
report as one continuous document, or choose to display the report
by topic: Robot, Gun, Device, Man, Non-kinematic components,
Path, Weld points, Views.
Press Show report to open a new browser window and display
reports that were generated for the current cell, and for other cells
and other reports.
EXERCISE: Creating and Viewing a

Web Report
Objective: To create a picture of the graphics window a second
way
1 To complete this exercise, you must have workcell open.
2 Open the Report Creator window.
Y From the Toolbox Manager, select Report Generator
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CHAPTER 5
3 Create the web report

Y From the Report Creator window, click Target dir.
Y In the Save report to folder window, click Current project.
Y Click Accept.
Y From the Report Creator window, click Prepare Images.
Y Click Accept.
Y From the Report Creator window, click Generate.
Y (If you are on a PC or the browser does not open
automatically, See the next steps for information).
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4 Minimize Robcad by pressing this button in the upper right

corner
5 On PC: Browse to the file and open it in Internet Explorer.
Y Select File -> Open.
Y Select Browse.
Y Browse to your project folder
(./WKP100U/projects/myproject)
Y Browse into your WEB_REPORT folder
(./WKP100U/projects/myproject/myproject_WEB_REPORT
).
Y Select the HTML index file (index.html)

Y Click Open.
Y Click [OK].
6 View the report
Y Pick CELL (or the name of your sop shown on the web
report) to see the report for this sequence of operations.
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CHAPTER 5
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Chapter Summary
) The basics of SOP in Robcad.
) How to create a sequence.
) How to create a scenario.
) How to edit operations.
) How to add events to an SOP and change the SOP settings.
) How to analyze the simulation and collisions in a SOP.
) How to create and use camera views.
) How to output pictures and static VRML files.
) How to output simulations to various formats.
) How to create web reports of the workcell.
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Other Selected Topics

CHAPTER 6
Chapter 6
Other Selected
Topics
About This Chapter
This chapter provides a description of other important topics in
Robcad such as CAD Integration. It contains the following lessons:
) Lesson 1: Data Menu CAD Translating (Optional Topic), page
6-2, describes how to import and export components from
other file formats.
) Lesson 2: More on Robot Motion, page 6-10, describes more
on robot motion.
) Lesson 3: Putting It All Together, page 6-17, begins the course
summary.
) Lesson 4: Where Do We Go From Here?, page 6-19, describes
what classes can be taken to gain more information about
Robcad.
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6-1
6-2
Lesson 1: CAD Translation

(Optional Topic)
Introduction
This chart shows which interfaces are supported on the various
Robcad platforms.
Interface
Import
into
Robcad
Export
from
Robcad
Run-able by
Command Line
Run-able
by Robcad
Data Menu
AutoCAD
DXF
Yes
Yes
Yes (dxfin or
dxfout)
Yes
CATIA v5 * Yes
Yes
Yes (TxCatia2co or Yes

TxCo2Catia)
IGES
Yes
Yes
Yes (igesin or
igesout)
Yes
JT
Yes
Yes
Yes (TxJt2co or
upgrade_to_versio
n co2jt)
Yes
Robface
Yes
Yes
Yes (Robfacein or
Robfaceout)
Yes
STL
Yes
Yes
Yes (stlin or stlout)
Yes
NX *
Yes
Yes
Yes (TxConvert2co Yes

or robcadugnx)
Pro
Engineer *
Yes
--
Yes
(TxConvert2co)
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--

CHAPTER 6
* Check the Robcad release notes for a list of the supported

versions of CATIA, ProEngineer, and NX. Note that v2.7 of the
translators is available on the Robcad v9.0 DVD, however a new
version (v2.7 currently) of the translators can be downloaded from
the GTAC ftp site at http://support.ugs.com.
NOTE
Contact UGS Global Technical Access Center (GTAC) at 1-800-955-0000 for

specific information on installing, configuring, and using specific translators and cad
integration tools. Only importing via the Data Menu will be covered in class.
Process To Import a CAD file via

the Data Menu
From the Top Menu window, select Data. From the Data window,
select Cad import.
) Name of file to import
) Import format: Robfacein, Igesin, UGin, Dxfin, Stlin,
CATIAv5in
NOTE
Contact UGS Global Technical Access Center (GTAC) for specific information on
installing, configuring, and using specific translators and cad integration tools. Only
importing via the Data Menu will be covered in class.
) Name of component to be created

) Import button is not enabled until a Source file is selected
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PRINCIPLE
Robcad does the import as a two step process. First, it creates a ROBFACE (.RF)
file from the input IGES file (.IGS). Then it converts the ROBFACE file to a
component (.CO). This technique is used for all translators.
EXERCISE: Importing IGES Files

into Robcad
Verify that you are in the processing project
1 Import the IGES files from ./WKP100U/projects/robdata to the
./WKP100U/processing project
Y From the Top Menu window, select Data.
Y From the Data window, select Cad import.
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CHAPTER 6
In the Source file area of the Cad Import window, verify that
you're in the ./WKP100U/projects/robdata project
Y The source project name is shown in the lower left hand
corner
Y From the robdata folder, double-click on the iges_parts

folder.
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NOTE
There are 2 IGES files in this project.
3 Click on import format on the Cad import window and select

Igesin.
Y Two IGES files are shown.

4 In the Target file area of the Cad Import window, verify that
you're in ./WKP100U/projects/myproject project.
Y The target project name is shown in the lower right hand
corner.
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CHAPTER 6
5 Import the file.

Y Select surf.igs in the Source file area of the Cad Import
window.
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6-8
Y In the Cad Import window, click Import.

Y The file is translated from surf.igs to surf.co.
Y When it is done translating, press a y to close the translation
window
6 Repeat translation for the second file. (wire.igs)
7 View the imported surf.co and wire.co in Robcad.
8 Store the workcell, if desired.
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CHAPTER 6
Process To Export a CAD file

From the Top Menu window, select Data. From the Data window,
select Cad export
) Name of file to export
) Export format: Robfaceout, Igesout, UGSout, Dxfout, JTout,
Stlout
) Name of component to be created
) Export button is not enabled until a Source file is selected
PRINCIPLE
Robcad does the export as a two step process. First, it creates a ROBFACE (.RF)
file from the component (.CO). Then it converts the ROBFACE file to a specified file
format (i.e. .IGS). This same technique is used for all translators.
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6-10
Lesson 2: More on Robot

Motion
Introduction
This lesson provides some a sneak peak at some of the topics
covered in the Robcad OLP course (WKP211U) and Robcad
application courses: Robcad Spot (WKP202U), Robcad Paint
(WKP203U), and Robcad Arc (WKP204U).
More with the Motion window

) Solution and turns Can be accessed in several places in
Robcad including the Motion
window (i.e. using the
Solution and turns button). In cases where multiple solutions
are available to reach a location, allows the viewing and
selection of different inverse kinematics solutions.
) Location types
Y Global Locations Can be created using several buttons
with Robcad including the Path Editor
window and
window (i.e. using the Mark Loc button).

the Motion
They are locations whose origin is tied to the origin of the
workcell. Can be used with any robot. Can to be
converted to Local Locations before downloading. Not
specific to one inverse solution.
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CHAPTER 6
Y Compound Locations Can be accessed in several places

window (i.e. using
in Robcad including the Motion
the Update button). It is a global location with a value
th
stored for an external axis (i.e. 7 axis). An external axis
must first be defined for the robot. Topic not covered in
class.
Y Local Locations Can be accessed in several places in eMwindow (i.e. using

Workplace including the Motion
the Auto teach -> On button). They are locations whose
origin is tied to base frame of a specific robot. Can only be
used with one robot. Inverse solution specific. See the eMOLP class (WKP211U).
) Robot Controller Can be accessed in several places in eMWorkplace including the Motion
window (i.e. using the
Controller button). It is used to assign an Robcad controller to
a robot, which sets the teach pendant (containing robot specific
motion parameters) and motion planner for a robot.
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Default Controller Location

Attributes
) Motion Type Describes how a robot will move in between
locations.
Y Joint typically causes the robot to move in an arc between
locations
Y Linear causes the robot to move straight between the
locations.
) Zone Describes how the robot will approach/arrive at a
location.
Y Fine causes the robot to slow and arrive at the location
Y No Decel cause the robot to not slow and approach the
location (However, arrival is not a requirement).
) Speed
Y Joint Speed measured in degrees.
Y Linear Speed measured in mm/sec.
) Wait Time measured in seconds.
These attributes can be assigned in several ways in eM- Workplace:
) Temporarily assignment including the Motion
(i.e. using the Set motion params button).
)
window
Permanent assignment Default attributes can be set on

locations using the Location Attributes
window. For
example, it can be used to set the motion type, zone, speed,
and wait time. Topic not covered in class.
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CHAPTER 6
Instructor Demo
The instructor will open the Chapter4.ce cell from the

projects/intro project which contains a robot and a small path with
3 locations. He will use the Set tcpf track and Set motion params
tab of the Motion window to show
abilities in the Settings
how the robot really moves.
Instructor: run the path once with joint motion type, then run it
again (with a different track color) with linear motion type. Use a
similar process to explain
External Axis
th
7 Axis - Topic not covered in class.
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Accurate Robot Motion Simulation

RRS versus MOP versus .e Topic not covered in class. See the
Robcad OLP class (WKP211U).
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CHAPTER 6
Cables
The Cables product provides a convenient means of simulating the
use of the various cables used with robotic applications. These
include electrical power and control cables, liquid-conducting
coolant and materials cables, and air-pressure control and cleaning
cables. Although many designs enable ignoring these cables,
critical component placement for optimizing space requirements
can require taking cable runs into account.
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Chapter Summary
) How to import and export components from other file formats.
) More on robot motion.
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CHAPTER 6
Lesson 3: Putting It All

Together
Introduction
At the beginning of this class you had little or no knowledge of
Robcad. Through class you have been exposed to many Robcad
features and had time to practice what you have seen. You must
continue to use this tool after class in conjunction with other users
in your company, additional training classes, and Siemens PLM
Software services personnel in order to become an expert.
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6-18
EXPERT
SYNTHESIZE
ANALYZE
PRACTICE
EXPOSURE
NO KNOWLEDGE
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PUTTING IT
ALL
TOGETHER

CHAPTER 6
Lesson 4: Where Do We Go
From Here?
Introduction
If you want to learn more about Robcad path development and
application specific Robcad features, try these classes:
) WKP202U Robcad Spot
) WKP203U Robcad Paint
) WKP204U Robcad Arc
If you want to learn more about advanced Robcad topics, try these
classes:
) WKP209U Robcad Advanced Modeling and Kinematics
) WKP211U Robcad Off-line Programming
See http://training.ugs.com for more information
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6-20
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WKP100U Classroom Setup

APPENDIX A
Appendix A
WKP100U
Classroom Setup
About This Chapter
This chapter provides a description of how to setup a class and
contains the following lessons:
) Lesson 1: Software Requirements page 2, describes the
software and applications that must be installed on every client
for this class.
) Lesson 2: Classroom Setup page 3, describes how to setup a
class.
) Lesson 3: After Class: Resetting the data page 8, describes how
to delete the class projects so you can use the same data for
future classes.
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A-1
A-2
Lesson 1: Software
Requirements
Software Requirements
This class requires the following list of software and applications be
installed on every client:
) Robcad
) Microsoft Excel
) Acrobat
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APPENDIX A
Lesson 2: Classroom Setup

Introduction
These exercises must be completed by the instructor before class
begins.
EXERCISE 1: Setting up the

Training Data
Objective: To copy the training data from a CD and give write
permission to the folders.
NOTES:
The data requires at least 110MB free on the computer.
1 Download the training data from the training website on the

intranet or training CD. The data will be in the form of a zip
file. The zip file contains two primary folders: projects and
libraries.
NOTES:
The training data zip can either be opened into the %ROBCAD%\data folder, or
into the Robcads start in (a.k.a. HOME) folder. These instructions assume that
the data is placed in the %ROBCAD%\data folder. The start in folder is specified
on the windows shortcut used to start Robcad. To change it, right click on the
shortcut and select Properties. Change the start in folder. Click [OK].
2 On each Robcad student and instructor computer, browse to

the C:\Robcad\data folder. (The assumption is that Robcad is
installed in the C:\Robcad folder, the default location.)
3 If a WKP100U folder, currently exists rename it to something
else.
4 Extract the data zip file directly to the C:\Robcad\data folder to
each Robcad student and instructor computer.
5 Verify access rights are set correctly.
Y Select Start -> Run.
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A-3
A-4
Y
Y
Y
Y
Type: cmd
Change directories to the C:\Robcad\data folder.
Type: attrib h /s
Type: attrib r /s
6 Close the command window.
EXERCISE 2: Setting up the Robcad

Library Root
Objective: To set the Robcad library root.
On an Robcad computer do these steps:
1 Start Robcad.
Y Select Start -> Programs -> Tecnomatix -> Robcad ->
Robcad
Y Or double-click the Robcad icon on the desktop.
2 Set the library root.
Y In the Top Menu window select the Setup button. The
Setup window appears on the right side of the Graphics
Window.
Y In the Setup window, select the Set library root button.
Y In the Library Root Browser window, browse into the

C:\Robcad\data\WKP100U\libraries folder.
Y Click [OK].
3 Save settings for the library root.
Y In the Setup window, click the Configuration button.
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APPENDIX A
Y In the Setup window, click the Store button.
Y Select Project from the dropdown.

Y A robcad_config.xml file is stored in the C:\Robcad\data
folder.
4 Exit from Robcad
Y Select Robcad -> Exit.
EXERCISE 3: Test that the First Cell

Works
Objective: To open the first cell in Robcad.
On an Robcad computer do these steps:
1 Start Robcad.
Y Double-click the Robcad icon on the desktop.
2 Open the workcell in Robcad.
Y In the Top Menu window select the Layout button. The
Layout window appears on the right side of the Graphics
Window.
Y In the Layout window, select the Load cell button.
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A-5
A-6
Y Browse to the /C=/Robcad/data/WKP100U/projects/intro

folder.
NOTES:
In this class it is not necessary, however if you want to change drive letters (for
example to the I: drive), it can be accessed by typing /* in the Filter field and
pressing [Enter]. You can then double-click the desired drive.
Y Select the first_cell.ce workcell.
Y Click [OK].
Y The workcell contents are displayed in the Graphics
Window.
3 Rotate, Pan, and Zoom the workcell.
4 Open the Station11 SOP.
Y In the Top Menu window select the SOP button. The
Sequence of Operations window appears on the right side
of the Graphics Window.
Y In the Sequence of Operations window, select the Sequence

button.
Y Select station02.
Y Click Select.
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APPENDIX A
5 Simulation it.
Y In the Sequence of Operations window, select the Play

button.
6 Exit from Robcad
Y In the Top Menu window select the Robcad button.
Y On the dropdown menu, select Exit.
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A-7
A-8
Lesson 3: After Class:

Resetting the Data
EXERCISE: Reset the Data
Objective: To reset the data so we can use it for future classes.
1 Browse to the C:\Robcad\data folder
2 Delete the WKP100U, and robcad_config.xml.
3 You are now ready to setup a new class. Refer back to Lesson
2 to begin.
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Customizing Your .robcad File

APPENDIX B
Appendix B
Customizing Your
.robcad File
About This Chapter
This chapter provides a description of the most basic parameters of
the .robcad file. It contains the following lessons:
) Lesson 1: Basic .robcad File Parameters, page B-2, describes
some basic parameters that can be placed in the .robcad file.
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B-1
B-2
Lesson 1: Basic .robcad File

Parameters
Introduction
The .robcad file allows you to customize your Robcad
environment. You can establish an environment based upon which
site, which user, and which project. The .robcad file is read each
time that Robcad is started.
On UNIX:
A .robcad file can be located in any of the following folders:
) /usr/local/robcad/dat/.robcad
contains standard settings
) /usr/local/robcad/usr/.robcad
contains site specific settings
) $HOME/.robcad
contains user specific settings
contains project specific
(working folder/.robcad)
settings
On PC:
A .robcad file can be located in any of the following folders:

) C:\robcad\dat\.robcad
contains standard settings
) C:\robcad\usr\.robcad
contains site specific settings
) .robcad in the Start In folder of icon double-clicked to start

Robcad contains user specific
How Robcad Reads this File

When Robcad is started, it looks in each of the folders defined
above and reads the .robcad, if found. The folders are searched in
the order listed above. The environment setting in the .robcad file
being read overrides the setting in any previous file.
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APPENDIX B
Let's say for example, that you set ARROWS_IN_PATH to "on" in

the /usr/local/robcad/usr/.robcad file. In the $HOME/.robcad file
you set it to "off." ROBCAD will use "off" as the value for
ARROWS_IN_PATH, because the $HOME/.robcad file is read after
the other .robcad file.
If an environment variable is not set in any of the .robcad files or if
you've set a variable to a value that ROBCAD doesn't understand,
the default value will be used for that variable. Remember, the
default value is not necessarily the same value found in the
/usr/local/robcad/dat/.robcad file supplied by Tecnomatix.
NOTE: This appendix is an introduction to the usage of the .robcad
file. It is not intended to be all inclusive of its functionality.
General File Description

Each line in this file contains a keyword followed by a value to be
assigned. A keyword defines which environment parameter will be
affected.
To set the value of a parameter, start the line with that
corresponding keyword, followed by a space, and the value you
would like to assign. Depending on the keyword, you can assign
it's value to be a number or a text string.
In the .robcad file, comments lines can be added by starting the
line with either a # or a space.
Here is an example of a simple .robcad file:
################ Miscellaneous Settings
################
FLOATING_LICENSE
off
ANGLE_GOURAUD
166
FLIP_DISPLAY_MODE
shaded wireframe
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B-3
B-4
FLIP_PICK_LEVEL
FLIP_PICK_INTENT
entity component
self_origin where_picked snap on_edge
STATUS_MOTION_UPDATE
on
Do not modify the standard .robcad file in /usr/local/robcad/dat.

This file will be overwritten each time that a new version of
Robcad is installed. To set the system wide settings for your site,
create a .robcad in /usr/local/robcad/usr folder and set the
parameters to your liking.
The .robcad files in any folder other than /usr/local/robcad/dat
usually contain only those parameters that you wish to change.
There is no need to copy the entire .robcad file to these folders.
Keyword Descriptions
NOTE
Not all parameters are active on a PC.
) FLIP_DISPLAY_MODE - This specifies the list of display modes

that you can cycle through by pressing the {F10} key. The three
modes available are shaded or wireframe. The default modes
specified are shaded or wireframe.
) FLIP_PICK_INTENT - This keyword specifies the list of pick
intents that you can cycle through by pressing the {F11} key.
The currently selected pick level intent is displayed in the Top
Bar Menu. The four modes available are snap, on_edge,
self_origin, and where_picked. The default pick intents
specified are snap and where_picked.
) FLIP_PICK_LEVEL - This keyword specifies a list of pick levels
that you can cycle through by pressing the {F12} key. The
currently selected pick level is displayed in the Top Bar Menu.
The five modes available are entity, assembly_group, part,
component and cell_group. The default pick intents specified
are entity and component.
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APPENDIX B
) SPACE_MOUSE_ACTIVATED on Turn on the usage of 3D

Connexion (space mouse) devices.
) USE_FLEX_SEC on Turn on the usage of FlexLM security.
) CONFIRM_UNLOAD_STORE (UNIX only) This is used during
Load, Exit, and Change project commands. Setting it to off will
eliminate the question: "Do you want to store cell ...?" The
default value is on.
) FLOATING_LICENSE (UNIX only) This is a toggle that enables
or disables license node-locking. The default value is off. Put
the name of the license server in to activate.
) ARROWS_IN_PATH - This enables or disables the display of
direction arrows in the paths. It can be set to on or off. The
default value is on.
) ARROWS_IN_PATH_SIZE - This number describes the size of
the arrows in a path. It can range from 1 to 5. The default
value is 3.
) ARROWS_IN_PATH_NUM - This number tells ROBCAD how
many arrows to place on the path. It can range from 1 to 100.
The default value is 20.
) LEVEL_OF_DETAILS - This number determines how many
points to skip when drawing a mesh. A small number will
cause large gaps and a big one small gaps. A reasonable
number is 0.3 which is the default.
) MIN_VISIBLE_SIZE - This number determines how small objects
can become before they are no longer displayed. The default
size is 4 (measured in pixels).
) MOVIE_SIZE - The movie size is specified as two numbers and
determines the size (in pixels) of a created movie. The first
number is the horizontal size , and the second number is the
vertical size. The default is 352 by 240. It is suggested that you
set the size to multiples of these numbers.
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B-5
B-6
) PARALLEL_VIEW - The parallel view has two numbers

separated by a comma. The first number sets the threshold and
the second sets the sensitiveness to mouse movement during
parallel viewing. The default values are 0 and 2.
) PROJECT - This toggle determines whether or not the project
command item is displayed on the Robcad menu. The default
value is on. Setting this to off will keep users from changing
their project.
) ROBCAD_KEYDIR - (Unix Only) This specifies the folder used
by the licensing mechanism to determine the location of the
node-locked license files. The full path and filename must be
specified. The default is /usr/robcad_keys.
) STATUS_MOTION_UPDATE - This toggle is used by the Move
-> Motion/Move location command in ROBCAD. It specifies
whether to update the Status window only when the command
is done or during a command at a specified time interval. (The
time interval is set in ROBCAD by the time interval command).
The default, off, updates the Status window after the command
is done.
Changing Top Level Menus (UNIX

only)
This is the general syntax for setting up your top-level menu
buttons. Top-level menus are selected from the Robcad menu.
Examples of these are Robcad->Modeling, Robcad->User, Robcad>Workcell, and Robcad->Spot. Top level menu buttons such as
setup, layout, and motion can be placed into any top level menu
using this syntax in the .robcad file:
TopMenu "TopItem_1 TopItem_2"
This is the general syntax for defining which menu item will pop up
first when you change to that top level menu item:
TopMenu.invoke
TopItem
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APPENDIX B
Here's a small piece of a .robcad file that sets up the modeling

menu:
############# Top level menu configurability #########
Modeling "setup display modeling create edit kinematics
modeling_query"
Modeling.invoke modeling
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B-7
B-8
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Robcad Basics Student Guide

Course Code: WKP100U

Robcad Basics Student Guide

This edition obsoletes all previous editions.

Siemens Product Lifecycle Management Software Inc.

Proprietary and Restricted

Robcad Basics Student Guide

If this computer software and computer software documentation

Chapter 2: Workcell Layout..........................................................2-1

Chapter 3: Modeling and Kinematics ............................................3-1

Chapter 4: Processing ...................................................................4-1

Robcad Basics Student Guide

Lesson 4: First Steps in a New Project .................................................................... 4-31

Chapter 5: Basic Simulation Techniques .......................................5-1

Chapter 6: Other Selected Topics .................................................6-1

Appendix A: WKP100U Classroom Setup .................................... A-1

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Robcad Basics Student Guide

) Lesson 8: Additional commands, page 1-38, describes how to

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Training Guide Typographical

This bullet is used to show an important sub-grouping of a

Last printed: 2/17/2010 12:44:00 PM

Robcad Basics Student Guide

This bullet is used to show bullet points in a lesson. It is not

Informational Sidebar Conventions:

This icon is used to show notes of special importance. This

Basic Exercise Conventions:

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Exercise Button Click Conventions:

) In the exercises the titles of windows, pop-ups, toolbars, or

Example Usage of Exercise Conventions:

Y Select File -> Save. The current file is saved.

from the Standard toolbar.

3 Here is how a button on the keyboard or a common button on

Y Select the [Enter] key.

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Robcad Basics Student Guide

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Lesson 2: Basic Skills

1 Logging into the system:

Y Select Logoff from the dropdown.

Minimizing and Maximizing the Robcad window

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Robcad Basics Student Guide

The window is changed to an icon on your desktop.

4 Click on the icon to return the window to its regular size.

Exercise: Starting Robcad

1 Log into the computer system.

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Lesson 3: Basic Robcad

The Robcad Windows

Top Menu Window:

The large window just below it is the Graphics Window. This

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Robcad Basics Student Guide

The window to the right of the Graphics Window is the current

This window is located under the Graphics Window. It displays up

Last printed: 2/17/2010 12:44:00 PM

Status (Data) Window:

The Status Window is located along the bottom of the display. It

Toolbox Manager Window:

The window in the lower right corner is the Toolbox Manager